diff --git a/.gitattributes b/.gitattributes
index 26d4f37b1f33ac360cbbda18fa9c0a30aaf181ec..e1b353c3c398245aa08af448e082a9fb40039aac 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -11580,3 +11580,69 @@ Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_01/fem_node.csv filter
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 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
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..601e80d462ff3a9f48e39cb2d53a3274de148c19
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_04/franka_data.csv
@@ -0,0 +1,428 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+19,0.316666667,BASELINE,765,743,712,674,662,633,877.971814139,784.028185861,800.971814139,650,630,651,0.400964895905,-0.00539799331663,0.0598409905357,0.999999943607,0.000210250865151,-0.000261482858904,1.44076869416e-05,1793196354560713216
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+21,0.350000000,BASELINE,765,742.815484131,712,674,662,633.184515869,877,784.815484131,800.184515869,650,630,651,0.400962093055,-0.00539941096264,0.0598398902938,0.999999943744,0.000207413102522,-0.000263219321927,1.43805509816e-05,1793196354594046720
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+33,0.550000000,BASELINE,765,743,712,674,662,633.84894365,877,784.84894365,801,650,629.15105635,651,0.400961463801,-0.00539811586506,0.0598395339321,0.999999942957,0.000209959148033,-0.000264192751706,1.43136631135e-05,1793196354794046464
+34,0.566666667,BASELINE,765,743,712,674,662,633.272834706,877,784.272834706,801,650,629.727165294,651,0.400962423299,-0.00539813520907,0.0598403497286,0.999999943332,0.00020969340694,-0.000262986415995,1.42288630252e-05,1793196354810713344
+35,0.583333333,BASELINE,765,743,712,674,662,633,877.30217783,784,801,650,629.69782217,651,0.400963027683,-0.00539875105373,0.0598402956044,0.999999943679,0.000208331810363,-0.000262756838011,1.40915646566e-05,1793196354827379968
+36,0.600000000,BASELINE,765,743,712,674,662,633,877.876204069,784,801,650,629.123795931,651,0.400963312596,-0.00539990352861,0.059839458873,0.999999943997,0.000205984348679,-0.00026340598098,1.39070372213e-05,1793196354844046592
+37,0.616666667,BASELINE,765,743,712,674.465255279,662,633.465255279,877.069489442,784,800.534744721,650,629.465255279,651,0.400964164034,-0.0053991860534,0.0598403399076,0.999999943904,0.000208132758698,-0.000262062929566,1.40171126192e-05,1793196354860713472
+38,0.633333333,BASELINE,765,743,712,674.943162883,662,634,876.113674234,784,800.056837117,650,630,651,0.400964941163,-0.00539808741933,0.059841500616,0.999999943672,0.000211184506904,-0.000260490262293,1.41782985775e-05,1793196354877380096
+39,0.650000000,BASELINE,765,743,712,674.366227794,662,634,877.267544411,784,800.633772206,650,630,651,0.400963612896,-0.00539820587105,0.0598408984883,0.999999943323,0.000211190429973,-0.000261828978009,1.40659359266e-05,1793196354894046720
+40,0.666666667,BASELINE,764.78990067,743,712,674,662,634,877.78990067,784,800.78990067,650,630,651,0.400962829821,-0.0053980408293,0.0598403469829,0.999999943199,0.000210932742561,-0.00026251436289,1.39618573681e-05,1793196354910713344
+41,0.683333333,BASELINE,764.214630275,743,712,674,662,634,877.214630275,784,800.214630275,650,630,651,0.400962994336,-0.00539738305101,0.0598398834633,0.999999943469,0.000210216877009,-0.000262064201392,1.38721772959e-05,1793196354927380224
+42,0.700000000,BASELINE,764.356527799,743,712,673.643472201,662,633.643472201,877.356527799,784,800.356527799,649.643472201,629.643472201,651,0.400963714118,-0.0053976677623,0.059840230461,0.999999943711,0.000209726538817,-0.000261520390976,1.41582449994e-05,1793196354944046848
+43,0.716666667,BASELINE,764.925238458,743,712,673.074761542,662,633.074761542,877.925238458,784,800.925238458,649.074761542,629.074761542,651,0.40096476436,-0.00539851338397,0.0598410598273,0.999999943935,0.000209370420311,-0.000260920846646,1.46679340844e-05,1793196354960713472
+44,0.733333333,BASELINE,764.478317228,742.478317228,712,673.521682772,662,633,877.478317228,784,801,649.521682772,629.521682772,651,0.400963853336,-0.00539893328145,0.059841145037,0.999999943586,0.000210031980053,-0.000261724364592,1.46349332988e-05,1793196354977380096
+45,0.750000000,BASELINE,764.11693175,742.11693175,712,674,662,633.11693175,877,784,800.88306825,650,629.88306825,651,0.400962715589,-0.00539911606215,0.0598410528249,0.999999943237,0.000210634817571,-0.000262583709397,1.44314833491e-05,1793196354994046720
+46,0.766666667,BASELINE,764.691092894,742.691092894,712,674,662,633.691092894,877,784,800.308907106,650,629.308907106,651,0.400961852039,-0.00539862361969,0.0598407072688,0.999999943228,0.000210405744242,-0.000262830973707,1.38827196337e-05,1793196355010713600
+47,0.783333333,BASELINE,765,743,712,674,662,633.733342326,877,784.266657674,800.266657674,650,629.266657674,651,0.400961663525,-0.00539906136891,0.0598404589583,0.999999943321,0.000209697354981,-0.000263049065238,1.37880582533e-05,1793196355027380480
+48,0.800000000,BASELINE,765,743,712,674,662,633.156142837,877,784.843857163,800.843857163,650,629.843857163,651,0.400962261139,-0.00540058239241,0.0598403238969,0.999999943531,0.000208430768217,-0.000263233183025,1.42222312483e-05,1793196355044047104
+49,0.816666667,BASELINE,765,743,712,674,662.428900171,633,877,785,800.571099829,650,629.571099829,651,0.400961302941,-0.00539944824866,0.0598389697705,0.999999943061,0.000208577785137,-0.000264918455796,1.38685954727e-05,1793196355060713728
+50,0.833333333,BASELINE,764.983390515,743,712,674,662.983390515,633.016609485,877,784.983390515,800.016609485,649.983390515,629,651,0.400959826135,-0.00539741481525,0.059837255112,0.999999942359,0.0002092592236,-0.000267052848223,1.32645320122e-05,1793196355077380096
+51,0.850000000,BASELINE,764.40389311,743,712,674,662.40389311,633.59610689,877,784.40389311,800.59610689,649.40389311,629,651,0.400960326541,-0.00539827355021,0.059838642725,0.999999942534,0.000210286568573,-0.000265542011206,1.40743367085e-05,1793196355094046720
+52,0.866666667,BASELINE,764.174147311,743,712,674,662,634,877,784.174147311,800.825852689,649.174147311,629.174147311,650.825852689,0.400961176032,-0.00539924089946,0.0598397040919,0.999999943001,0.000209896847536,-0.000264061844511,1.45523993563e-05,1793196355110713344
+53,0.883333333,BASELINE,764.748836608,743,712,674,662,634,877,784.748836608,800.251163392,649.748836608,629.748836608,650.251163392,0.400962828428,-0.00540045806349,0.0598400150868,0.999999944136,0.000206247848826,-0.000262652220204,1.42674492069e-05,1793196355127380224
+54,0.900000000,BASELINE,765,743,712,674,662,634,877,785,800,650,630,650.331163293,0.400963624134,-0.00539988483268,0.0598408163519,0.999999944537,0.000206259727025,-0.000261120621646,1.4116753758e-05,1793196355144046848
+55,0.916666667,BASELINE,765,743,712,674,662,634,877,785,800,650,630,650.919419098,0.400963754765,-0.0053979216618,0.0598419982291,0.999999944368,0.000209113659629,-0.000259494330694,1.4070284482e-05,1793196355160713728
+56,0.933333333,BASELINE,765,743,712,674,662,633.499871731,877,785,800.500128269,649.499871731,630,651,0.400964343781,-0.00539836801769,0.059842510309,0.999999944491,0.000208923820813,-0.000259159699209,1.43549198286e-05,1793196355177380096
+57,0.950000000,BASELINE,765,743,712,674,662,633.079266922,877.079266922,785,801,649.079266922,630,651,0.400964558206,-0.00539892928916,0.0598425964792,0.999999944456,0.000208609105461,-0.000259533446912,1.46114686197e-05,1793196355194046720
+58,0.966666667,BASELINE,765,743,712,674,662,633.656066158,877.656066158,785,801,649.656066158,630,651,0.400961964781,-0.00539781131546,0.0598406766516,0.999999943131,0.000210542990499,-0.000263066619436,1.43618586239e-05,1793196355210713344
+59,0.983333333,BASELINE,765,743,712,673.767154826,662,634,877.767154826,785,801,650,630,651,0.40096129273,-0.00539744097162,0.0598402349477,0.999999942804,0.000210973222346,-0.000263969997512,1.42009867292e-05,1793196355227379968
+60,1.000000000,BASELINE,765,743,712,673.19040559,662,634,877.19040559,785,801,650,630,651,0.400963458478,-0.00539817485039,0.0598419763798,0.999999943963,0.000209182612061,-0.000260989263004,1.41711778254e-05,1793196355244046592
+61,1.016666667,BASELINE,765,743,712,673.393882962,662.393882962,634,877,785,801,650,630,651,0.400962728054,-0.00539843343906,0.0598410724833,0.99999994392,0.000208366331191,-0.000261814756444,1.40488222851e-05,1793196355260713472
+62,1.033333333,BASELINE,765,743,712,673.981887153,662.981887153,634,877,785,801,650,630,651,0.400960570281,-0.00539845778579,0.0598388648633,0.999999943281,0.000208030238819,-0.000264516110975,1.38808560738e-05,1793196355277380096
+63,1.050000000,BASELINE,765,743,712,674,662.438444151,633.438444151,877,785,801,650,630,651,0.400962701512,-0.00539797001487,0.0598408051831,0.999999943585,0.000210793285952,-0.000261131861668,1.43927329556e-05,1793196355294046720
+64,1.066666667,BASELINE,765,743,712,674,662,633.139937441,877,785,801,650,630,651,0.400964403704,-0.00539757881319,0.059842266042,0.999999943806,0.000212623053754,-0.000258768491233,1.47686636765e-05,1793196355310713344
+65,1.083333333,BASELINE,765,743,712,674,662,633.715139599,877,785,801,650,630,651,0.400964347396,-0.00539753860991,0.0598418255145,0.999999943733,0.000211243550988,-0.000260182100606,1.46545359314e-05,1793196355327379968
+66,1.100000000,BASELINE,765,743,712,674,662,633.709675383,877,784.709675383,801,650,630,651,0.400964045747,-0.00539763637633,0.0598415630018,0.999999943805,0.000209918429585,-0.000260989074782,1.44348562574e-05,1793196355344046592
+67,1.116666667,BASELINE,765,743,712,674,662,633.134507215,877,784.134507215,801,650,630,651,0.40096350339,-0.00539786950769,0.0598414751431,0.999999944021,0.000208646662956,-0.000261200866399,1.41116173855e-05,1793196355360713216
+68,1.133333333,BASELINE,765,743,712,674,662,633.452917098,877,784,801,650,630,651,0.400963648184,-0.00539727456248,0.0598419344092,0.999999943798,0.000210198987695,-0.000260803373595,1.41878920569e-05,1793196355377379840
+69,1.150000000,BASELINE,765,743,712,674,662,633.956861542,877.043138458,784.043138458,801,650,630,651,0.400964032907,-0.00539660771891,0.0598425385212,0.999999943498,0.000212335441618,-0.000260212179044,1.43712120291e-05,1793196355394046976
+70,1.166666667,BASELINE,765,743,712,674,662,633.378356387,877.621643613,784.621643613,801,650,630,651,0.400964792215,-0.00539818546911,0.0598428676389,0.999999943955,0.000211023090008,-0.000259525127446,1.43695904882e-05,1793196355410713600
+71,1.183333333,BASELINE,765,743,712,674,662,633,877.801461707,785,801,650,630,651,0.400964764223,-0.00539910567357,0.0598426431166,0.99999994415,0.00020967028529,-0.000259877275263,1.42492565264e-05,1793196355427380224
+72,1.200000000,BASELINE,765,743,712,674,662,633,877.227611331,785,801,650,630,651,0.400963247936,-0.00539878286942,0.0598413720064,0.999999943848,0.000208241008746,-0.000262193900908,1.39045114178e-05,1793196355444047104
+73,1.216666667,BASELINE,765,743,712,674,662,633.355569577,877,785,801,650,630,651,0.400962998754,-0.00539900542096,0.0598410308833,0.999999943898,0.000208004240445,-0.000262180743664,1.40889013675e-05,1793196355460713728
+74,1.233333333,BASELINE,765,743,712,674,662,633.944884173,877,785,801,650,630,651,0.400963582545,-0.00539958647951,0.0598413011171,0.999999944181,0.000208551405617,-0.000260636029068,1.46211351723e-05,1793196355477380096
+75,1.250000000,BASELINE,765,743,711.472924643,674,662,633.472924643,877,785,801,650,630,651,0.400963319464,-0.00539951032045,0.0598411638832,0.999999944367,0.000206959105123,-0.000261197596105,1.44744318779e-05,1793196355494046720
+76,1.266666667,BASELINE,765,743,711.107240498,674,662,633.107240498,877,784.892759502,801,650,629.892759502,651,0.400963086765,-0.00539921647284,0.0598411996059,0.999999944446,0.000206234676089,-0.000261477026037,1.4321215525e-05,1793196355510713344
+77,1.283333333,BASELINE,765,743,711.681779726,674,662,633.681779726,877,784.318220274,801,650,629.318220274,651,0.400963367191,-0.00539826952432,0.0598421721749,0.999999944101,0.000210253848883,-0.000259580101108,1.44448567481e-05,1793196355527379968
+78,1.300000000,BASELINE,765,743,711.743605998,674,662,634,877.256394002,784.256394002,801,649.743605998,629.256394002,651,0.400963480036,-0.00539812342597,0.059842307257,0.999999943907,0.000211811057546,-0.000259057669039,1.45570418486e-05,1793196355544046848
+79,1.316666667,BASELINE,765,743,711.168898595,674,662,634,877.831101405,784.831101405,801,649.168898595,629.831101405,651,0.400963384829,-0.00539897158399,0.0598414025983,0.999999943914,0.000210311735066,-0.000260241671333,1.46550041528e-05,1793196355560713472
+80,1.333333333,BASELINE,765,743,711.418929408,674,662.418929408,633.581070592,878,785,800.581070592,649,630,651,0.400963239276,-0.00539884969989,0.0598412841397,0.999999943835,0.000209816943055,-0.000260956080698,1.44378349031e-05,1793196355577380352
+81,1.350000000,BASELINE,764.988127475,743,712,674,662.988127475,633,877.988127475,785,800.011872525,649.011872525,630,651,0.40096305398,-0.00539834515912,0.0598414718202,0.999999943722,0.000209721632655,-0.000261482893674,1.40958242725e-05,1793196355594047232
+82,1.366666667,BASELINE,764.41162787,743,712,674,662.41162787,633,877.41162787,785,800.58837213,649.58837213,630,651,0.400961975142,-0.00539884299655,0.0598406570215,0.999999943692,0.00020874145104,-0.000262382997718,1.40542413943e-05,1793196355610713600
+83,1.383333333,BASELINE,764.164287355,743,712,673.835712645,662,633,877.164287355,785,801,650,630,650.835712645,0.400961451524,-0.00539882167569,0.0598402043172,0.999999943654,0.00020845565978,-0.000262760529785,1.39490009264e-05,1793196355627380224
+84,1.400000000,BASELINE,764.738743703,743,712,673.261256297,662,633,877.738743703,785,801,650,630,650.261256297,0.400962314095,-0.00539750419531,0.0598406556376,0.999999943598,0.000209903522093,-0.000261833379634,1.36848293524e-05,1793196355644046848
+85,1.416666667,BASELINE,765,743,712,673,662,633,877.680659939,785,801,650,630,650.319340061,0.40096352879,-0.00539764307198,0.0598418920747,0.999999944314,0.000208982543561,-0.000259829594474,1.3690232824e-05,1793196355660713472
+86,1.433333333,BASELINE,765,743,712,673,662,633,877.094941919,785,801,650,630,650.905058081,0.400965037208,-0.00539899677099,0.0598437834181,0.999999945662,0.00020608559303,-0.000256927732765,1.39205027135e-05,1793196355677380352
+87,1.450000000,BASELINE,764.510561932,743,712,673.978876136,662,633.489438068,877.489438068,784.510561932,801,650,630,651,0.400964633905,-0.00539950822968,0.0598432555829,0.999999945263,0.000206343730128,-0.000258250811892,1.424796828e-05,1793196355694046976
+88,1.466666667,BASELINE,764.072384471,743,712,674.927615529,662,633.927615529,877.855231059,784,801,650,629.927615529,651,0.400963815667,-0.00539965017767,0.0598421757314,0.99999994449,0.000207492942738,-0.000260299402823,1.45193806534e-05,1793196355710713344
+89,1.483333333,BASELINE,764.647177225,743,712,674.352822775,662,633.352822775,876.705645549,784,801,650,629.352822775,651,0.400962684341,-0.00539835830911,0.0598405127126,0.999999943478,0.000210590554299,-0.000261710728176,1.42712306269e-05,1793196355727379968
+90,1.500000000,BASELINE,765,743,712,674,662,633.22210177,876.44420354,784.22210177,800.77789823,650,629.22210177,651,0.400962553126,-0.00539792669645,0.0598400768906,0.99999994322,0.000211757353851,-0.00026175581802,1.42050901545e-05,1793196355744046848
+91,1.516666667,BASELINE,765,743,712,674,662,633.797235741,877.594471481,784.797235741,800.202764259,650,629.797235741,651,0.400964011594,-0.00539886246626,0.0598415917062,0.999999944173,0.000209855114929,-0.000259629267553,1.44282550698e-05,1793196355760713472
+92,1.533333333,BASELINE,764.619204634,743,712,673.619204634,662.380795366,634,877.619204634,784.619204634,800.761590731,650,629.619204634,651.380795366,0.400964374247,-0.00539939649312,0.0598420974113,0.999999944704,0.000208646200389,-0.000258550624596,1.45245321423e-05,1793196355777380096
+93,1.550000000,BASELINE,764.031056983,743,712,673.031056983,662.968943017,634,877.031056983,784.031056983,801.937886034,650,629.031056983,651.968943017,0.400964140202,-0.00539971176131,0.0598420536315,0.999999945008,0.000207814817565,-0.000258042592422,1.45517157367e-05,1793196355794046720
+94,1.566666667,BASELINE,764.549940878,743,712,673,662.450059122,634,877.549940878,784.549940878,800.900118244,650,629.549940878,651.450059122,0.400964998891,-0.00539812009184,0.0598426875684,0.999999944875,0.000209591375728,-0.000257142050522,1.41505891745e-05,1793196355810713344
+95,1.583333333,BASELINE,765,743,712,673,662,634,877.870292237,785,800,650,629.870292237,651,0.40096519836,-0.00539737533965,0.0598429029415,0.999999944748,0.000210352159112,-0.000257025623556,1.39125054712e-05,1793196355827379968
+96,1.600000000,BASELINE,765,743,712,673,662,634,877.293394992,785,800,650,629.293394992,651,0.400962915033,-0.00539991699596,0.0598415449865,0.999999944731,0.000207109634658,-0.000259688006753,1.43188618041e-05,1793196355844046848
+97,1.616666667,BASELINE,765,743,712,673.279933316,662,634,877.559866632,785,800,650,629.279933316,651,0.400962402285,-0.00540055282416,0.0598410247531,0.999999944667,0.000206193592812,-0.000260657225184,1.44264443646e-05,1793196355860713728
+98,1.633333333,BASELINE,765,743,712,673.849568114,662,634,878.699136227,785,800,650,629.849568114,651,0.4009637219,-0.00539921632097,0.0598413714734,0.999999944565,0.000207685215496,-0.000259874196355,1.42248275317e-05,1793196355877380096
+99,1.650000000,BASELINE,765,743,712,674,662,633.562436394,878.124872787,784.562436394,800.437563606,649.562436394,630,651,0.400963350747,-0.00539837954728,0.0598415843258,0.999999944183,0.000209496378355,-0.000259892763208,1.41693654943e-05,1793196355894046720
+100,1.666666667,BASELINE,765,743,712,674,662.031333482,633.031333482,877.062666963,784,801,649.031333482,630,651,0.400962436586,-0.00539779074848,0.0598417318592,0.999999943753,0.000211173833587,-0.000260192925237,1.41497981593e-05,1793196355910713344
+101,1.683333333,BASELINE,765,743,712,674,662.610855496,633.610855496,878.221710991,784,801,649.610855496,630,651,0.400962637382,-0.00539840292917,0.0598415770703,0.999999944266,0.000208505889708,-0.000260387079934,1.38406265147e-05,1793196355927379968
+102,1.700000000,BASELINE,765,743.188417064,712,674,662.811582936,633.811582936,878.623165873,784.188417064,800.811582936,650,629.811582936,651,0.400962841489,-0.00539871575688,0.0598416310849,0.999999944603,0.000207038901404,-0.000260273916552,1.36387546146e-05,1793196355944046848
+103,1.716666667,BASELINE,765,743.761971278,712,674,662.238028722,633.238028722,877.476057444,784.761971278,800.238028722,650,629.238028722,651,0.40096305236,-0.00539841668689,0.0598421119081,0.999999944591,0.000208026747399,-0.00025953257433,1.36562106472e-05,1793196355960713728
+104,1.733333333,BASELINE,765,743.655539612,712,674,662.344460388,633.344460388,877,785,800.344460388,649.655539612,629.344460388,651,0.400963252134,-0.00539915084573,0.0598420793806,0.99999994482,0.000207048482667,-0.000259425643962,1.37869303244e-05,1793196355977380096
+105,1.750000000,BASELINE,765,743.066711842,712,674,662.933288158,633.933288158,877,785,800.933288158,649.066711842,629.933288158,651,0.400963444033,-0.00540061799862,0.0598416826715,0.999999945216,0.000204675418087,-0.000259768778517,1.39980015948e-05,1793196355994046720
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662,633,877,785,800,650,630,651,0.40096274231,-0.00539756790661,0.0598420821385,0.999999944394,0.000209041975213,-0.00025945371835,1.40260754822e-05,1793196356024581888
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,712,673.426271349,662,633.573728651,877.573728651,785,800.573728651,650,629.426271349,651,0.400963680641,-0.00539695460277,0.059842076967,0.999999944152,0.000210367765277,-0.000259320746898,1.39628992727e-05,1793196356041249024
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.851689631,743,712,673.148310369,662,633.851689631,878,784.851689631,801,650,629.148310369,651,0.400964055812,-0.00539685554444,0.0598419300774,0.999999943954,0.00021108327919,-0.000259503047484,1.39282633131e-05,1793196356057915904
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.274641723,743,712,673.725358277,662,633.274641723,878,784.274641723,801,650,629.725358277,651,0.400962802989,-0.0053982430735,0.0598413735068,0.99999994389,0.000210034599198,-0.000260596740538,1.39761318642e-05,1793196356074582272
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.310185492,743,712,674,662,633,877.689814508,784.310185492,801,650,630,651,0.400963102414,-0.00539899853257,0.0598415101839,0.999999943983,0.000210012990754,-0.000260246052602,1.41563698477e-05,1793196356091248896
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.902077744,743,712,674,662,633,877.097922256,784.902077744,801,650,630,651,0.400964811572,-0.00539917995314,0.0598422764604,0.999999944218,0.00021092415649,-0.000258583595028,1.44568241667e-05,1793196356107915264
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.518878442,742.518878442,711.518878442,674,662,633.481121558,877,785,801,649.518878442,630,651,0.400965165015,-0.00539906912224,0.0598426864489,0.999999944727,0.000209339939281,-0.000257905274529,1.4437933086e-05,1793196356124581888
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.057416357,742.057416357,711.057416357,674,662,634,877,784.942583643,801,649.057416357,630,651,0.400965263268,-0.0053988905639,0.0598429685535,0.99999994519,0.000207520423563,-0.000257583067921,1.4347366893e-05,1793196356141248512
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.631892076,742.631892076,711.631892076,674,662,634,877,784.368107924,801,649.631892076,630,651,0.40096548364,-0.00539862381599,0.0598427350496,0.999999944794,0.000208036686567,-0.00025871094597,1.4181428761e-05,1793196356157915136
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662,633.787882132,877,784.212117868,800.787882132,649.787882132,630,651,0.400969340167,-0.00539936738754,0.0598441703609,0.999999945419,0.000207557919718,-0.000256663483188,1.43581219577e-05,1793196356174582016
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662,633.197399728,877,784.802600272,800.197399728,649.197399728,630,651,0.400979682675,-0.00540191311305,0.0598485824156,0.999999947822,0.000205304271638,-0.000248952016707,1.51459826569e-05,1793196356191248896
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,743,711.614528954,673.614528954,662,633.385471046,877,785,800.385471046,649.385471046,630,651,0.401003682296,-0.0054020351538,0.059858289743,0.999999951876,0.000205686693489,-0.00023173443321,1.54944516826e-05,1793196356207915264
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,743,711.035480564,673.035480564,662,633.964519436,877,785,800.964519436,649.964519436,630,651,0.401034540301,-0.00540094005936,0.0598706562714,0.999999956376,0.000207392906872,-0.000209743030253,1.56222653601e-05,1793196356224581888
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,742.467379039,711.532620961,673.532620961,662,634,877,785,801,650,630,651,0.401089454564,-0.00540221326289,0.0598891873881,0.999999962414,0.000209146236991,-0.000176470564143,1.6952929584e-05,1793196356241248512
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.897889975,742.102110025,712,673.897889975,662,634,877,784.897889975,801,650,629.897889975,651,0.401147665121,-0.00540401694867,0.0599064666264,0.999999966947,0.000209908144757,-0.00014735108331,1.8234520844e-05,1793196356257915136
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.318576814,742.681423186,712,673.318576814,662,634,877,784.318576814,801,650,629.318576814,651,0.401213942291,-0.00540757735141,0.0599160148056,0.999999968646,0.00020602234709,-0.000141081533714,1.89198439365e-05,1793196356274581504
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,743,712,673,662,634,877,784.26810628,801,650,629.26810628,651,0.401288879535,-0.00541043853102,0.0599229388286,0.999999970412,0.000202949712139,-0.000132793731393,1.87883660637e-05,1793196356291248128
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,743,712,673,662,634,877,784.863794181,801,650,629.863794181,651,0.401374397957,-0.00541244537518,0.059926656565,0.999999972223,0.000200870628035,-0.00012203995774,1.76588921891e-05,1793196356307914752
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.442291741,743,712,673.442291741,662,634,877,785,801,650,630,651,0.401480241623,-0.00541586832557,0.0599316884237,0.999999973932,0.000198218484078,-0.000112071855694,1.68801135892e-05,1793196356324581632
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,742.984224901,711.984224901,674,662,634,877,785,801,649.984224901,630,651,0.401592851721,-0.00541970091735,0.0599370369658,0.999999975531,0.000195435668732,-0.000102374681261,1.61769356298e-05,1793196356341248512
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,742.407841783,711.407841783,674,662,634,877,785,801,649.407841783,630,651,0.401731807613,-0.0054231731697,0.059939796025,0.999999976648,0.000194046018247,-9.40289345202e-05,1.44660147236e-05,1793196356357915136
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,742.171909787,711.171909787,674,662,634,877,785,801,649,630,651,0.401876089412,-0.00542667394179,0.0599417297072,0.999999977815,0.000191222965848,-8.74208599007e-05,1.26690628791e-05,1793196356374581760
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,742.759812361,711.759812361,674,662,634,877,785,801,649,630,651,0.402033258992,-0.00543024372638,0.0599416661156,0.999999979229,0.000184931322015,-8.50176609231e-05,1.06639308768e-05,1793196356391248384
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662,633.655528924,877,785,801,649.344471076,629.655528924,651,0.402214632323,-0.00543445046774,0.0599415938592,0.999999980608,0.000178980411881,-8.17504933748e-05,8.19128053241e-06,1793196356407915008
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662,633.073110878,877,785,801,649.926889122,629.073110878,651,0.402412724663,-0.00543909719397,0.0599415156173,0.999999981942,0.000173264866445,-7.78865303284e-05,5.3956868401e-06,1793196356424581632
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662,633,877,785,799.993325364,650,629.503337318,651,0.402642543974,-0.00544615030001,0.0599405289913,0.999999983705,0.000163843310589,-7.57582924111e-05,2.49637383575e-06,1793196356441248256
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662,633,877,784.921305974,799.157388052,650,630,651,0.402883482623,-0.0054536185167,0.0599399735863,0.999999985477,0.000154056285721,-7.28916946815e-05,-4.04195756867e-07,1793196356457914880
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662,633,877,784.347424734,800.305150531,650,630,651,0.403165731696,-0.00546152517484,0.0599429522061,0.9999999874,0.000145317142028,-6.38110468326e-05,-3.2189845934e-06,1793196356474581504
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662,633.233059199,877,784.233059199,801,650,630,651,0.403453502188,-0.00546999982804,0.0599422563207,0.999999988829,0.000135506551583,-6.27214161742e-05,-6.73856387859e-06,1793196356491248384
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662,633.823672808,877,784.823672808,801,650,630,651,0.403749743505,-0.00547934588657,0.0599359230883,0.999999989511,0.000124052171104,-7.38914327652e-05,-1.13394173423e-05,1793196356507915008
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662,633.593711316,877.406288684,784.593711316,801,650,630,651,0.404067218407,-0.00548773315467,0.0599248462744,0.999999989014,0.000113580787454,-9.38758859226e-05,-1.60726657062e-05,1793196356524581632
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662,633.014499423,877.985500577,784.014499423,801,650,630,651,0.40439373067,-0.0054957123454,0.0599117505135,0.999999987507,0.000103527783809,-0.000117611909286,-2.0862263412e-05,1793196356541248256
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,743,712,674.559694974,662,633,877.440305026,784.559694974,801,650,630,651,0.404767557574,-0.00550380086015,0.0599013493412,0.999999985977,9.53483599033e-05,-0.000135281894779,-2.55681198653e-05,1793196356557915136
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,743,712,674.863683869,662.136316131,633.136316131,877.136316131,785,801,650,630,651,0.405159787352,-0.00551229641261,0.059895112037,0.999999985117,8.7130655261e-05,-0.000145824617296,-3.01469917888e-05,1793196356574581760
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743,712,674.278650499,662.721349501,633.721349501,877.721349501,785,801,650,630,651,0.405608595587,-0.00552212258584,0.0599023533639,0.99999998742,7.86285910576e-05,-0.000133418929766,-3.43149403834e-05,1793196356591248640
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662.694937264,634,878,785,801,650,630,651,0.406097569576,-0.00553291501746,0.0599223863398,0.99999999202,6.8359568872e-05,-9.94785184896e-05,-3.7288751034e-05,1793196356607915264
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662.112424603,634,878,785,801,650,630,651,0.406623073759,-0.00554458624753,0.0599540531268,0.999999996582,5.64835241219e-05,-4.59526014668e-05,-3.91765117648e-05,1793196356624582144
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,878,785,800.536451976,650,630,651,0.407168018583,-0.00553985528437,0.0599809742633,0.999999996668,-7.19886557891e-05,-6.44501448307e-06,-3.7961561289e-05,1793196356641248768
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.961960574,743,712,674,662,633.961960574,877.961960574,785,800.038039426,650,630,651,0.407716376238,-0.00553199455614,0.0600041503181,0.999999975421,-0.000217276287971,2.48842775777e-05,-3.64705534214e-05,1793196356657915648
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+146,2.433333333,POSE1_TO_POSE2_PRESS,764.19460174,743,712,674,662,633,877.19460174,785,801,650,630,651,0.408796817418,-0.00554323325473,0.0599756882134,0.999999978026,-0.00019893029696,-4.75630489313e-05,-4.59714713711e-05,1793196356691248384
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+154,2.566666667,POSE1_TO_POSE2_PRESS,765,743,712,674.84983826,662,633.84983826,877.84983826,784,801,650,630,651,0.414168064649,-0.00554439411702,0.0598924533143,0.999999981213,-2.77790971221e-05,-0.000189489169186,-2.99320098734e-05,1793196356824581888
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,743,712,674.56776919,662,633.56776919,878,784,801,650,630,651,0.414999283706,-0.00554929659698,0.0599251234081,0.999999990876,-3.09803131578e-05,-0.000128261005513,-2.89472693233e-05,1793196356841248512
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662.011645948,633.011645948,878,784.011645948,800.988354052,650,629.988354052,651,0.415867337827,-0.00555355431345,0.0599777169495,0.999999998565,-3.5038688313e-05,-3.0177036174e-05,-2.70455783578e-05,1793196356857915136
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662.585725434,633.585725434,878,784.585725434,800.414274566,650,629.414274566,651,0.416692528501,-0.00554880549718,0.0600043778713,0.99999999882,-3.9158260201e-05,1.22546702891e-05,-2.60265355753e-05,1793196356874581760
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.836211334,742.836211334,712,674.163788666,663,633.836211334,878,785,800.327577332,650,629,651,0.417516662286,-0.00554490617597,0.0600172597157,0.999999998336,-3.93458810007e-05,3.31803395878e-05,-2.60471884332e-05,1793196356891248384
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.247820763,742.247820763,712,674.752179237,663,633.247820763,878,785,801.504358474,650,629,651,0.418338056162,-0.00554320906619,0.0599944210006,0.999999999155,-2.93404036705e-05,-1.64574121371e-06,-2.87631240896e-05,1793196356907914752
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.335404428,742.335404428,712,675,663,633,878.335404428,784.664595572,801.329191145,650,629.335404428,651,0.419164395273,-0.00554397110264,0.0599691509243,0.999999997981,-3.43628940153e-05,-4.30173284139e-05,-3.17312086682e-05,1793196356924581632
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.914870926,742.914870926,712,675,663,633,878.914870926,784.085129074,800.170258148,650,629.914870926,651,0.419994332822,-0.00554652257384,0.0599421116323,0.999999994151,-5.03207112053e-05,-8.91518501002e-05,-3.48827730407e-05,1793196356941248256
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.509954845,743,712,674.509954845,663,633.490045155,879,784.490045155,800,650,629.509954845,651,0.420807992998,-0.00554764607377,0.0599115803968,0.999999988385,-4.74852258465e-05,-0.000140072995912,-3.68109121122e-05,1793196356957914880
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.064205373,743,712,674.064205373,663,633.935794627,878.935794627,785,800.064205373,650,629.064205373,651,0.421624448791,-0.00554829845469,0.0598832109272,0.999999980784,-4.17454379453e-05,-0.000187663606355,-3.83657057531e-05,1793196356974581504
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.636191607,743,712,674.636191607,663,633.363808393,878.363808393,785,800.636191607,650,629.636191607,651,0.422485182711,-0.00554716971493,0.0598766940602,0.999999978026,-3.86318372819e-05,-0.000202394878658,-3.86340602754e-05,1793196356991248384
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743,712,675,663,633.216957447,878.433914894,784.783042553,800.783042553,650,630,651,0.423398825268,-0.00554746222142,0.0598990937063,0.999999984575,-3.90666258723e-05,-0.000166999678334,-3.78688806628e-05,1793196357007915264
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,712,675,663,633.813066491,879.626132981,784.186933509,800.186933509,650,630,651,0.424404930314,-0.00555023847645,0.0599720274181,0.999999997364,-4.57025256925e-05,-4.40042027608e-05,-3.52975118743e-05,1793196357024581888
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,712,675,663,633.604309173,879.604309173,784.395690827,800.395690827,650,630,651,0.425344221909,-0.00555353531214,0.0600082396627,0.99999999815,-4.75903841979e-05,1.70784192436e-05,-3.38023923995e-05,1793196357041248512
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743,712,675,663,633.027845414,879.027845414,784.972154586,800.972154586,650,630,651,0.426252989452,-0.00555706997701,0.0600276755542,0.999999997099,-4.7309080883e-05,4.98758999531e-05,-3.27989619932e-05,1793196357057915392
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743,712,675,662.453260044,633,878.453260044,785,801,649.453260044,629.453260044,651,0.427141454194,-0.00555936182646,0.0600063162909,0.99999999743,-5.52622858802e-05,2.83600910207e-05,-3.5790331723e-05,1793196357074582272
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,712,675,662.124713568,633.124713568,878,784.875286432,801,649,629,651,0.428019469452,-0.00556079259619,0.0599834940673,0.999999997416,-6.05968030127e-05,3.0372964108e-06,-3.85659350534e-05,1793196357091248640
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743,712,675,662.715711714,633.715711714,878,784.284288286,801,649,629,651,0.428862268476,-0.0055592397684,0.0599629436387,0.999999997376,-5.45778164203e-05,-2.62123522281e-05,-3.97767401155e-05,1793196357107915264
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.300685924,743,712,675,663,633.699314076,878,784,801,649,629.300685924,651,0.429706808789,-0.00555568689204,0.0599365827119,0.999999995236,-4.7872574861e-05,-7.45204206597e-05,-4.10222235843e-05,1793196357124581632
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.880076539,743,712,675,663,633.119923461,878,784,801,649,629.880076539,651,0.430552963048,-0.00555028017803,0.0599048360566,0.999999988415,-4.05312462685e-05,-0.000140493667339,-4.22998501631e-05,1793196357141248256
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.544227923,743,712,675,663,633,878.455772077,784,801,649.455772077,629.544227923,651,0.431473134768,-0.00555394681842,0.0599303243,0.999999994081,-5.03165233823e-05,-8.66618124095e-05,-4.23855107508e-05,1793196357157915136
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.030513218,743,712,675.030513218,663.030513218,633,879,784.030513218,801,650,629.030513218,651,0.432408725303,-0.00555998697694,0.0599699418527,0.999999997091,-6.34990258101e-05,-4.4934635366e-06,-4.20317228649e-05,1793196357174581760
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.605432685,743,712,675.605432685,663.605432685,633,879,784.605432685,801,650,629.605432685,651,0.433274729457,-0.0055661220914,0.0599951198367,0.999999997248,-5.75389689441e-05,2.53398743015e-05,-3.93881636517e-05,1793196357191248640
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.814459967,743.185540033,712,675.814459967,663.814459967,633,879,785,801,650,630,651,0.434117115228,-0.00556983906792,0.0600022642314,0.999999997168,-5.76874497695e-05,2.9349254455e-05,-3.84050155456e-05,1793196357207915264
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.223002666,743.776997334,712,675.223002666,663.223002666,633,879,785,801,650,630,651,0.434907829784,-0.00556826573748,0.059969955446,0.999999996355,-7.11999506003e-05,-2.3138009844e-05,-4.10544497614e-05,1793196357224581888
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743.638657339,712,675.361342661,663,633,878.638657339,785,801.361342661,649.638657339,630,651,0.435707273378,-0.00556832322896,0.0599415276204,0.999999993652,-7.50629878797e-05,-7.18274575334e-05,-4.36257317969e-05,1793196357241248512
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,743.058616483,712,675.941383517,663,633,878.058616483,785,801.941383517,649.058616483,630,651,0.436512000067,-0.00556936775542,0.0599154487,0.999999989277,-7.30858053245e-05,-0.000118218320271,-4.61497130041e-05,1793196357257915136
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,743,712,676,663,633,878,785,801.48310679,649,630,651,0.437269844518,-0.00557226388073,0.0599101008558,0.999999987954,-6.73617324316e-05,-0.000132479949844,-4.47540651027e-05,1793196357274581760
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,743,712,675.908354022,663,633,878.091645978,784.908354022,801.091645978,649,630,651,0.438021046981,-0.0055745613355,0.0599073228047,0.999999986796,-6.5500308058e-05,-0.000142284567481,-4.32677787462e-05,1793196357291248384
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,743,712,675.334902698,663,633,878.665097302,784.334902698,801.665097302,649,630,651,0.438765038219,-0.00557261713983,0.0599058027435,0.999999984437,-8.61601807775e-05,-0.000147645921692,-4.36214801788e-05,1793196357307915008
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,743,712,675,663,633,879,784.246721174,801.753278826,649,630,650.753278826,0.439523046355,-0.00557148937289,0.0599252470098,0.999999987932,-9.25012446925e-05,-0.000117012676448,-4.34376866943e-05,1793196357324581888
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,743,712,675,663,633,879,784.839818581,801.160181419,649,630,650.160181419,0.440300732999,-0.00557150780489,0.0599741234677,0.999999995354,-7.87398767321e-05,-3.5845973386e-05,-4.24992943424e-05,1793196357341249024
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,743,712,675,663.422975691,633,878.577024309,785,801,649.422975691,630,650.422975691,0.441027312331,-0.00557651622809,0.0599965224839,0.99999999656,-7.24348405073e-05,-2.65796500139e-06,-4.03150838067e-05,1793196357357915392
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,743,712,675,663.997570929,633,878,785,801,650,630,651,0.441734537739,-0.00558336536593,0.0600089230623,0.99999999683,-6.90177176058e-05,1.24974148074e-05,-3.76872888386e-05,1793196357374581760
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,743,712,675,663.424184596,633,878,785,801,650,630,651,0.44233740463,-0.00558889550286,0.0599739296466,0.999999993902,-9.59287623724e-05,-3.8216987471e-05,-3.91436727301e-05,1793196357391248384
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,743,712,675,663,633,878.153306219,784.846693781,801,650,630,651,0.442931863061,-0.00559156242083,0.0599436006262,0.999999989148,-0.00011554571403,-8.16594252302e-05,-4.10364460837e-05,1793196357407915264
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,743,712,675,663,633,878.742466319,784.257533681,801,650,630,651,0.443502416138,-0.00558608912819,0.0599265326045,0.999999987025,-0.000114425361234,-0.000104427475769,-4.41698875667e-05,1793196357424581888
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,743.326221555,712,675.326221555,663,633,878.673778445,784,801,650,630,651,0.444074142346,-0.00558100350954,0.0599239841939,0.999999987644,-0.000105534824377,-0.000107175877966,-4.56947046309e-05,1793196357441248768
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,743.905779459,712,675.905779459,663,633,878.094220541,784,801,650,630,651,0.444646779546,-0.00557621895015,0.0599327113891,0.999999990385,-9.06101367548e-05,-9.43774684753e-05,-4.59702998273e-05,1793196357457915136
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,743.517354402,712,676,663,633,878,784,801.482645598,650,630,651,0.445162860827,-0.00557769207851,0.0599273687293,0.999999989007,-8.78585025952e-05,-0.000110017743015,-4.65001581309e-05,1793196357474581760
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,743,712,676,662.941348703,632.941348703,878.058651297,784,801.941348703,650,630,651,0.445659251774,-0.00558108566084,0.0599168289729,0.999999985867,-8.86020882114e-05,-0.000134828484547,-4.72957327265e-05,1793196357491248896
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,743,712,676,662.368306264,632.368306264,878.631693736,784,801.368306264,650,630,651,0.446079245293,-0.00559066779129,0.0598846645869,0.999999975459,-9.9273815513e-05,-0.000191646963538,-4.99888131244e-05,1793196357507915520
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.21174485,743,712,675.78825515,662,632.21174485,879,784,801,649.78825515,630,651,0.446497009957,-0.00559943926948,0.0598599051914,0.999999965795,-0.000109324855306,-0.000231671761921,-5.27761148804e-05,1793196357524582144
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.804404022,743,712,675.195595978,662,632.804404022,879,784,801,649.195595978,630,651,0.446910765019,-0.00560675243934,0.0598484668644,0.999999962297,-0.000118259320584,-0.000241485886627,-5.57329142866e-05,1793196357541248768
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.613180572,743,712.386819428,675.386819428,662,632.613180572,878.613180572,784,801.386819428,649.386819428,630,651,0.447322808244,-0.00561146219721,0.0598533178604,0.999999964779,-0.000122047208836,-0.000228644230901,-5.71692511177e-05,1793196357557915136
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.035811261,743,712.964188739,675.964188739,662,632.035811261,878.035811261,784,801.964188739,649.964188739,630,651,0.447734008246,-0.00561488949727,0.0598661930866,0.999999969786,-0.000123299858971,-0.000204642184341,-5.7856597978e-05,1793196357574581760
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,743,712.459888152,676,662,632,878.540111848,784,801.459888152,650,630,651,0.448098153592,-0.00562144056476,0.0598715504405,0.999999969798,-0.000132168770246,-0.000199181841916,-5.71142089062e-05,1793196357591248384
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,743.707326438,712,676,661.292673562,632,879,784,801,650,630,651,0.448704899923,-0.00561080220418,0.0598467368607,0.999999955404,-0.0001715800818,-0.000240249595501,-4.50815829374e-05,1793196357624581888
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765,743.129224751,712,676,661,631.129224751,878.129224751,784,801,650,630,651,0.449168028638,-0.00557275660288,0.0597861616331,0.999999937553,-0.000100047368737,-0.000337255811442,-3.37948084153e-05,1793196357657914880
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.199839481,743,711.800160519,676,661.800160519,632.800160519,878.199839481,784.800160519,801,649.199839481,629,650.800160519,0.44514564586,-0.00546316904388,0.0597278172381,0.999999909673,2.68804996595e-05,-0.000424137297461,6.24426331235e-06,1793196359407860992
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,743,711.723598874,675,663,633,878.276401126,785,801,649.276401126,630,651,0.429732674305,-0.00540548430512,0.0598257506025,0.999999952825,0.000159144477004,-0.000261761388002,2.2451990237e-05,1793196359807860480
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,662.692455825,633,878,785,800.692455825,649.307544175,630,651,0.428915905522,-0.00540565304667,0.0598061177875,0.999999940092,0.000165515104037,-0.000303181996632,2.23701820276e-05,1793196359824527104
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,662,633.462241734,878,784.537758266,800,650,629.537758266,650.537758266,0.427278988629,-0.00540226791068,0.059757023967,0.999999912225,0.000183285146094,-0.000376320882066,1.84264071944e-05,1793196359857860352
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,662.037603845,633.962396155,878,784.037603845,800.037603845,649.962396155,629.037603845,650.037603845,0.426529165863,-0.00540319598097,0.0597674652038,0.99999992757,0.000169870347971,-0.000340107479327,1.81857696925e-05,1793196359874526976
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,662.210062037,633,878,785,801,649.789937963,630,651,0.424210037427,-0.00539999512283,0.0598252665408,0.999999940058,0.000193072599426,-0.000286139238044,2.70605949299e-05,1793196359924527104
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,764.051703226,743,712,675,662.948296774,633,878,785,801,649.051703226,630,650.051703226,0.422634668881,-0.00540102628277,0.0598396625301,0.999999951968,0.000179696745841,-0.000250960141357,2.81466161966e-05,1793196359957860352
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.312604445,662.312604445,633,878,784.687395555,800.312604445,649,630,651,0.420251625558,-0.00539274266331,0.0597697053863,0.999999908401,0.000194388874804,-0.000380535980262,2.45575013473e-05,1793196360007860224
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.27190469,662,633.27190469,878,784.72809531,800.27190469,649,630,651,0.419474350254,-0.00539029518882,0.0597399779149,0.999999891852,0.000193672702976,-0.000422254301145,2.20731837007e-05,1793196360024526848
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.57145927,743,712,674.57145927,662.42854073,633.57145927,878,784.42854073,801,649.42854073,630,651,0.418016167746,-0.00539285316533,0.0597663763599,0.99999991766,0.000187153094266,-0.000359415299059,2.17966616911e-05,1793196360057860352
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.005342132,743,712,674,662.994657868,633,878,784.994657868,801,649.994657868,630,651,0.417300167327,-0.00539518596325,0.0598053323109,0.999999935566,0.000190498104886,-0.000303235702673,2.50119567015e-05,1793196360074526976
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.8435369,743,712,674,662.1564631,633,877.8435369,784,801,649.1564631,630,651,0.415901054568,-0.00539558213166,0.0598336447883,0.9999999427,0.000189932566012,-0.000278668591776,2.94976431528e-05,1793196360107860480
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.256040526,743,712,674,662.743959474,633,877.256040526,784,801,649.743959474,630,651,0.415214658288,-0.00539195856302,0.0598225926369,0.999999935707,0.000191685076835,-0.00030168966741,2.87423048272e-05,1793196360124526848
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,663,633.91002124,877.91002124,784.91002124,800.08997876,650,630,651,0.413860743909,-0.00539143341894,0.0598270378824,0.999999934815,0.000208974644531,-0.000293043144951,2.87214497992e-05,1793196360157860352
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,663,634,877.51390859,785,800,649.51390859,630.48609141,651,0.41316886772,-0.00539030188988,0.0598139104226,0.999999928325,0.0002058376102,-0.000316517740093,2.82291561917e-05,1793196360174526720
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.764091771,662.235908229,633,877.764091771,784.764091771,801,649.764091771,629.764091771,651,0.411227780251,-0.00538977369686,0.059748709012,0.999999893371,0.000200713630433,-0.000415274752781,2.27764166283e-05,1793196360224527360
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,663,633,877,784.394202545,801,649.394202545,629,651,0.410127959882,-0.00538944183708,0.0597992369612,0.999999924039,0.00021395638889,-0.000324804164046,2.54195098741e-05,1793196360257860352
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,663,633,877,784.967744364,801,649.967744364,629,651,0.409598272016,-0.00538878305969,0.0598380851357,0.999999940907,0.000206347190551,-0.00027341375343,2.91878777472e-05,1793196360274526720
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,663,633,877.541512447,784.458487553,800.458487553,650,629.541512447,651,0.409052935287,-0.00538233372853,0.0598481536178,0.999999941925,0.000217426871888,-0.00026066279123,3.05106572897e-05,1793196360291194112
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,663,633,877.880354581,784,800.119645419,649.880354581,630,651,0.408514252138,-0.00537706431581,0.059852407911,0.999999940879,0.000227932386276,-0.00025558387752,3.10648519436e-05,1793196360307861248
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,663,633,877.284917279,784,800.715082721,649.284917279,630,651,0.408005736368,-0.00537785926981,0.0598403610436,0.999999935774,0.000231725856978,-0.000271857742563,2.91421680245e-05,1793196360324527360
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,663,633,877,784.300321656,801,649.300321656,630,651,0.407514062349,-0.00538423310159,0.0598290713939,0.999999932324,0.000227022833192,-0.000288141159126,2.80574972358e-05,1793196360341193984
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,663,633,877,784.876203058,801,649.876203058,630,651,0.407037841487,-0.00539572582539,0.0598184765291,0.999999930265,0.00021452386167,-0.000304433338658,2.77417444179e-05,1793196360357860864
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.548535177,633,877,784.548535177,801,650,630,651,0.406609738506,-0.00539922725055,0.0598245005837,0.999999938013,0.000201455490859,-0.000287530468894,2.67702495167e-05,1793196360374527232
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.027102931,662,633.027102931,877.027102931,784.027102931,801,650,630,651,0.406195712767,-0.00540022287516,0.0598348591927,0.999999947344,0.000189342229505,-0.000262297619169,2.57125889278e-05,1793196360391193856
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.614019325,662,633.614019325,877.614019325,784.614019325,801,650,630,651,0.405800293832,-0.00539466058547,0.0598407500696,0.999999947667,0.000200177419782,-0.000252762949482,2.65841140497e-05,1793196360407860736
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.800562726,662,633.800562726,877.800562726,784.800562726,800.800562726,650,630,651,0.405404924199,-0.00538820801906,0.0598394693159,0.999999944993,0.000210897917986,-0.000254605087695,2.67019619309e-05,1793196360424527360
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.218023231,662,633.218023231,877.218023231,784.218023231,800.218023231,650,630,651,0.405009649319,-0.00538004530662,0.0598244124629,0.999999936444,0.000221398101094,-0.000278301117649,2.53720591478e-05,1793196360441194240
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.640684214,743,712,674.359315786,662.359315786,633.359315786,877,784.359315786,800.359315786,650,630,651,0.404634638971,-0.0053728892845,0.0598054128388,0.999999925057,0.000229712392518,-0.000310705398621,2.40817720145e-05,1793196360457861120
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,743.508749309,712,675,662.491250691,633.491250691,877,785,800.491250691,650,630,651,0.403962178111,-0.00536186285042,0.0597748919431,0.999999906725,0.000241006774659,-0.000357735573383,2.21612322684e-05,1793196360491194112
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.086121305,743.913878695,712,674.913878695,662.086121305,633.086121305,877,785.086121305,800.086121305,650,630,651,0.403668378908,-0.00535825372705,0.0597713391238,0.999999906006,0.000244558188146,-0.000357345213488,2.20039417272e-05,1793196360507860480
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.160209016,743,712,674,662.160209016,633.160209016,877,785.160209016,801,650,630,651,0.402963095432,-0.00535010673495,0.0598217038906,0.999999928826,0.000257976388776,-0.000273823476198,2.85785478448e-05,1793196360557860608
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,743,712,673.525943787,662,633,877.474056213,785,801,649.474056213,629,651,0.401630003031,-0.00534775684882,0.0598325560726,0.99999992353,0.000277714154549,-0.000272933080018,3.63508022797e-05,1793196360691194112
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,743,712,673.637982297,662,633,878,784.362017703,801,650,629.637982297,651,0.40143926979,-0.00538796212476,0.0598358228943,0.999999914111,0.000313998463793,-0.000267703524199,3.8955554879e-05,1793196360724527616
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.109038186,633.109038186,877,785,801,650,629.109038186,651,0.401086681678,-0.00540753114833,0.0598325336555,0.999999942987,0.000193138775839,-0.0002768729549,8.03683313839e-06,1793196360824527360
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+414,6.900000000,POSE2_TO_POSE3_RETREAT,764.110540199,743,712,674,662,634,878.110540199,784.889459801,801.110540199,650,630,651,0.400966794432,-0.00540022166733,0.0598419626873,0.999999945411,0.000201631223668,-0.000261568296498,1.02804843092e-05,1793196361191193600
+415,6.916666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,662.463964567,634,877.536035433,784.536035433,801,650,630,651,0.40096502739,-0.00540121599685,0.0598408373182,0.99999994508,0.00020079154368,-0.000263462004267,1.04678798376e-05,1793196361207860480
+416,6.933333333,POSE2_TO_POSE3_RETREAT,764.038980142,743,712,674,662.961019858,634,877,784.038980142,800.961019858,650,629.961019858,651,0.400963020925,-0.00540253030632,0.0598394435854,0.99999994474,0.00019962730685,-0.000265623421615,1.06481479992e-05,1793196361224527104
+417,6.950000000,POSE2_TO_POSE3_RETREAT,764.62947832,743,712,674,662.37052168,634,877,784.62947832,800.37052168,650,629.37052168,651,0.400965958193,-0.00540167671539,0.0598411998119,0.999999945425,0.00020111960504,-0.000261890817253,1.06934967016e-05,1793196361241193728
+418,6.966666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,662,634,877.215748685,785,800.215748685,649.784251315,629.215748685,651,0.400966818367,-0.00540155779815,0.0598417569624,0.999999945735,0.000201046566655,-0.000260758231342,1.07232838919e-05,1793196361257860608
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+420,7.000000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.373051605,633.626948395,877.626948395,784.626948395,801,649,630,651,0.400964391675,-0.0054036343249,0.0598406503524,0.999999945904,0.00019674517436,-0.000263381175641,1.06907912031e-05,1793196361291193856
+421,7.016666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.950659315,633.049340685,877.049340685,784.049340685,801,649,630,651,0.400966166227,-0.00540450426496,0.0598420034004,0.999999946816,0.00019576640376,-0.000260634902877,1.06329843661e-05,1793196361307860736
+422,7.033333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.466229627,633,877,784.533770373,800.466229627,649.533770373,630,651,0.400966721934,-0.00540415925252,0.0598420957865,0.999999946712,0.000197172345032,-0.00025997209784,1.06231913594e-05,1793196361324527104
+423,7.050000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,662,633.116769249,877,785,800.116769249,650,630,651,0.400966983759,-0.00540359932547,0.0598420965158,0.999999946489,0.000198500466604,-0.000259822178798,1.05941042486e-05,1793196361341193984
+424,7.066666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,662,633.697281184,877,785,800.697281184,650,630,651,0.400966530563,-0.00540263654777,0.0598422008613,0.999999946173,0.000198634953355,-0.000260936323005,1.04705815484e-05,1793196361357860352
+425,7.083333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,662,634,877,785,801,649.723478802,630,650.723478802,0.400965590141,-0.00540243655607,0.0598421469647,0.999999945934,0.000198592880233,-0.000261880089354,1.05627550647e-05,1793196361374526976
+426,7.100000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,662,634,877,785,801,649.145624873,630,650.145624873,0.400964118775,-0.00540306779326,0.0598419206273,0.999999945778,0.000198358404966,-0.000262638190207,1.08899786702e-05,1793196361391193856
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..46e9ca2f7675e12f3b080c942a662dc2e041fcdf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,428 @@
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+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
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e0f1e99a254a2b3e09d7a07eaebd60a5e1496cc4
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..64b85586f253bb6dae69e5453088cbd409715e81
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_05/franka_data.csv
@@ -0,0 +1,428 @@
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+31,0.516666667,BASELINE,765,743,712,673.003832811,662,633.003832811,877.003832811,784.003832811,801,649.996167189,630,651,0.40096497914,-0.00540334589754,0.0598438023274,0.999999946766,0.000198977523787,-0.000258367377588,1.10722956759e-05,1793196362027250688
+32,0.533333333,BASELINE,764.424653327,743,711.424653327,673.575346673,662,633.575346673,877.575346673,784,800.424653327,650,630,651,0.400964039446,-0.00540374853208,0.059842788084,0.999999946698,0.000197267037787,-0.000259933328671,1.11526335139e-05,1793196362043917312
+33,0.550000000,BASELINE,764,743,711.156695713,674,662,634,877.843304287,784.156695713,800.156695713,650,630,651,0.400964123575,-0.00540411377082,0.0598424949717,0.999999946888,0.00019609089538,-0.000260088664715,1.12193077394e-05,1793196362060583936
+34,0.566666667,BASELINE,764,743,711.743930523,674,662,634,877.256069477,784.743930523,800.743930523,650,630,651,0.400967036119,-0.0054043824857,0.0598442008835,0.999999947796,0.000196403458285,-0.000256335121127,1.1246662872e-05,1793196362077250304
+35,0.583333333,BASELINE,764.326067117,743,712,674,662,633.673932883,876.673932883,784.673932883,801,650,630,651,0.400967781148,-0.0054041567943,0.0598444921321,0.999999947808,0.000196909757218,-0.000255900601603,1.12045814517e-05,1793196362093917184
+36,0.600000000,BASELINE,764.904261639,743,712,674,662,633.095738361,876.095738361,784.095738361,801,650,630,651,0.400966850175,-0.00540354880933,0.0598436895098,0.999999947132,0.000197565860195,-0.000258032476406,1.110880907e-05,1793196362110583808
+37,0.616666667,BASELINE,765,743,712,674,662,633.479931927,876.479931927,784.479931927,801,650,630,651,0.400966082435,-0.00540341684374,0.0598430626635,0.999999946597,0.000199014745147,-0.000259002580731,1.07759936298e-05,1793196362127250432
+38,0.633333333,BASELINE,765,743,712,674,662,633.943681152,877.056318848,785,801,650,630,651,0.400965446796,-0.00540341760595,0.0598425915616,0.999999946223,0.000200222561858,-0.000259529145301,1.04677464914e-05,1793196362143917312
+39,0.650000000,BASELINE,765,743,712,674,662,633.355802219,877.644197781,785,801,650,630,651,0.400965752241,-0.0054037795451,0.0598432612176,0.999999947111,0.000197670237061,-0.000258045343301,1.08353550497e-05,1793196362160583936
+40,0.666666667,BASELINE,765,743,712,674,662,633.228701194,878,784.771298806,801,650,630,651,0.400966030844,-0.00540408843132,0.0598438033695,0.999999947612,0.000196150009003,-0.000257248921774,1.11247611812e-05,1793196362177250560
+41,0.683333333,BASELINE,765,743,712,674,662,633.808029483,878,784.191970517,801,650,630,651,0.400966268295,-0.00540431598082,0.0598441500422,0.999999947532,0.0001962121125,-0.000257506339252,1.12942733403e-05,1793196362193917184
+42,0.700000000,BASELINE,765,743,712,674,662,634,877.613196484,784.386803516,801,650,630,651.386803516,0.400966116903,-0.0054047230559,0.0598445556191,0.999999947707,0.000195297588233,-0.000257519109237,1.13660747653e-05,1793196362210583808
+43,0.716666667,BASELINE,765,743,712,674,662,634,877.034697151,784.965302849,801,650,630,651.965302849,0.400965772804,-0.00540521910199,0.0598449903884,0.999999948007,0.000193899057362,-0.000257410634449,1.13894517577e-05,1793196362227250432
+44,0.733333333,BASELINE,765,743,712,674,662,633.461324773,877,785,801,650,630,651.461324773,0.400965766753,-0.00540440033392,0.059844363248,0.999999947839,0.000194954965733,-0.000257271101516,1.12098978336e-05,1793196362243917568
+45,0.750000000,BASELINE,765,743,712,674,662,633,877,785,801,650,630,651,0.400965741472,-0.00540352737523,0.0598439311723,0.999999947594,0.000196377923223,-0.000257148869758,1.10818856832e-05,1793196362260584448
+46,0.766666667,BASELINE,765,743,712,674,662,633,877,785,801,650,630,651,0.400965547725,-0.00540277705933,0.0598445843512,0.99999994715,0.000198669862782,-0.000257106262162,1.1220169416e-05,1793196362277250560
+47,0.783333333,BASELINE,765,743,712,673.706795592,662,633.293204408,877.293204408,785,800.706795592,650,630,651,0.400965767756,-0.00540316797951,0.0598448689858,0.999999947341,0.000198393645967,-0.000256578972505,1.12276584148e-05,1793196362293917184
+48,0.800000000,BASELINE,765,743,712,673.130668126,662,633.869331874,877.869331874,785,800.130668126,650,630,651,0.400966387056,-0.00540466011768,0.0598447979996,0.999999948139,0.000195639326671,-0.000255583996388,1.11089390753e-05,1793196362310584064
+49,0.816666667,BASELINE,764.554655704,742.554655704,712,673.445344296,662.445344296,633.554655704,877.554655704,785,800.445344296,650,630,651,0.400966132011,-0.0054042889544,0.0598446297424,0.999999947872,0.00019608064492,-0.00025629855593,1.09167377648e-05,1793196362327250944
+50,0.833333333,BASELINE,764.021839787,742.021839787,712,674,662.978160213,633.021839787,877,784.978160213,801,650,630,651,0.400965663184,-0.00540338240136,0.0598444506575,0.999999947316,0.000197420086038,-0.000257446128832,1.07159658651e-05,1793196362343917568
+51,0.850000000,BASELINE,764.611779686,742.611779686,712,674,662.388220314,633.611779686,877,784.388220314,801,650,630,651,0.400966304913,-0.00540276663366,0.0598447321179,0.999999947414,0.000197738174059,-0.000256813154464,1.0852938958e-05,1793196362360584192
+52,0.866666667,BASELINE,765,743,712,674,662,633.802069182,877,784.197930818,800.802069182,650,630,651,0.400966549087,-0.00540255822604,0.0598449006697,0.999999947387,0.000198192418547,-0.000256559922344,1.10353919826e-05,1793196362377250816
+53,0.883333333,BASELINE,765,743,712,674,662,633.223209772,877,784.776790228,800.223209772,650,630,651,0.400966028143,-0.005403133805,0.0598448519229,0.99999994712,0.000198908703517,-0.000257037524804,1.13053735936e-05,1793196362393917696
+54,0.900000000,BASELINE,765,742.64643414,712,674,662,633.35356586,877,784.64643414,800.35356586,650,630,651,0.400965996979,-0.00540329647694,0.059844815481,0.99999994715,0.000199213119437,-0.000256682486136,1.12982293827e-05,1793196362410584064
+55,0.916666667,BASELINE,765,742.070966332,712,674,662,633.929033668,877,784.070966332,800.929033668,650,630,651,0.400966273205,-0.00540320000373,0.059844786762,0.999999947368,0.000199259041641,-0.000255804872426,1.11171578503e-05,1793196362427250432
+56,0.933333333,BASELINE,765,742.503098939,711.496901061,674,662,633.496901061,877,784,801,650,630,651,0.400965424747,-0.005403176175,0.0598443549004,0.999999947059,0.000199487864759,-0.000256827931791,1.12281210295e-05,1793196362443917568
+57,0.950000000,BASELINE,765,743,711.079419073,674,662,633,877,784.079419073,801,650,630,651,0.400964568885,-0.00540312275113,0.0598439367286,0.999999946759,0.000199555962211,-0.000257936772346,1.13444210791e-05,1793196362460584448
+58,0.966666667,BASELINE,765,743,711.671570127,674,662,633,877,784.671570127,801,650,630,651,0.400964686605,-0.00540281228827,0.05984397305,0.999999947002,0.000198420309023,-0.000257873330333,1.12299660048e-05,1793196362477251072
+59,0.983333333,BASELINE,765,743,712,674,662.257210977,633,877,784.742789023,801,649.742789023,630,651,0.40096517164,-0.00540324556632,0.0598441833374,0.99999994743,0.000197116813724,-0.000257212155122,1.12943666937e-05,1793196362493917440
+60,1.000000000,BASELINE,765,743,712,674,662.834744305,633,877,784.165255695,801,649.165255695,630,651,0.400966114116,-0.00540460507556,0.0598446102766,0.999999948084,0.000195604293055,-0.000255806582036,1.15815086331e-05,1793196362510583808
+61,1.016666667,BASELINE,765,742.58965038,712,674,662.58965038,633,877.41034962,784,801,649.41034962,630,651,0.400965661676,-0.00540409716704,0.059844185636,0.999999947637,0.000196368470499,-0.000256972846652,1.14264801174e-05,1793196362527250432
+62,1.033333333,BASELINE,765,742.014817917,712,674,662.014817917,633,877.985182083,784,801,649.985182083,630,651,0.400964650105,-0.00540284073044,0.0598434196516,0.999999946743,0.000198045230282,-0.000259169996135,1.1094213809e-05,1793196362543917056
+63,1.050000000,BASELINE,765,742.573599558,712,674,662,633,877.426400442,784,801,650,630,651,0.40096485691,-0.0054025238379,0.0598438284547,0.999999947146,0.000197436376382,-0.000258075200105,1.11643724109e-05,1793196362560583680
+64,1.066666667,BASELINE,765,743,712,673.840274303,662,633.159725697,877,784,801,650,629.840274303,651,0.400964787956,-0.00540255371784,0.0598440915282,0.999999947402,0.00019685578684,-0.00025752117071,1.12217610389e-05,1793196362577250304
+65,1.083333333,BASELINE,765,743,712,673.261109181,662,633.738890819,877,784,801,650,629.261109181,651,0.4009639102,-0.00540342893889,0.0598438902878,0.999999947188,0.000196508232165,-0.000258615929927,1.12176538006e-05,1793196362593917440
+66,1.100000000,BASELINE,765,743,712,673.317066721,662.317066721,633.682933279,877.317066721,784.317066721,801,650,629.317066721,651,0.400963536662,-0.00540332939363,0.0598434037119,0.999999946765,0.00019759849364,-0.000259424184287,1.1163762015e-05,1793196362610584320
+67,1.116666667,BASELINE,765,743,712,673.894430492,662.894430492,633.105569508,877.894430492,784.894430492,801,650,629.894430492,651,0.400963577064,-0.00540242961048,0.059842682889,0.999999946166,0.000199869135395,-0.000259997231413,1.1068999429e-05,1793196362627251200
+68,1.133333333,BASELINE,765,743,712,674,662.530674756,633,878,785,801,650,630,651,0.40096533438,-0.00540242789708,0.0598435562615,0.999999946815,0.000199678877656,-0.000257636591799,1.09924929027e-05,1793196362643917568
+69,1.150000000,BASELINE,765,743,712,674,662,633.044840564,877.955159436,785,801,650,630,651,0.400967246342,-0.00540263360884,0.0598447093617,0.999999947672,0.0001989232012,-0.000254882759452,1.09285843141e-05,1793196362660584192
+70,1.166666667,BASELINE,765,743,712,674,662,633.634610848,877.365389152,785,801,650,630,651,0.40096636887,-0.00540291796606,0.0598449268041,0.999999947744,0.000197988109864,-0.000255328153686,1.09681300756e-05,1793196362677250816
+71,1.183333333,BASELINE,765,743,712,674,662.220327832,634,877,785,801,650,629.779672168,651.220327832,0.400965700022,-0.00540321695404,0.0598448798405,0.999999947754,0.000197279923356,-0.000255831338035,1.10535139475e-05,1793196362693917184
+72,1.200000000,BASELINE,765,743,712,674,662.799444389,634,877,785,801,650,629.200555611,651.799444389,0.400965370903,-0.00540353976727,0.0598444023098,0.999999947666,0.000196941235615,-0.000256428629684,1.12135420368e-05,1793196362710583808
+73,1.216666667,BASELINE,765,743,712,674,662.623261205,634,877,785,801,649.623261205,629,651.623261205,0.400966058902,-0.00540356338111,0.0598445982636,0.99999994768,0.000197512595983,-0.000255929403889,1.13218776078e-05,1793196362727250688
+74,1.233333333,BASELINE,765,743,712,674,662.04693218,634,877,785,801,649.04693218,629,651.04693218,0.400967285753,-0.00540342848387,0.0598451510189,0.999999947747,0.000198566085409,-0.000254849260531,1.14028272939e-05,1793196362743917312
+75,1.250000000,BASELINE,765,743,712,674,662,633.461850209,877,784.461850209,801,649.538149791,629,651,0.400966317425,-0.00540283423257,0.0598444600666,0.999999947451,0.00019866102982,-0.000255941276959,1.1187367147e-05,1793196362760584192
+76,1.266666667,BASELINE,765,743,712,674.122610198,662,633,877.122610198,784.122610198,801,650,629,651,0.400965531543,-0.00540235854525,0.0598439450061,0.999999947248,0.00019864718199,-0.000256755382515,1.09948114015e-05,1793196362777250560
+77,1.283333333,BASELINE,765,743,712,674.701865659,662,633,877.701865659,784.701865659,801,650,629,651,0.400966149947,-0.00540247609995,0.0598444956702,0.999999947508,0.000198544637846,-0.000255817257351,1.09854266098e-05,1793196362793917184
+78,1.300000000,BASELINE,765,743,712,674.719656633,662,633,877.719656633,784.719656633,801,650,629,651,0.400966086367,-0.00540244533539,0.059844765864,0.999999947439,0.000199094253246,-0.000255655143911,1.11514074411e-05,1793196362810583808
+79,1.316666667,BASELINE,765,743,712,674.142003785,662,633,877.142003785,784.142003785,801,650,629,651,0.400965299529,-0.00540225727541,0.0598447386134,0.999999947018,0.000200335496272,-0.000256316005745,1.1503366857e-05,1793196362827250688
+80,1.333333333,BASELINE,765,743,712,674,662,633,877.431609929,784,801,650,629.431609929,651,0.400965523953,-0.00540144318379,0.0598446802525,0.999999946926,0.000200777424878,-0.00025634240297,1.1148103069e-05,1793196362843917312
+81,1.350000000,BASELINE,765,743,712,673.995962164,662.004037836,633,878,784.004037836,801,650,630,651,0.400966076201,-0.00540043972732,0.0598446138615,0.999999946945,0.000200951605784,-0.000256158786984,1.05684400501e-05,1793196362860583680
+82,1.366666667,BASELINE,765,743,712,673.404514686,662.595485314,633,878,784.595485314,801,650,630,651,0.400966365739,-0.00540157418364,0.0598448545131,0.999999947283,0.000200077790692,-0.00025550911231,1.0880062351e-05,1793196362877250560
+83,1.383333333,BASELINE,765,743,712,673.184049742,662.815950258,633,877.815950258,785,801,649.815950258,630,651,0.400966896342,-0.00540272987643,0.0598453449194,0.999999947744,0.000198846711663,-0.000254651154916,1.11446632262e-05,1793196362893917440
+84,1.400000000,BASELINE,765,743,712,673.766375483,662.233624517,633,877.233624517,785,801,649.233624517,630,651,0.400967948597,-0.0054039315243,0.0598463757847,0.999999948471,0.000196842528141,-0.000253342482237,1.13075117479e-05,1793196362910584064
+85,1.416666667,BASELINE,765,742.657040278,712,674,662.342959722,633.342959722,877,784.657040278,801,649.342959722,630,651,0.40096772491,-0.00540437910737,0.0598465940967,0.999999948543,0.000196419562984,-0.000253383939346,1.14231360144e-05,1793196362927250432
+86,1.433333333,BASELINE,765,742.084302792,712,674,662.915697208,633.915697208,877,784.084302792,801,649.915697208,630,651,0.400966646362,-0.0054043214785,0.0598462680103,0.999999948176,0.000197055990049,-0.000254329962824,1.15071207431e-05,1793196362943917056
+87,1.450000000,BASELINE,764.509709362,742.490290638,712,674,663,634,877,784.490290638,801,650,630.490290638,651,0.400965382085,-0.00540444052908,0.0598452941988,0.999999947784,0.000197255248637,-0.00025571898187,1.13956207509e-05,1793196362960583680
+88,1.466666667,BASELINE,764.067511788,743,712,674,662.932488212,634,877,784.932488212,801,650,630.932488212,651,0.400964544749,-0.00540445064936,0.0598444395999,0.999999947473,0.000197491803398,-0.000256756470631,1.12770777161e-05,1793196362977250304
+89,1.483333333,BASELINE,764.662770035,743,712,674,662.337229965,634,877,784.337229965,801,650,630.337229965,651,0.400967295444,-0.00540337087183,0.0598453908181,0.999999947841,0.000198609740382,-0.000254448315458,1.13672294275e-05,1793196362993916928
+90,1.500000000,BASELINE,765,743,712,673.750537216,662.249462784,634,877.249462784,784.249462784,801,650,630,651,0.40096851972,-0.00540304046633,0.0598458963915,0.999999948091,0.000199042267052,-0.000253121043263,1.13673287524e-05,1793196363010583552
+91,1.516666667,BASELINE,765,743,712,673.175039185,662.824960815,634,877.824960815,784.824960815,801,650,630,651,0.400967749045,-0.00540368945226,0.0598458195293,0.999999948196,0.000198578997005,-0.000253075735715,1.12497341539e-05,1793196363027250432
+92,1.533333333,BASELINE,765,743,712,673.799252631,662.600373684,634,878,784.600373684,801,649.600373684,630,651,0.400965366427,-0.00540364085852,0.0598442298579,0.999999947462,0.000198593772325,-0.000255948088753,1.12296383978e-05,1793196363043917312
+93,1.550000000,BASELINE,765,743,712,674.947855938,662.026072031,634,878,784.026072031,801,649.026072031,630,651,0.400962279234,-0.00540328735508,0.0598419789425,0.999999946348,0.000198817499649,-0.000260095741551,1.12521590522e-05,1793196363060583936
+94,1.566666667,BASELINE,765,743,712,674.438555732,662,634,877.438555732,784.561444268,801,650.122888537,630,651,0.400963793921,-0.00540195196195,0.0598433080929,0.999999946674,0.000199465262042,-0.000258347533172,1.10106175418e-05,1793196363077250560
+95,1.583333333,BASELINE,765,743,712,674.148199016,662,633.851800984,877,785,800.851800984,650.851800984,630,650.851800984,0.400965152499,-0.00540097837851,0.0598444222269,0.999999946856,0.000200602933548,-0.00025676387466,1.0862778623e-05,1793196363093917184
+96,1.600000000,BASELINE,765,743,712,674.730878792,662,633.269121208,877,785,800.269121208,650.269121208,630,650.269121208,0.400965411796,-0.00540120242513,0.0598444068419,0.999999946419,0.000203117769947,-0.000256484657514,1.1026467747e-05,1793196363110583808
+97,1.616666667,BASELINE,765,743,712,674.690630638,662,633,877,784.690630638,800.309369362,650,630,650.309369362,0.400965782984,-0.00540202263467,0.059844853846,0.999999946877,0.000201918184293,-0.000255636421505,1.11521776575e-05,1793196363127250432
+98,1.633333333,BASELINE,765,743,712,674.115735617,662,633,877,784.115735617,800.884264383,650,630,650.884264383,0.400966250207,-0.00540335451914,0.0598456977097,0.999999948093,0.000197530582857,-0.000254299807776,1.12452907437e-05,1793196363143916800
+99,1.650000000,BASELINE,765,743,712,673.543822689,662,633,877,784,801,649.543822689,629.543822689,651,0.400965211242,-0.00540275324785,0.0598448514863,0.99999994753,0.00019834932645,-0.000255883506198,1.1011240966e-05,1793196363160583680
+100,1.666666667,BASELINE,764.971649447,743,712,673.028350553,662,633,877,784.028350553,801,649,629.028350553,651,0.400963900755,-0.00540177010894,0.0598436685118,0.999999946584,0.000200313257291,-0.00025805325632,1.07324138239e-05,1793196363177250560
+101,1.683333333,BASELINE,764.379345606,743,712,673.620654394,662,633,877,784.620654394,801,649,629.620654394,651,0.400964741126,-0.00540288366511,0.0598442609473,0.99999994706,0.000198952755594,-0.000257238359383,1.12032664822e-05,1793196363193917184
+102,1.700000000,BASELINE,764,742.79101351,712,673.79101351,662,633,877.20898649,784.79101351,800.79101351,649.20898649,629.79101351,651,0.400965069427,-0.00540334351421,0.0598447437781,0.999999947403,0.000198009973125,-0.000256620998828,1.14491093692e-05,1793196363210583808
+103,1.716666667,BASELINE,764,742.2097564,712,673.2097564,662,633,877.7902436,784.2097564,800.2097564,649.7902436,629.2097564,651,0.400964485567,-0.00540263890545,0.0598450313685,0.999999947512,0.000197811280023,-0.00025635551274,1.12941390881e-05,1793196363227250432
+104,1.733333333,BASELINE,764.366768806,742.366768806,712,673.366768806,662,633.366768806,877.633231194,784,800.366768806,650,629.366768806,651,0.40096543626,-0.00540201808106,0.0598453155938,0.999999947451,0.000199160964285,-0.000255550068022,1.126598418e-05,1793196363243917056
+105,1.750000000,BASELINE,764.940622343,742.940622343,712,673.940622343,662,633.940622343,877.059377657,784,800.940622343,650,629.940622343,651,0.40096725339,-0.00540144456286,0.0598455979191,0.999999947288,0.000201384892206,-0.000254439752237,1.13094316593e-05,1793196363260583680
+106,1.766666667,BASELINE,765,743,712,674,662,634,877,784,801,650,630,651,0.400966425783,-0.0054021778738,0.0598451608415,0.999999947419,0.000199568336179,-0.000255358108944,1.12165844675e-05,1793196363277250560
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,712,674,661,634,877,785,801,649,629,651,0.400967682341,-0.00540264395365,0.0598467696826,0.999999948256,0.000198133421362,-0.000253184699329,1.13278093125e-05,1793196363320663296
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.596085805,743,712,674,661.596085805,633.403914195,877,785,800.403914195,649.596085805,629.596085805,651,0.400965138045,-0.0054037654083,0.0598453002234,0.999999947774,0.000196716736377,-0.000256173501607,1.14114370152e-05,1793196363337330944
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662,633.187131655,877.187131655,785,800,650,629.812868345,651,0.400964265429,-0.00540408941696,0.0598445968116,0.999999947493,0.000196596077782,-0.000257356509385,1.14405974947e-05,1793196363353998080
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662,633.767584427,877.767584427,785,800,650,629.232415573,651,0.400966906419,-0.00540273732057,0.0598455035103,0.999999947648,0.000199199461246,-0.000254744023516,1.13552765082e-05,1793196363370664448
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,877.647057498,785,800,650,629.352942502,651,0.400966927359,-0.00540224960637,0.0598454623172,0.999999947566,0.000199898030386,-0.000254531244602,1.10946720763e-05,1793196363387330816
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,877.05842375,785,800,650,629.94157625,651,0.400965198658,-0.00540233911746,0.0598447881321,0.99999994733,0.000199324584637,-0.000255920964609,1.07170152305e-05,1793196363403997440
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.478229632,743,712,674,662,634,876.478229632,785,800.521770368,649.478229632,629.478229632,651,0.400965690599,-0.00540302081014,0.0598444089504,0.9999999475,0.000198314615149,-0.000256032344228,1.08586796891e-05,1793196363420663552
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,743,712,674,662,634,876.100203939,784.899796061,800.899796061,649.100203939,629,651,0.400966397109,-0.00540373175289,0.0598442188389,0.999999947688,0.000197360626022,-0.000256025323624,1.11145210259e-05,1793196363437330176
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,743,712,674,662,634,876.674706054,784.325293946,800.325293946,649.674706054,629,651,0.400966961043,-0.00540427228481,0.0598447697958,0.999999947748,0.000196899285752,-0.000256124613067,1.16399393944e-05,1793196363453996800
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,743,712,674,662,633.750880828,877,784,800.249119172,649.750880828,629.249119172,651,0.400972783606,-0.00540443064648,0.0598477173059,0.999999948821,0.00019699033536,-0.000251812753287,1.19525554164e-05,1793196363470663168
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,743,712,674,662,633.176583924,877,784,800.823416076,649.176583924,629.823416076,651,0.40098547031,-0.00540409015746,0.0598537930606,0.999999951145,0.000197802424992,-0.000241742976552,1.19873983781e-05,1793196363487330304
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,743,711.589463549,674,662,633,877,784,800.589463549,649,630,651,0.401012415016,-0.0054057550609,0.0598646584235,0.999999955873,0.000196275092658,-0.000222653111583,1.24437739016e-05,1793196363503996928
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.99673326,711.00326674,674,662.00326674,633.00326674,877.00326674,784.00326674,800.00326674,649,629.99673326,651,0.401045833226,-0.00540830035736,0.0598776670536,0.999999961241,0.000193726666941,-0.000199538889846,1.30887215002e-05,1793196363520663296
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.418735445,711.581264555,674,662.581264555,633.581264555,877.581264555,784.581264555,800.581264555,649,629.418735445,651,0.401104404887,-0.00540908662441,0.0598936116505,0.999999966066,0.000194275828704,-0.000173002750572,1.39821311469e-05,1793196363537329920
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.158223188,742.158223188,712,674,662.841776812,634,877.841776812,784.841776812,801,649.158223188,629,651,0.401166730231,-0.00541046904641,0.0599079584426,0.999999969727,0.000194262665308,-0.000150294904019,1.47839546903e-05,1793196363553996800
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.732449711,742.732449711,712,674,662.267550289,634,877.267550289,784.267550289,801,649.732449711,629,651,0.401238924836,-0.00541341889017,0.0599181042607,0.999999971828,0.000192771026602,-0.000137652470004,1.53449785712e-05,1793196363570663424
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.683053311,743,712,673.683053311,662,634,877.316946689,784,800.683053311,649.683053311,629.316946689,651,0.401319747259,-0.0054153653715,0.059924666989,0.999999973332,0.000192413936577,-0.000126821334603,1.51225697134e-05,1793196363587330048
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.089596226,743,712,673.089596226,662,634,877.910403774,784,800.089596226,649.089596226,629.910403774,651,0.401408096751,-0.00541643649996,0.0599281037603,0.999999974354,0.000193046648773,-0.000117570411768,1.42166790102e-05,1793196363603996672
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.491790809,743,712,673.491790809,662.491790809,633.508209191,877.508209191,784.491790809,800.491790809,649.491790809,630,651,0.401521439426,-0.00542008840462,0.059934165269,0.999999976202,0.000190174498767,-0.000106072098657,1.33209836563e-05,1793196363620663296
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,743,712,673.929640896,662.929640896,633,877,784.929640896,801,650,630,651,0.401641453625,-0.00542412327193,0.0599396195304,0.999999977907,0.000186720970354,-9.57623871975e-05,1.23093162707e-05,1793196363637330432
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,743,712,673.355883779,662.355883779,633,877,784.355883779,801,650,630,651,0.401777403127,-0.00542761474454,0.0599373898167,0.99999997841,0.000183566894841,-9.6815987387e-05,1.04549332564e-05,1793196363653996800
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,712,673.2180964,662,633,877,784,801,650,630,651,0.401924628513,-0.00543138610268,0.0599360649788,0.999999979284,0.000179394087034,-9.5815568177e-05,8.37201712445e-06,1793196363670663424
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,712,673.79244088,662,633,877,784,801,650,630,651,0.402090272402,-0.00543561463757,0.0599362182044,0.999999980739,0.000173557238195,-9.14600248398e-05,5.91580530707e-06,1793196363687330048
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662,633.379060049,877,784,801,650,630,651,0.402276999731,-0.00544135218621,0.0599363657263,0.999999982492,0.000165345722414,-8.75477682192e-05,3.58211544754e-06,1793196363703996416
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662,633.972625362,877,784,801,650,630,651,0.402475657928,-0.00544794366696,0.0599365100205,0.999999984345,0.00015579041223,-8.38863615022e-05,1.31775897573e-06,1793196363720663040
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,742.448482365,712,674,662,634,877,784.551517635,801,650,630,651,0.40271960429,-0.00545532588617,0.0599388260512,0.999999986227,0.000147418493791,-7.62366346716e-05,-1.56294803796e-06,1793196363737329920
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,742.128942062,712,674,662,634,877.128942062,785,801,650,630,651,0.402974658387,-0.00546285016142,0.0599414304713,0.999999988034,0.000138626427816,-6.85099406156e-05,-4.54141721423e-06,1793196363753996288
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,742.703744148,712,674,662,634,877.703744148,785,801,650,630,651,0.403260549864,-0.00547073344736,0.0599446690187,0.999999989883,0.000128183718106,-6.11838801906e-05,-7.75488959603e-06,1793196363770663168
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,877.716319056,785,801,649.716319056,629.716319056,651,0.403547397413,-0.00547897573693,0.0599395964893,0.999999990611,0.000117972478891,-6.87341325637e-05,-1.16698878728e-05,1793196363787329792
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,877.130921126,785,801,649.130921126,629.130921126,651,0.403835261801,-0.0054875998546,0.0599256844761,0.999999989792,0.000108007427329,-9.21065134703e-05,-1.63310138904e-05,1793196363803996672
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662,633.547446082,877.452553918,785,801,649.452553918,629.452553918,651,0.404163009648,-0.00549599430219,0.0599149224933,0.999999988555,9.93104312996e-05,-0.000112262942591,-2.06166750389e-05,1793196363820663296
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662,633.035053656,877.964946344,785,801,650,630,651,0.404504907279,-0.00550427353176,0.0599050656843,0.999999986908,9.11736279023e-05,-0.000131355585407,-2.48468416973e-05,1793196363837329664
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662,633.61105081,877.38894919,785,801,650,630,651,0.40488786233,-0.00551179572228,0.0598951740696,0.999999984851,8.60445549089e-05,-0.000148328400989,-2.98897391196e-05,1793196363853996288
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.813352925,743,712,674,662,633.813352925,877,784.813352925,801,649.813352925,630,651,0.405299232103,-0.00552006723269,0.0598924359162,0.99999998438,8.03598952186e-05,-0.000153611686684,-3.44427112833e-05,1793196363870663168
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.238590345,743,712,674,662,633.238590345,877,784.238590345,801,649.238590345,630,651,0.405769687641,-0.00552989688427,0.0599045727318,0.999999987519,7.35199445187e-05,-0.000134587662988,-3.79769281001e-05,1793196363887329792
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.343919142,743,712,674.343919142,662,633.343919142,877.343919142,784,800.656080858,649.343919142,630,651,0.40625374532,-0.0055417756847,0.0599276487289,0.999999992833,6.21364438784e-05,-9.39437863737e-05,-4.05876621421e-05,1793196363903996672
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.931926875,743,712,674.931926875,662,633.931926875,877.931926875,784,800.068073125,649.931926875,630,651,0.406747456849,-0.00555510882173,0.0599584885562,0.999999997245,4.75282637703e-05,-3.79557211473e-05,-4.25429760847e-05,1793196363920663296
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+148,2.466666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662,633.812068925,877.187931075,784.812068925,800.187931075,649.187931075,629.812068925,651,0.409585845486,-0.0055568261611,0.0599568153578,0.999999994956,-4.71783308242e-05,-8.84304831595e-05,-6.49144770792e-06,1793196364003997184
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+150,2.500000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662.994253631,633.005746369,877.994253631,785,800.994253631,649.994253631,630,651,0.410907857403,-0.00553637460624,0.0599659705273,0.999999998156,3.87655220484e-05,-4.57778797591e-05,-9.48135441543e-06,1793196364037329920
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743,712,674,663,633.572928312,878,785,801,649.427071688,630,651,0.411600561223,-0.00553303172375,0.0599670859582,0.999999998581,2.25379371604e-05,-4.54296044747e-05,-1.63036737994e-05,1793196364053996544
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.849342309,743,712,674.150657691,662.849342309,633.849342309,878,784.849342309,801,649.150657691,630,651,0.412288379313,-0.00553232639108,0.0599604367868,0.999999997952,4.07388804591e-06,-5.98723577449e-05,-2.22392421655e-05,1793196364070663168
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.273829949,743,712,674.726170051,662.273829949,633.273829949,878,784.273829949,801,649.726170051,630,651,0.412961868725,-0.00553874089819,0.0599320815692,0.999999992847,-1.94932743897e-05,-0.000115179519337,-2.56995480291e-05,1793196364087330048
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.308077029,743,712,674.691922971,662,633,878,784,801,650,630,650.691922971,0.413669956134,-0.00554374094247,0.0599095811813,0.999999986825,-3.03042947484e-05,-0.000156956323833,-2.82252273881e-05,1793196364103996672
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.895788318,743,712,674.104211682,662,633,878,784,801,650,630,650.104211682,0.414409447408,-0.00554745711288,0.0598923950811,0.999999981735,-2.9536868264e-05,-0.000186451948559,-2.99025687342e-05,1793196364120663552
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.523543793,743,712,674,662,633,878,784,801,650,630,650.476456207,0.415259789306,-0.00554995448702,0.0599355323487,0.999999993418,-3.3605730665e-05,-0.000105888571442,-2.86825373081e-05,1793196364137329920
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.055467615,743,712,674,662.055467615,633.055467615,878,784,801,650,629.944532385,651,0.416128791419,-0.00555150560916,0.0599879122084,0.999999998861,-3.81929416257e-05,-9.54584102539e-06,-2.69707899931e-05,1793196364153996800
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.633176567,743,712,674,662.633176567,633.633176567,878,784,801,650,629.366823433,651,0.416948532466,-0.00554662087172,0.0600048975581,0.99999999886,-3.784612716e-05,1.20177609799e-05,-2.65091339294e-05,1793196364170663424
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662.790146016,633.790146016,878.209853984,784.209853984,801,650,629,651,0.417769772132,-0.00554325436544,0.0600074037385,0.999999998959,-3.38603956177e-05,1.41142775222e-05,-2.71310723478e-05,1793196364187329792
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662.215262933,633.215262933,878.784737067,784.784737067,801,650,629,651,0.418593618513,-0.00554252873642,0.0599847242245,0.999999999128,-2.35449742831e-05,-1.76510979826e-05,-2.96378619175e-05,1793196364203996416
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662.368560883,633.368560883,878.631439117,785,801,650,629,651,0.419424051288,-0.00554495431664,0.0599592716858,0.999999997288,-3.35470472241e-05,-5.69856422676e-05,-3.24183152791e-05,1793196364220663040
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662.957736457,633.957736457,878.042263543,785,801,650,629,651,0.420258426545,-0.00554926616071,0.0599321592593,0.999999992737,-5.57108499392e-05,-0.000100850969563,-3.53625793018e-05,1793196364237329664
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743,712,674.538676364,663,634,878.538676364,784.461323636,801,649.461323636,629,651,0.421077542149,-0.00554901148133,0.059899250112,0.99999998492,-4.60716485466e-05,-0.000163365158119,-3.67389754174e-05,1793196364253996288
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743,712,674.882252479,663,633.882252479,878.882252479,784.117747521,801,649.117747521,629.117747521,651,0.421911217623,-0.00554837702722,0.0598744421405,0.999999976461,-3.71596081202e-05,-0.000210383972424,-3.78961064941e-05,1793196364270663168
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743,712,674.307959592,663,633.307959592,878.307959592,784.692040408,801,649.692040408,629.692040408,651,0.422805918435,-0.00554763831593,0.0598827819182,0.999999980047,-4.05960413442e-05,-0.000191734478542,-3.86728511831e-05,1793196364287329792
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,712,674.272290662,663,633,878,785,801,650,629.727709338,651,0.423740927521,-0.00554860120855,0.0599185642563,0.999999989581,-4.41203800913e-05,-0.000132234172322,-3.74901415935e-05,1793196364303996416
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,712,674.859429462,663,633,878,785,801,650,629.140570538,651,0.424722544952,-0.00555153165595,0.0599860782713,0.999999997956,-4.77463635888e-05,-2.54983014818e-05,-3.40417260078e-05,1793196364320663040
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743,712,675,663,633,878,785,800.559013096,650,629.440986904,651,0.425653680404,-0.00555532564722,0.0600097173627,0.999999998178,-4.78068626956e-05,1.59416272185e-05,-3.32178056183e-05,1793196364337329664
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743,712,675,663,633.020711383,878,785,800.020711383,650,630,651,0.426568321191,-0.00555932981483,0.0600184602099,0.999999997712,-4.70793123891e-05,3.53546660362e-05,-3.33141409787e-05,1793196364353996288
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,712,675,663,633.598391261,878,785,800.598391261,650,630,651,0.427466721509,-0.0055616761155,0.059998016827,0.999999997708,-5.53415059226e-05,1.51542071778e-05,-3.59414988084e-05,1793196364370662912
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743,712,675.175050905,663,633.824949095,878.175050905,784.824949095,801,649.824949095,630,650.824949095,0.428348264232,-0.00556254999383,0.0599774657461,0.999999997516,-5.86622280833e-05,-8.75751827787e-06,-3.80786533412e-05,1793196364387329792
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,743,712,675.749383417,663,633.250616583,878.749383417,784.250616583,801,649.250616583,630,650.250616583,0.429191355639,-0.00556006535661,0.0599566690134,0.999999997104,-5.07117219545e-05,-4.1134440039e-05,-3.9097680628e-05,1793196364403996416
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743,712,675.667089203,662.667089203,633.332910797,878.667089203,784.332910797,801.332910797,649,630,650,0.43004025036,-0.00555572622707,0.0599315238641,0.999999994466,-4.41905355976e-05,-8.64915741001e-05,-4.04268376644e-05,1793196364420663040
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743,712,675.076443304,662.076443304,633.923556696,878.076443304,784.923556696,801.923556696,649,630,650,0.43089363789,-0.00554995137439,0.0599030122297,0.999999988299,-3.87759098458e-05,-0.000141897813836,-4.19960928984e-05,1793196364437329920
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743,712.504325638,675,662.504325638,633.495674362,878.504325638,785,801.495674362,649.504325638,630,650.504325638,0.431837100229,-0.00555620546721,0.0599426536239,0.999999995717,-5.12754159968e-05,-6.49829310301e-05,-4.13956516231e-05,1793196364453996288
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743,712.917031242,675,663.082968758,633.082968758,879,785,801,650,630,651,0.432779084179,-0.00556384801679,0.0599864964582,0.999999997004,-6.34041057917e-05,1.82718618587e-05,-4.04637015827e-05,1793196364470662912
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743,712.342285391,675,663.657714609,633.657714609,879,785,801,650,630,651,0.433632933865,-0.00556912077595,0.0599951879919,0.999999997311,-5.75495019212e-05,2.25076972591e-05,-3.94786843767e-05,1793196364487329792
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743.232391787,712,675.232391787,663.767608213,634,878.767608213,785,801,650,630,650.767608213,0.434465832435,-0.00557224126782,0.0599867449235,0.999999997261,-6.23900287754e-05,3.72201670401e-06,-3.96559319518e-05,1793196364503996416
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743.806967931,712,675.806967931,663.193032069,634,878.193032069,785,801,650,630,650.193032069,0.435267881746,-0.00557219266313,0.0599530720802,0.999999994496,-8.29785570866e-05,-4.89616023333e-05,-4.15445514222e-05,1793196364520663040
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744,712,676,663.393936141,633.606063859,878.393936141,785,801,650,630,650.393936141,0.436071470799,-0.00557128412646,0.0599300729854,0.999999991926,-7.98840165865e-05,-8.85761654249e-05,-4.38199640019e-05,1793196364537329664
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744,712,676,663.987173751,633.012826249,878.987173751,785,801,650,630,650.987173751,0.436875838795,-0.00556994053017,0.0599124739905,0.999999989438,-6.48076586887e-05,-0.000121578785508,-4.62910641096e-05,1793196364553996288
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,743.435825594,712,676,663.435825594,633,879,784.435825594,801,650,630,650.435825594,0.437622104536,-0.00557369899589,0.0599015803314,0.99999998581,-6.54156067176e-05,-0.000148918002243,-4.38600628204e-05,1793196364570663168
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,743,712,675.859783648,663,633,878.859783648,784.140216352,801,650,630.140216352,650.140216352,0.438374894526,-0.00557614629358,0.0598963822299,0.999999983199,-7.01328861567e-05,-0.000163996785192,-4.22979918365e-05,1793196364587329792
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,743,712,675.285598407,663,633,878.285598407,784.714401593,801,650,630.714401593,650.714401593,0.439151850887,-0.00557418657774,0.05990835324,0.999999985288,-8.64957988619e-05,-0.000141516934946,-4.37605346072e-05,1793196364603996416
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,743,712,675,663,633,878,785,801.594290784,650,630.702854608,651,0.439929956167,-0.00557403640175,0.0599412813837,0.999999991337,-8.84573625545e-05,-8.73585614105e-05,-4.32354027987e-05,1793196364620663296
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,743,712,675,663,633,878,785,802.776718173,650,630.111640913,651,0.440709198423,-0.00557567702703,0.0599949496388,0.999999996268,-7.61667090112e-05,-1.8497124438e-06,-4.07431794734e-05,1793196364637329920
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,743,712,675,663,633,878,785,802.06073391,649.530366955,630,651,0.441421300926,-0.00558256372626,0.060002599201,0.999999996718,-7.10185752377e-05,7.15629891587e-06,-3.83228334194e-05,1793196364653996288
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,743.048245126,712.048245126,675.048245126,663,633,878.048245126,785,801.048245126,649.048245126,630,651,0.442110768188,-0.00559019245836,0.0599967734677,0.999999996805,-7.10163138767e-05,-4.87627254019e-06,-3.63667553013e-05,1793196364670662912
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,743.623058711,712.623058711,675.623058711,663,633,878.623058711,785,801.623058711,649.623058711,630,651,0.442723772545,-0.00559259083827,0.0599607966877,0.999999991924,-0.000109030657298,-5.21548472009e-05,-3.92952767438e-05,1793196364687329792
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,743.802476083,712.802476083,676,663,633,878.802476083,785,801.802476083,650,630,651,0.443329214542,-0.00559228014637,0.0599338977028,0.999999987169,-0.000126894630461,-8.83887743663e-05,-4.17989700274e-05,1793196364703996416
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,743.228674427,712.228674427,676,663,633,878.228674427,785,801.228674427,650,630,651,0.443920250556,-0.00558680874612,0.0599242916668,0.999999988032,-0.00010637269862,-0.000103582954276,-4.34933778416e-05,1793196364720663296
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,743.354958311,712,675.645041689,663,633,878,785,801.354958311,650,630,651,0.444492111196,-0.00558156383102,0.0599261900892,0.99999998961,-9.20106116961e-05,-0.000101501132903,-4.48397355641e-05,1793196364737329920
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,743.945104893,712,675.054895107,663,633,878,785,801.945104893,650,630,651,0.44505126658,-0.00557646898077,0.0599357111361,0.999999991735,-8.17299159252e-05,-8.7972578071e-05,-4.59554821657e-05,1793196364753996544
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,743.473581612,712,675,663,633,878.526418388,784.473581612,802,650,630,651,0.445549093074,-0.00558094926399,0.0599141350287,0.999999986177,-8.74309895597e-05,-0.000133056468931,-4.79360092242e-05,1793196364770663168
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,743,712,675.105312736,662.894687264,632.894687264,879,784,802,650,630,651,0.44603081442,-0.00558738017627,0.0598885297125,0.99999997752,-9.55685156336e-05,-0.000182516821909,-5.0139214448e-05,1793196364787329792
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,743,712,675.677498603,662.322501397,632.322501397,879,784,802,650,630,651,0.446469022539,-0.00559810512994,0.0598592009417,0.999999967597,-0.000107240951273,-0.000224729771719,-5.29364109608e-05,1793196364803996416
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,743.257050302,712,676,662.257050302,632,879,784,801.742949698,650,629.742949698,651,0.446905997152,-0.00560564426192,0.059845545573,0.999999962483,-0.000115024426609,-0.000242473314473,-5.48600951567e-05,1793196364820663040
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,743.846115928,712,676,662.846115928,632,879,784,801.153884072,650,629.153884072,651,0.447341378488,-0.00560906847234,0.0598521345305,0.999999965383,-0.000117784781649,-0.000228611297018,-5.56555196232e-05,1793196364837329664
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,743.571123917,712,676,662.571123917,632,879,784,801,650,629.428876083,651,0.447760898991,-0.00561169791155,0.059860816206,0.999999967962,-0.000120380623994,-0.000215751395517,-5.50947546416e-05,1793196364853996544
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,743.009354174,712,676,661.990645826,632,879,784,801,650,629.990645826,651,0.448173707942,-0.0056139358896,0.0598699249366,0.999999970242,-0.000122905765126,-0.000203685243767,-5.40607236127e-05,1793196364870663424
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,743.58664835,712,676,661.41335165,632,879,784,801,650,629.41335165,651,0.448519544783,-0.0056094695083,0.0598600329054,0.999999966976,-0.000124670251572,-0.000218296939267,-5.34088766859e-05,1793196364887329792
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,744,712,676,661,632,879,784,801.163230318,650,629.163230318,651,0.448839846565,-0.00560369728407,0.0598427285745,0.999999960931,-0.000124044326595,-0.00024571318904,-4.87523823841e-05,1793196364903996672
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,744,712,676,661,632,879,784,801.738016704,650,629.738016704,651,0.449095766338,-0.00559463260938,0.0598067354533,0.999999945893,-0.000117391406627,-0.000305413836216,-3.39988853171e-05,1793196364920663040
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,743.679359619,712,675.679359619,661,631.679359619,879,784,802,650,630,651,0.449342605266,-0.0055845702903,0.0597771448823,0.999999932366,-0.000108055851903,-0.000350263478672,-3.01284392077e-05,1793196364937329664
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,743.090171979,712,675.090171979,661,631.090171979,879,784,802,650,630,651,0.449581838662,-0.00557367241054,0.0597529166678,0.999999921501,-9.64734996051e-05,-0.000382674894803,-3.53729205348e-05,1793196364953996288
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,743,712,675,661,631,879,784,801.509536331,650,630,651,0.44981650567,-0.00557749866264,0.0597460513426,0.999999917317,-0.000100073018666,-0.000392328843077,-3.78146368724e-05,1793196364970662912
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,743,712,675.138492022,660.930753989,631.069246011,879,784,801.069246011,650,629.930753989,651,0.450046757231,-0.00558371794363,0.0597430131762,0.999999914923,-0.00010599793829,-0.000396666768506,-3.96747092092e-05,1793196364987329792
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,743,712,676.291544607,660.354227696,631.645772304,879,784,801.645772304,650,629.354227696,651,0.450250707079,-0.00558797672248,0.0597450275197,0.99999991633,-0.000108860987029,-0.000392186260463,-4.09839920214e-05,1793196365003996416
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.096996031,743,712,674,661.096996031,633.903003969,877.903003969,784.903003969,801,649.903003969,629,651,0.401838578887,-0.00533468175863,0.0598333590969,0.999999922045,0.000285384591297,-0.000270599586552,3.52448111736e-05,1793196367969439232
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+415,6.916666667,POSE2_TO_POSE3_RETREAT,764.475347606,743,712,674,662,633.475347606,877.475347606,784.524652394,800.950695212,650,629.475347606,651,0.40096853994,-0.0054099512522,0.0598427962982,0.999999941137,0.000223456274968,-0.000260099881937,1.19013731001e-05,1793196368502772736
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,662,634,877.938618899,784.061381101,801.938618899,650,630,651,0.400967972202,-0.00541011740927,0.0598424496268,0.999999941097,0.000223050789773,-0.000260588430719,1.21889780722e-05,1793196368519439104
+417,6.950000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,662,634,877.359419224,784.640580776,801.359419224,650,630,651,0.400968815118,-0.00541042151265,0.059843126382,0.999999941604,0.000221690926337,-0.000259822905203,1.17082747844e-05,1793196368536105728
+418,6.966666667,POSE2_TO_POSE3_RETREAT,764.780616687,743,711.780616687,674,661.780616687,633.780616687,877,785,801,649.780616687,629.780616687,651,0.400968460983,-0.00540999324186,0.0598430442591,0.999999941472,0.000221950214814,-0.000260124372526,1.13634551292e-05,1793196368552772608
+419,6.983333333,POSE2_TO_POSE3_RETREAT,764.202463522,743,711.202463522,674,661.202463522,633.202463522,877,785,801,649.202463522,629.202463522,651,0.400966149246,-0.00540836727849,0.0598417211005,0.99999994029,0.000224857393131,-0.000262170753038,1.12408535332e-05,1793196368569438976
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,661.948839444,633.948839444,877.948839444,785,801,649.948839444,629.948839444,651,0.400967091846,-0.00540887435418,0.0598422942926,0.999999940778,0.000223924099518,-0.000261099249661,1.13218643025e-05,1793196368602772224
+422,7.033333333,POSE2_TO_POSE3_RETREAT,764.534839578,743,711.534839578,674,662,633.465160422,877.465160422,784.465160422,800.465160422,649.465160422,630,651,0.400966774558,-0.0054089471342,0.0598421819092,0.999999940714,0.000224212290038,-0.000261089335439,1.15465598021e-05,1793196368619439104
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+426,7.100000000,POSE2_TO_POSE3_RETREAT,764.14266603,743,711.14266603,673,662.14266603,633.85733397,877,785,800.85733397,649.85733397,630,651,0.400968076742,-0.00540821795228,0.059843746397,0.999999941211,0.000224442601693,-0.000258990645264,1.12818947936e-05,1793196368686105344
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cb20b5aafd3fc8202bb65bec0b4e3efaf189c98f
--- /dev/null
+++ b/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
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+372,6.200000000,pose2_to_pose3_retreat,0.581277253766,1.2980418563e-06,1.05001165909,0.551848488802,0.00867496491343,1.04966120198
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+376,6.266666667,pose2_to_pose3_retreat,0.580271405498,1.25932959715e-06,1.0500118931,0.550842639645,0.00867492277187,1.04966142612
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+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
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..65165ab0a4e48431da16b22884e8b62c84ed7716
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8d3a99a6527080b407a777f0702a93fc62ba201d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_01/franka_data.csv
@@ -0,0 +1,571 @@
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+25,0.416666667,BASELINE,765,743,711.512513365,674,664,634,877,785,801,650,630,651,0.400931150399,-0.00545854633925,0.0499224178044,0.999999974571,-2.21971109274e-05,-0.000221230812378,-3.77211673405e-05,1793196370428107008
+26,0.433333333,BASELINE,764.913030362,743,711.913030362,674,664,633.913030362,877.086969638,785,801,650,629.913030362,651,0.400928882865,-0.00545931278865,0.0499216920026,0.999999974109,-2.39841609577e-05,-0.000223126479982,-3.76931240177e-05,1793196370444773888
+27,0.450000000,BASELINE,764.338946507,743,711.338946507,674,664,633.338946507,877.661053493,785,801,650,629.338946507,651,0.400930176846,-0.00546167720547,0.049922240384,0.999999974338,-2.47416665732e-05,-0.000222148126856,-3.68942631549e-05,1793196370461440512
+28,0.466666667,BASELINE,764.243400169,742.756599831,711,674,664,633,877.756599831,785,801,650,629,651,0.400931191458,-0.00546275651965,0.0499226753098,0.999999974542,-2.54191805671e-05,-0.000221219221557,-3.64969272607e-05,1793196370478107136
+29,0.483333333,BASELINE,764.837657524,742.162342476,711,674,664,633,877.162342476,785,801,650,629,651,0.400931803366,-0.00546198338017,0.0499229466914,0.99999997471,-2.59813879588e-05,-0.000220361594515,-3.6678382801e-05,1793196370494773760
+30,0.500000000,BASELINE,765,742,711,674,664,633.418883329,877,785,800.581116671,650.418883329,629.418883329,651,0.40093098752,-0.00546116471516,0.0499221563579,0.999999974565,-2.49036256246e-05,-0.000221081130979,-3.7056952845e-05,1793196370511440384
+31,0.516666667,BASELINE,765,742,711,674,664,633.995210994,877,785,800.004789006,650.995210994,629.995210994,651,0.400929635028,-0.00546032893864,0.049920966961,0.999999974298,-2.32094531112e-05,-0.000222393470857,-3.7509611682e-05,1793196370528107008
+32,0.533333333,BASELINE,765,742.569837509,711,674,664,634,877,785,800,650.430162491,630,651,0.400928951881,-0.00546040352038,0.0499212601033,0.999999974182,-2.25665046322e-05,-0.00022302447224,-3.72422054102e-05,1793196370544773632
+33,0.550000000,BASELINE,765,743,711,674,664,634,877,785,800.146990178,650.146990178,630,651.146990178,0.400928336937,-0.00546022435647,0.0499214427776,0.99999997408,-2.22609846285e-05,-0.000223536196234,-3.70878877878e-05,1793196370561440256
+34,0.566666667,BASELINE,765,743,711,674,664,634,877,785,800.731707919,650.731707919,630,651.731707919,0.400927908399,-0.00545926683804,0.0499212594918,0.999999974019,-2.29340748988e-05,-0.000223709720653,-3.72883086207e-05,1793196370578106880
+35,0.583333333,BASELINE,765,743,711,674,664,634,877,785,800.683408793,650.683408793,630,651.683408793,0.400928831809,-0.00545953758401,0.0499214771102,0.999999974127,-2.40281759912e-05,-0.00022307901853,-3.74709010715e-05,1793196370594773760
+36,0.600000000,BASELINE,765,743,711,674,664,634,877,785,800.098385075,650.098385075,630,651.098385075,0.400930901512,-0.00546084975518,0.0499220346487,0.999999974377,-2.54792453555e-05,-0.00022176642588,-3.76383771502e-05,1793196370611440384
+37,0.616666667,BASELINE,765,743,711.478098698,674,664,634,877.478098698,785,800.478098698,650.478098698,630,651,0.400930660223,-0.00546126823302,0.0499218270045,0.999999974363,-2.41242182546e-05,-0.000222044286878,-3.72536668528e-05,1793196370628107008
+38,0.633333333,BASELINE,765,743,711.947183268,674,664,634,877.947183268,785,801,651,630,651,0.400930203003,-0.00546157765183,0.0499216139587,0.999999974342,-2.25529659809e-05,-0.000222385424722,-3.67786410209e-05,1793196370644773888
+39,0.650000000,BASELINE,765,743,711.37285187,674,664,634,877.37285187,785,801,651,630,651,0.400932227021,-0.00546259426348,0.0499228750824,0.999999974796,-2.44484007501e-05,-0.000220176398393,-3.65141443261e-05,1793196370661440512
+40,0.666666667,BASELINE,765,743,711.206317769,674,664,633.793682231,877,785,801.206317769,650.793682231,630,651,0.400933249019,-0.00546272277503,0.0499234681347,0.999999975011,-2.52953439265e-05,-0.0002190882571,-3.65730478843e-05,1793196370678107136
+41,0.683333333,BASELINE,765,743,711.794440874,674,664,633.205559126,877,785,801.794440874,650.205559126,630,651,0.400932416709,-0.00546120779572,0.0499228248743,0.999999974798,-2.42019806047e-05,-0.000220074391411,-3.72304260483e-05,1793196370694774272
+42,0.700000000,BASELINE,765,743,712,674,664,633.378726862,877.378726862,785,801.621273138,650.378726862,630,651,0.400931610951,-0.00546169496322,0.0499223286607,0.999999974623,-2.43003144619e-05,-0.000220887552498,-3.70382527788e-05,1793196370711440640
+43,0.716666667,BASELINE,765,743,712,674,664,633.960951073,877.960951073,785,801.039048927,650.960951073,630,651,0.40093081946,-0.0054632579234,0.0499219114582,0.999999974469,-2.50389705508e-05,-0.000221607771658,-3.63895988909e-05,1793196370728107008
+44,0.733333333,BASELINE,765,743,712,674,664,634,877.463789454,785,801,650.463789454,630,651,0.400932086374,-0.00546240600207,0.049922680222,0.999999974738,-2.3875423461e-05,-0.000220469670741,-3.67061224018e-05,1793196370744773632
+45,0.750000000,BASELINE,765,743,711.886951781,674,664.113048219,634,877,785,801,650,629.886951781,651,0.40093299765,-0.00546153092371,0.0499233760015,0.999999974951,-2.3186934599e-05,-0.000219523757475,-3.70035132886e-05,1793196370761440256
+46,0.766666667,BASELINE,765,743,711.30142565,674,664.69857435,634,877,785,801,650,629.30142565,651,0.400931804086,-0.00546128463803,0.0499234104111,0.999999974817,-2.50554583062e-05,-0.000219939431893,-3.6930943121e-05,1793196370778106880
+47,0.783333333,BASELINE,765,743,711,674,664.718655265,633.718655265,877,785,801,650,629,651,0.400930882058,-0.00546082182153,0.0499227055952,0.999999974607,-2.4999361292e-05,-0.000220917288404,-3.68389592727e-05,1793196370794773760
+48,0.800000000,BASELINE,765,743,711,674,664.138808607,633.138808607,877,785,801,650,629,651,0.400930248125,-0.00546012926952,0.0499212164737,0.999999974312,-2.29012750471e-05,-0.00022249161049,-3.67263778342e-05,1793196370811440640
+49,0.816666667,BASELINE,765,743,711,674,664,633.439850496,877,785,801.439850496,650,629.439850496,651,0.400930735336,-0.00546036674651,0.0499213440636,0.999999974331,-2.36883731256e-05,-0.000222278568193,-3.69941911467e-05,1793196370828107008
+50,0.833333333,BASELINE,765,743,711.018030128,674,664,634,877,785,801.963939745,650.018030128,629.981969872,651,0.400931579627,-0.00546088247115,0.0499220069891,0.999999974456,-2.53144569455e-05,-0.00022147487459,-3.73553650493e-05,1793196370844773632
+51,0.850000000,BASELINE,765,743,711.592945867,674,664,634,877,785,800.814108266,650.592945867,629.407054133,651,0.400932554249,-0.00546095152196,0.0499234885759,0.999999974855,-2.48071309372e-05,-0.000219802923745,-3.69023232524e-05,1793196370861440256
+52,0.866666667,BASELINE,765,742.833513837,712,674,664,634,877,785,800.166486163,650.833513837,629.166486163,651,0.400933073993,-0.00546067186429,0.0499242558319,0.999999975094,-2.37159219926e-05,-0.000218860888075,-3.6724004088e-05,1793196370878106880
+53,0.883333333,BASELINE,765,742.263308942,712,674,664,634,877,785,800.736691058,650.263308942,629.736691058,651,0.400932490689,-0.00545954660994,0.0499232908797,0.999999974951,-2.12088327714e-05,-0.000219688852036,-3.72118704842e-05,1793196370894773504
+54,0.900000000,BASELINE,765,742.322291179,711.677708821,674,664,634,877,785,801,650.322291179,630,651,0.400931502054,-0.00546001308566,0.0499221869479,0.999999974627,-2.23101880515e-05,-0.000221039923501,-3.72851901059e-05,1793196370911440128
+55,0.916666667,BASELINE,765,742.921099983,711.078900017,674,664,634,877,785,801,650.921099983,630,651,0.400930165656,-0.00546184522529,0.0499209637754,0.999999974135,-2.65074969511e-05,-0.000222839807839,-3.7002839126e-05,1793196370928107008
+56,0.933333333,BASELINE,765,743,711,674,664,634,877,785,801,650.500869938,630,651.499130062,0.400929468553,-0.00546079677353,0.0499213912318,0.999999974161,-2.49544761275e-05,-0.000222913224811,-3.6939393953e-05,1793196370944773632
+57,0.950000000,BASELINE,765,743,711.075368407,674,664,634,877,785,801,650,630,651.924631593,0.400929249106,-0.00545979286167,0.0499221120228,0.99999997431,-2.32122382477e-05,-0.000222445685507,-3.68608253988e-05,1793196370961440512
+58,0.966666667,BASELINE,765,743,711.660821584,674,664,634,877,785,801,650,630,651.339178416,0.400931605772,-0.0054620489803,0.0499231227451,0.999999974775,-2.60954328444e-05,-0.000220090230737,-3.64550704463e-05,1793196370978107136
+59,0.983333333,BASELINE,765,743,711.755449362,674,664,634,877.244550638,785,801.244550638,650.244550638,630,651,0.400932618593,-0.00546264621378,0.0499231648214,0.999999974917,-2.69673690279e-05,-0.000219345503724,-3.64155900624e-05,1793196370994773760
+60,1.000000000,BASELINE,765,743,711.174094751,674,664,634,877.825905249,785,801.825905249,650.825905249,630,651,0.400931780621,-0.00546095877103,0.0499218728436,0.999999974625,-2.50693278709e-05,-0.00022081912884,-3.68805561901e-05,1793196371011440384
+61,1.016666667,BASELINE,765,743,711,674,664,633.594816479,877.594816479,785,801.594816479,650.594816479,629.594816479,651,0.400932335069,-0.00546017133527,0.0499216029405,0.999999974686,-2.45750242242e-05,-0.000220557218972,-3.71165591441e-05,1793196371028107264
+62,1.033333333,BASELINE,765,743,711,674,664,633.016425832,877.016425832,785,801.016425832,650.016425832,629.016425832,651,0.400933484747,-0.005459768633,0.0499217699521,0.9999999749,-2.46807878877e-05,-0.000219553405629,-3.72546853031e-05,1793196371044773888
+63,1.050000000,BASELINE,765,743,711,674.557891578,664,633.557891578,877,785,801,650.557891578,629.557891578,651.557891578,0.400932672745,-0.00546064711637,0.0499222973095,0.999999974908,-2.54178441854e-05,-0.000219444469413,-3.71786757772e-05,1793196371061440512
+64,1.066666667,BASELINE,765,743,711,674.864468891,664,634,876.864468891,785,800.864468891,651,630,651.864468891,0.400931963612,-0.00546137331113,0.0499225546173,0.99999997483,-2.60139720422e-05,-0.000219742321183,-3.71055870309e-05,1793196371078107136
+65,1.083333333,BASELINE,765,743,711,674.275311679,664,634,876.275311679,785,800.275311679,651,630,651.275311679,0.400931790701,-0.00546146445205,0.0499218728093,0.999999974483,-2.60766486422e-05,-0.000221314155914,-3.70632233608e-05,1793196371094773504
+66,1.100000000,BASELINE,765,743,711,674,664,633.69116171,876.30883829,785,800.30883829,650.69116171,630,651,0.400931317222,-0.00546164640458,0.0499215302611,0.999999974316,-2.59444672448e-05,-0.000222117617089,-3.68487120862e-05,1793196371111440128
+67,1.116666667,BASELINE,765,743,711,674,664,633.111404225,876.888595775,785,800.888595775,650.111404225,630,651,0.40093058008,-0.00546190801889,0.0499214853187,0.999999974309,-2.56413524679e-05,-0.000222247045359,-3.64831894531e-05,1793196371128106752
+68,1.133333333,BASELINE,765,743,711,674.46548214,664,633,877.46548214,784.53451786,800.53451786,650.46548214,630,651,0.400931562189,-0.00546030203519,0.0499219519476,0.999999974759,-2.25204724776e-05,-0.000220515579432,-3.67220103357e-05,1793196371144773632
+69,1.150000000,BASELINE,765,743,711,674.958464638,664,633,877.916929275,784.041535362,800,650.958464638,630,651,0.400932693098,-0.00545855937658,0.0499224299051,0.999999975222,-1.92340890637e-05,-0.000218659284766,-3.70666615097e-05,1793196371161440512
+70,1.166666667,BASELINE,765,743,711,674.384338007,664,633,876.768676015,784.615661993,800,650.384338007,630,651,0.40093048821,-0.00546076042285,0.0499214928142,0.999999974673,-2.24197945629e-05,-0.00022087814707,-3.69250656195e-05,1793196371178107904
+71,1.183333333,BASELINE,765,742.804664161,711,674,664,633.195335839,876.390671679,785,800,650,630,651,0.400929466828,-0.00546232939057,0.0499210640055,0.999999974317,-2.46915041224e-05,-0.00022227283713,-3.67670569943e-05,1793196371194774784
+72,1.200000000,BASELINE,765,742.213756625,711,674,664,633.786243375,877.57248675,785,800,650,630,651,0.400930842144,-0.00546261834586,0.0499216645114,0.999999974374,-2.51122947075e-05,-0.000221998508675,-3.65758111593e-05,1793196371211440640
+73,1.216666667,BASELINE,765.369045689,742.369045689,711,674,664.369045689,634,877.630954311,785,800,650,629.630954311,651,0.400931769794,-0.00546254326326,0.049922263242,0.999999974567,-2.61236955027e-05,-0.000221013776081,-3.6550341498e-05,1793196371228107520
+74,1.233333333,BASELINE,765.947254199,742.947254199,711,674,664.947254199,634,877.052745801,785,800,650,629.052745801,651,0.400932443721,-0.00546226185607,0.0499228609664,0.999999974834,-2.74698344918e-05,-0.000219626410072,-3.66188282686e-05,1793196371244774400
+75,1.250000000,BASELINE,766,743,711,674.521167728,664.478832272,633.478832272,878.042335456,785,800.521167728,650,629,651,0.400932083692,-0.00546113435266,0.0499224471711,0.999999974691,-2.63212712328e-05,-0.000220367862096,-3.69213673367e-05,1793196371261441280
+76,1.266666667,BASELINE,765.902488254,743,711.097511746,674.902488254,664,633,878.804976508,785,801,650.097511746,629,651,0.400931476951,-0.00546034545795,0.0499219731258,0.999999974513,-2.54516661254e-05,-0.000221236568228,-3.71656087769e-05,1793196371278108160
+77,1.283333333,BASELINE,765.311667412,743,711.688332588,674.311667412,664,633,877.623334825,785,801,650.688332588,629,651,0.400930147165,-0.00546169923782,0.0499217079454,0.999999974376,-2.72601572384e-05,-0.000221667996827,-3.69960682035e-05,1793196371294774528
+78,1.300000000,BASELINE,765,743,711.726276127,674,664,633.273723873,876.726276127,785,800.726276127,650.726276127,629.273723873,651,0.400929655454,-0.00546284971,0.0499213818823,0.999999974328,-2.79919488162e-05,-0.000221812899921,-3.68807751271e-05,1793196371311440640
+79,1.316666667,BASELINE,765,743,711.146946837,674,664,633.853053163,876.146946837,785,800.146946837,650.146946837,629.853053163,651,0.400930099432,-0.00546377319446,0.0499209878454,0.999999974382,-2.75216339038e-05,-0.00022163790489,-3.68260479484e-05,1793196371328107264
+80,1.333333333,BASELINE,765,743,711,674,664,633.56975443,876.43024557,785,800.43024557,650,629.56975443,651,0.400930782959,-0.00546384577153,0.0499213314933,0.999999974416,-2.7139100776e-05,-0.000221561675553,-3.66312791894e-05,1793196371344773632
+81,1.350000000,BASELINE,765,743,711,674,664,633.006661156,877,785,800.993338844,650,629,651,0.400931549987,-0.00546361575088,0.0499219207103,0.999999974447,-2.67853368685e-05,-0.0002215014783,-3.63994016014e-05,1793196371361440512
+82,1.366666667,BASELINE,765,743,711,674,664,633.578777979,877,785,800.421222021,650,629,651,0.400932494338,-0.00546224707272,0.0499220739526,0.999999974777,-2.63412746806e-05,-0.000219952861674,-3.70575681727e-05,1793196371378107136
+83,1.383333333,BASELINE,765,743,711,674,664,634,877,785,800,650,629.156444542,651,0.400932906213,-0.0054615461763,0.0499220451804,0.999999974929,-2.61161894012e-05,-0.000219222737069,-3.74253814327e-05,1793196371394773760
+84,1.400000000,BASELINE,765,743,711,674,664,634,877,785,800,650,629.74960331,651,0.400931831682,-0.00546270938928,0.0499215083154,0.999999974594,-2.65023770603e-05,-0.00022077742885,-3.69826749003e-05,1793196371411440640
+85,1.416666667,BASELINE,765,743,711,674,664,633.665102988,877.334897012,785,800,650,630,651,0.40093185423,-0.00546317849145,0.0499218734601,0.999999974631,-2.69878722246e-05,-0.000220583811319,-3.67736421476e-05,1793196371428107520
+86,1.433333333,BASELINE,765,743,711,674,664,633.085554958,877.914445042,785,800,650,630,651,0.400932678224,-0.00546314052749,0.0499228975465,0.999999974941,-2.7545914093e-05,-0.00021911300806,-3.6735314223e-05,1793196371444774400
+87,1.450000000,BASELINE,765,743,711,674,664,633.489023988,877.510976012,785,800,650,630,651,0.400932268189,-0.00546238322351,0.0499228177972,0.999999974927,-2.68239250042e-05,-0.000219251456464,-3.68065999028e-05,1793196371461440768
+88,1.466666667,BASELINE,765,742.93560855,711.06439145,674,664,633.93560855,877,785,800.06439145,650,630,651,0.400931708662,-0.005461728512,0.0499225364002,0.999999974837,-2.61960689683e-05,-0.000219724984436,-3.68808554443e-05,1793196371478107392
+89,1.483333333,BASELINE,765,742.346810624,711.653189376,674,664,633.346810624,877,785,800.653189376,650,630,651,0.400931672216,-0.00546292392578,0.0499221697048,0.999999974581,-2.81402827234e-05,-0.000220657610621,-3.6824690845e-05,1793196371494773760
+90,1.500000000,BASELINE,765,742.238155894,712,674,664,633.238155894,877.238155894,785,801,650,630,651,0.400931546371,-0.00546370299278,0.0499220490573,0.99999997446,-2.91458735415e-05,-0.00022109620194,-3.66944860017e-05,1793196371511440384
+91,1.516666667,BASELINE,765,742.817631278,712,674,664,633.817631278,877.817631278,785,801,650,630,651,0.400931292399,-0.00546388536116,0.0499222810399,0.999999974538,-2.88062516278e-05,-0.000220826753897,-3.64581684079e-05,1793196371528107008
+92,1.533333333,BASELINE,765,743,711.604741992,674,664,634,877.604741992,785,801,650.395258008,629.604741992,651,0.400931250737,-0.00546281373125,0.049922075123,0.999999974576,-2.69368477321e-05,-0.00022086403366,-3.66232173398e-05,1793196371544773888
+93,1.550000000,BASELINE,765,743,711.027964194,674,664,634,877.027964194,785,801,650.972035806,629.027964194,651,0.400931306576,-0.00546116621042,0.0499216681036,0.99999997459,-2.43649009114e-05,-0.00022104217624,-3.69725913404e-05,1793196371561440768
+94,1.566666667,BASELINE,765,743,711,674,664,633.453517802,877,785,801,650.453517802,629,651,0.400931828056,-0.00546140651621,0.0499217259925,0.999999974696,-2.36583339474e-05,-0.000220640078583,-3.69698173843e-05,1793196371578107648
+95,1.583333333,BASELINE,765,743,711.123986566,674,664,633.123986566,877,785,800.876013434,650,629,651,0.400931925042,-0.00546212021731,0.0499217021912,0.999999974696,-2.41718010924e-05,-0.000220597844055,-3.68865696263e-05,1793196371594774272
+96,1.600000000,BASELINE,765,743,711.71341664,674,664,633.71341664,877,785,800.28658336,650,629,651,0.400930339416,-0.00546424993296,0.0499212827986,0.999999974268,-2.8908445767e-05,-0.000222017518007,-3.65685834441e-05,1793196371611440896
+97,1.616666667,BASELINE,765,743,711.701670552,674,664.298329448,634,877.298329448,785,800.298329448,650,629.298329448,651,0.400930202781,-0.00546356203688,0.0499213612237,0.99999997421,-2.89506892942e-05,-0.000222254771898,-3.66755998771e-05,1793196371628107264
+98,1.633333333,BASELINE,765,743,711.121032459,674,664.878967541,634,877.878967541,785,800.878967541,650,629.878967541,651,0.400931437324,-0.00546020783954,0.0499219107327,0.999999974504,-2.45506288029e-05,-0.000221373103632,-3.71847955734e-05,1793196371644773888
+99,1.650000000,BASELINE,765,743,711,674,664.546144517,634,877.092289035,784.546144517,800.546144517,650,630,651,0.40093169424,-0.00546148856179,0.0499222655685,0.999999974654,-2.64247285655e-05,-0.000220495965712,-3.70720706384e-05,1793196371661440768
+100,1.666666667,BASELINE,765,742.972089293,711,674,664,634,876.027910707,784.027910707,800.027910707,650,630,651,0.400931724357,-0.00546385527873,0.0499225457175,0.99999997476,-2.96992450671e-05,-0.000219644904944,-3.680549932e-05,1793196371678107648
+101,1.683333333,BASELINE,765,742.384364319,711,674,664,634,876.615635681,784.615635681,800.615635681,650,630,651,0.400932369207,-0.00546352299895,0.0499223560916,0.999999974891,-2.79229373963e-05,-0.000219292953183,-3.67380987481e-05,1793196371694774272
+102,1.700000000,BASELINE,765,742,711.200945217,674,664.200945217,634,877,785,801,650.200945217,630,651,0.400932970211,-0.00546332616641,0.0499223084188,0.999999974954,-2.68473802821e-05,-0.00021915052466,-3.66551542103e-05,1793196371711440896
+103,1.716666667,BASELINE,765,742,711.781689361,674,664.781689361,634,877,785,801,650.781689361,630,651,0.400933488347,-0.0054633853376,0.0499225290462,0.999999974896,-2.70962853974e-05,-0.000219404108097,-3.65428306204e-05,1793196371728107776
+104,1.733333333,BASELINE,765,742,711.63989141,674,664.63989141,633.63989141,877,785,801.36010859,650.63989141,630,651,0.400932830116,-0.00546279482536,0.0499225365779,0.999999974779,-2.7156833719e-05,-0.000219921584937,-3.65959546526e-05,1793196371744774400
+105,1.750000000,BASELINE,765,742,711.06287253,674,664.06287253,633.06287253,877,785,801.93712747,650.06287253,630,651,0.400931463306,-0.00546181297831,0.049922415752,0.999999974626,-2.71039259351e-05,-0.000220598017173,-3.6748735535e-05,1793196371761441024
+106,1.766666667,BASELINE,765,742.511405971,711,674,664,633.511405971,877,785,801.488594029,650,630,651,0.400931202714,-0.0054620076665,0.0499219666142,0.999999974604,-2.7373596872e-05,-0.00022064084647,-3.68901261567e-05,1793196371778107392
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,711,674,664,633,877,785,800,650,630,651,0.400929696721,-0.00546327192771,0.04992065368,0.999999974094,-2.59186320838e-05,-0.000223136104774,-3.67386651481e-05,1793196371821661952
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,743,711,674.603318634,664,633.603318634,877,785,800.603318634,650,630,651,0.400930009058,-0.00546303753929,0.0499210659711,0.999999974258,-2.73311336196e-05,-0.000222221601911,-3.67932267577e-05,1793196371838329344
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,743,711,674.803032676,663.803032676,633.803032676,877,785,801,650,629.803032676,651,0.400930902237,-0.00546281589255,0.0499217517484,0.999999974528,-2.80083289372e-05,-0.000220930962622,-3.67392349748e-05,1793196371854996224
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,743,711,674.227947266,663.227947266,633.227947266,877,785,801,650,629.227947266,651,0.400932910459,-0.00546261870597,0.0499229625369,0.999999975,-2.72739574766e-05,-0.00021891825424,-3.6476853302e-05,1793196371871662592
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.645595696,743,711,674,663.354404304,633,877,785,800.645595696,650.354404304,629.354404304,651,0.400933420726,-0.0054625476963,0.0499232158701,0.999999975021,-2.68887609013e-05,-0.00021889515369,-3.63368606884e-05,1793196371888328960
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.058472858,743,711,674,663.941527142,633,877,785,800.058472858,650.941527142,629.941527142,651,0.400932947364,-0.00546255954032,0.049922840493,0.999999974745,-2.67328490224e-05,-0.000220178523341,-3.62772345033e-05,1793196371904995328
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.521313634,743,711.521313634,674,664,633.521313634,877.521313634,785,801.042627267,651,630,651,0.4009341533,-0.0054627718625,0.0499218580184,0.999999974658,-2.65595676999e-05,-0.000220559112183,-3.65128841435e-05,1793196371921661952
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.100253182,743,712,674,664.100253182,634,877.899746818,785,801.899746818,650.899746818,629.899746818,651.100253182,0.400937981173,-0.00546332958878,0.049921957269,0.999999975086,-2.68066891805e-05,-0.000218559543438,-3.66280971211e-05,1793196371938328320
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.679023341,743,712,674,664.679023341,634,877.320976659,785,801.320976659,650.320976659,629.320976659,651.679023341,0.400953437199,-0.00546543011766,0.0499275401972,0.999999977778,-2.90695990932e-05,-0.00020567589464,-3.60125674613e-05,1793196371954994944
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.744311495,743,711.744311495,674,664.744311495,633.744311495,877,785,801,650.255688505,629.255688505,651.744311495,0.400973867687,-0.00546621168866,0.049932622051,0.9999999806,-2.9777894533e-05,-0.000191376817149,-3.5881704465e-05,1793196371971661824
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.170267284,743,711.170267284,674,664.170267284,633.170267284,877,785,801,650.829732716,629.829732716,651.170267284,0.401000491837,-0.00546535103567,0.0499370800209,0.999999983564,-2.85505518049e-05,-0.000175315401718,-3.63542960851e-05,1793196371988328704
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,743,711,674,664,633,877,785,801,651,629.585538909,651,0.401037033212,-0.00546423680332,0.0499427863739,0.999999987021,-2.67999691458e-05,-0.000154524154382,-3.69097055673e-05,1793196372004995584
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,743,711,674,664,633,877,785,801,651,629.003634887,651,0.401077842545,-0.0054630362854,0.0499490009612,0.999999990309,-2.48480974491e-05,-0.000131751858862,-3.74992113564e-05,1793196372021662208
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,743,711,674,664,633,877,785,801,651,629.583300646,651,0.401132279467,-0.00546510752203,0.0499523325377,0.99999999277,-2.59633668195e-05,-0.000111112630391,-3.7957675122e-05,1793196372038328576
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.162015029,743,711.162015029,674,664,633.162015029,877,785,801.162015029,651,630,651.162015029,0.401190207232,-0.00546794239356,0.0499551908046,0.999999994268,-2.78011099677e-05,-9.61653899895e-05,-3.79788528589e-05,1793196372054994944
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.7382969,743,711.7382969,674,664,633.7382969,877,785,801.7382969,651,630,651.7382969,0.401257060975,-0.00547272985365,0.0499568388357,0.999999994238,-3.14861939124e-05,-9.57723624849e-05,-3.68819054348e-05,1793196372071661568
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.687321269,743,711.687321269,674,664,634,877,785,801.687321269,651,630,652,0.401332974635,-0.00547603434803,0.0499573289806,0.999999994291,-3.38366131348e-05,-9.46796345477e-05,-3.61751476065e-05,1793196372088328448
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.114520145,743,711.114520145,674,664,634,877,785,801.114520145,651,630,652,0.401416425379,-0.00547810513942,0.0499568558615,0.999999994419,-3.50767033974e-05,-9.30048147536e-05,-3.57929947543e-05,1793196372104995072
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743,711.47380474,674,664,633.52619526,877,785,801,651,630,651.52619526,0.401519616113,-0.00548211733378,0.0499570989903,0.999999994387,-3.59437895491e-05,-9.34000331767e-05,-3.4801420528e-05,1793196372121661952
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,743,711.935432576,674.064567424,664,633.064567424,877,785,801,650.935432576,630,651,0.401631755338,-0.00548669900325,0.0499577819373,0.999999994367,-3.7058960215e-05,-9.35920553353e-05,-3.36587111828e-05,1793196372138329088
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,743,711.356160445,674.643839555,664,633.643839555,877,785,801,650.356160445,630,651,0.401775905673,-0.0054919529693,0.0499605441491,0.999999994759,-4.08947911566e-05,-8.8040713811e-05,-3.25251978026e-05,1793196372154995712
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,711.220934972,674.779065028,664,633.779065028,877,785,801,650,630,651,0.401929136299,-0.00549775825932,0.0499612715393,0.999999994678,-4.45346812457e-05,-8.76992813001e-05,-3.11334216583e-05,1793196372171662336
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,711.794555572,674.205444428,664,633.205444428,877,785,801,650,630,651,0.40209686207,-0.00550444364509,0.0499587506778,0.999999993848,-4.78617842582e-05,-9.5674595287e-05,-2.93293724343e-05,1793196372188328960
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,742.621573937,711.621573937,674,664.378426063,633,877,785,801,650,630,651.378426063,0.402283187304,-0.00551211933417,0.0499563595471,0.999999993371,-5.13760263477e-05,-9.92426655262e-05,-2.77358576177e-05,1793196372204995328
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,742.031983891,711.031983891,674,664.968016109,633,877,785,801,650,630,651.968016109,0.402479891164,-0.00552034761898,0.0499540408068,0.999999993108,-5.49946934609e-05,-0.000100351468434,-2.62598220776e-05,1793196372221661952
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,742.547556668,711,674,664.452443332,633.547556668,877,785,801,650,630,651.452443332,0.402721865083,-0.00552951147907,0.0499566713612,0.999999993507,-6.05860156148e-05,-9.34491827435e-05,-2.41347329039e-05,1793196372238328832
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,743,711.126027118,674,664.126027118,634,877.126027118,785,800.873972882,650,630,651,0.402977300167,-0.00553916843335,0.0499603092034,0.999999993978,-6.64078985597e-05,-8.45766836744e-05,-2.19324578116e-05,1793196372254995456
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,743,711.702732309,674,664.702732309,634,877.702732309,785,800.297267691,650,630,651,0.403271587235,-0.00555039681053,0.0499665339529,0.999999994698,-7.26496485072e-05,-7.03018473554e-05,-1.95872954778e-05,1793196372271662336
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,742.72196987,712,674,664.72196987,633.72196987,878,785,800.27803013,650,630,651,0.403590639623,-0.00556089859394,0.0499746335904,0.999999995539,-7.65144518417e-05,-5.28901394486e-05,-1.64415182099e-05,1793196372288329216
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,742.148169256,712,674,664.148169256,633.148169256,878,785,800.851830744,650,630,651,0.40393603752,-0.00557062742092,0.049984727747,0.999999996376,-7.78506416064e-05,-3.21414054634e-05,-1.24440410602e-05,1793196372304996096
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,742.437968335,711.562031665,674,664,633.437968335,877.562031665,785,801,650,630,651,0.404300829135,-0.00557885955559,0.0499934838937,0.99999999699,-7.58494815765e-05,-1.38683243155e-05,-8.65461962718e-06,1793196372321662208
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,743,711,674,664,634,877,785,801,650,630,651,0.404674138533,-0.00558598389421,0.0500012017136,0.999999997388,-7.20611906104e-05,2.51380386815e-06,-4.93050266314e-06,1793196372338328832
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,743,711,674,664,634,877,785,801,650,630,651,0.405082406269,-0.00558149634302,0.0499975892351,0.999999998436,-5.58976923418e-05,-1.47009291613e-06,-1.06542167425e-06,1793196372354995456
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743,711.186300283,674,664.186300283,633.813699717,877,785,801,650,630,651,0.405491275631,-0.00557395144829,0.0499875551593,0.999999999161,-3.59517981678e-05,-1.95613416343e-05,1.65771341874e-06,1793196372371662080
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,743,711.761396805,674,664.761396805,633.238603195,877,785,801,650,630,651,0.405901400492,-0.00556002608251,0.0499641196397,0.999999997714,-8.11229850958e-06,-6.70936904105e-05,1.99768326676e-06,1793196372388328704
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,743,711.656637851,674,664.656637851,633,877.343362149,785,801,650,630,651,0.406348858671,-0.00555382772165,0.0499455040579,0.999999994947,1.05287535796e-05,-9.9925912337e-05,3.10834324168e-06,1793196372404995328
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743,711.069801852,674,664.069801852,633,877.930198148,785,801,650,630,651,0.406822789485,-0.00555310848292,0.0499303062319,0.999999992249,2.2647303207e-05,-0.000122334461221,4.76549008261e-06,1793196372421662208
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.510747919,743,711.510747919,674,664,633,878,785,801,650,630,651,0.407356362237,-0.00554833468824,0.0499286029597,0.999999991947,3.97004692287e-05,-0.000120310151908,7.42519130469e-06,1793196372438329088
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.909978914,743,712,674.090021086,664,633,878,785,801,650,630,651,0.407909456835,-0.00554373084922,0.0499332328771,0.999999992569,5.69760114023e-05,-0.000107249756123,1.06481741498e-05,1793196372454995968
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.333020299,743,712,674.666979701,664,633,878,785,801,650,630,651,0.408524594189,-0.00554300719846,0.049962265451,0.999999995918,7.18508798476e-05,-5.23358205964e-05,1.61859086745e-05,1793196372471662336
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,743,712,674.757359381,664,633.242640619,877.757359381,785,801,650,630,651,0.409147078825,-0.00554298921302,0.0499853581364,0.999999996818,7.61589107805e-05,-1.36461522018e-05,1.94356728208e-05,1793196372488328960
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,743,712,674.183470094,664,633.816529906,877.183470094,785,801,650,630,651,0.409779593803,-0.00554393458939,0.0500003417897,0.999999997624,6.60412819016e-05,2.89443101424e-06,1.95619401086e-05,1793196372504995584
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,743,711.598209868,674,664,633.598209868,877.803580264,785,801,650.401790132,630,651,0.410403633267,-0.00554305155794,0.0499932232579,0.999999997563,6.37077543983e-05,-2.01812899479e-05,2.01895910874e-05,1793196372521661952
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,743,711.007606102,674,664,633.007606102,878.984787795,785,801,650.992393898,630,651,0.411023689806,-0.00554130930097,0.049975718224,0.99999999575,6.50322175553e-05,-6.18739403649e-05,2.10528577695e-05,1793196372538328576
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743,711,674.571989812,664,633,878.428010188,785,800.428010188,651,630,651,0.411684099064,-0.00553989710836,0.0499466262075,0.999999992037,6.20093539388e-05,-0.000108147411237,1.96091725909e-05,1793196372554995456
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,743,711,674.84982485,664,633.15017515,878,785,800.15017515,650.84982485,630,651.15017515,0.412373780159,-0.0055400103352,0.0499312447972,0.999999989858,5.8802536386e-05,-0.000128294507418,1.91585166518e-05,1793196372571662080
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,743,711,674.27522034,664,633.72477966,878,785,800.72477966,650.27522034,630,651.72477966,0.413144702149,-0.00554442257665,0.0499550399459,0.999999995471,5.52361204748e-05,-7.44335722129e-05,2.15994521556e-05,1793196372588328960
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,743,711.306154158,674.306154158,664.306154158,634,878,785.306154158,801,650,629.693845842,652,0.413909022278,-0.00554669186362,0.0499662037214,0.999999996942,5.25843063214e-05,-5.30117094809e-05,2.32408370994e-05,1793196372604995840
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,743,711.893752294,674.893752294,664.893752294,634,878,785.893752294,801,650,629.106247706,652,0.414667273483,-0.00554699115785,0.0499657556243,0.999999996534,5.07732746794e-05,-6.14107047915e-05,2.41472047851e-05,1793196372621662208
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743,712,674.525675015,664.525675015,634,878.474324985,785.525675015,801,650.474324985,629.474324985,651.525675015,0.415422973414,-0.00554876852204,0.0499420158579,0.999999993956,4.11408565806e-05,-9.9444068825e-05,2.25089947768e-05,1793196372638329088
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.053164106,743,712,674.053164106,664,634,878.946835894,785,801,651,630,651,0.416185191302,-0.00555085058986,0.0499171256082,0.999999989941,2.96287418342e-05,-0.000137196166973,2.04249380802e-05,1793196372654995712
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.630201765,743,712,674.630201765,664,634,878.369798235,785,801,651,630,651,0.417017186061,-0.00555272032353,0.0499315587839,0.99999999387,1.66060715251e-05,-0.000107720954995,1.94820979983e-05,1793196372671662336
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.793364575,743,712,675,664,634,878,785,801,650.793364575,630,651,0.417855307673,-0.00555455727302,0.0499496759778,0.999999996999,9.89715805085e-06,-7.40972321488e-05,2.03162785741e-05,1793196372688328704
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.218008726,743,712,675,664,634,878,785,801,650.218008726,630,651,0.418704361996,-0.00555633572227,0.0499743669357,0.999999999053,1.44545182966e-05,-3.30709048969e-05,2.43213763466e-05,1793196372704995584
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,743,711.634541742,675,664,634,878,785,800.634541742,650,630,651,0.419531197723,-0.00555543795068,0.0499680126509,0.999999998333,1.72352676487e-05,-4.87258875212e-05,2.57562476995e-05,1793196372721662720
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743,711.046126374,675,664,634,878,785,800.046126374,650,630,651,0.420344478398,-0.00555290748241,0.0499427184248,0.999999994596,1.8932150127e-05,-9.89607469828e-05,2.56230868418e-05,1793196372738329856
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.535067567,743.535067567,711.535067567,674.464932433,664,634,878,785,800.535067567,650,630,651,0.42125706263,-0.00555407355885,0.0499591623403,0.999999998215,1.17136807173e-05,-5.29161917669e-05,2.51665400086e-05,1793196372754996224
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,743.885144586,712,674,664.114855414,634,878,785.114855414,801,650,630,651,0.422169124758,-0.00555579208972,0.0499763972078,0.999999999643,4.82944016535e-06,-7.80518244131e-06,2.5097028827e-05,1793196372771662336
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,743.308540331,712,674,664.691459669,634,878,785.691459669,801,650,630,651,0.423045130003,-0.00555846756833,0.049982539209,0.999999999641,2.33756596154e-06,6.29189475362e-07,2.6694087143e-05,1793196372788328960
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,743,712,674.265976756,664.734023244,634,878.265976756,785.468046489,801,650.265976756,630,651,0.423909358731,-0.00556001161432,0.0499777301518,0.999999999596,-6.50216711752e-08,-7.41899688483e-06,2.74289760507e-05,1793196372804995584
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,743,712,674.838091595,664.161908405,634,878.838091595,784.32381681,801,650.838091595,630,651,0.424760032855,-0.00556025338666,0.049960316475,0.999999999035,-2.36484117241e-06,-3.44385347262e-05,2.71715119291e-05,1793196372821662208
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,743,712,675,664.424771947,634,879,784,801,650.575228053,630,651,0.425664071023,-0.00556250006725,0.0499727831604,0.999999999305,-5.85587072724e-06,-2.2510768e-05,2.91448390235e-05,1793196372838328832
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,743,712,674.983196339,665,634,879,784.016803661,801,650,630,651,0.426586667537,-0.00556538989551,0.049995995305,0.999999999439,-9.64061886043e-06,2.87056288448e-06,3.19420006231e-05,1793196372854995456
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,743,712,674.404461014,665,634,879,784.595538986,801,650,630,651,0.427425515196,-0.00556332412922,0.0499841507991,0.999999998787,-7.52464559056e-06,-3.59190331394e-05,3.28444541806e-05,1793196372871662080
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.826919147,743,712,674.173080853,664.826919147,634,879,784.826919147,801,650,629.826919147,651,0.428267889241,-0.00556152695589,0.0499674091054,0.999999996774,-6.29109619506e-06,-7.30139534794e-05,3.28749057487e-05,1793196372888328960
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.252147127,743,712,674.747852873,664.252147127,634,879,784.252147127,801,650,629.252147127,651,0.429118447378,-0.00556035314118,0.0499393018741,0.999999993861,-7.10550240273e-06,-0.00010617581805,3.08815892976e-05,1793196372904995584
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743,712,675,664.660861076,634,879,784.330430538,801,650,629,650.669569462,0.429981520852,-0.00556021144579,0.0499343393709,0.999999994271,-5.286777614e-06,-0.000102653304457,2.98571930111e-05,1793196372921662208
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743,712,675,665.838217337,634,879,784.919108668,801,650,629,650.080891332,0.430854375632,-0.00556087640208,0.0499474656037,0.999999997079,-1.41013240106e-06,-7.04601573454e-05,2.95900552096e-05,1793196372938328576
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743,712,675.500126419,665.499873581,634,879,785,801,650,630.000252838,650.500126419,0.431694404826,-0.00556204795945,0.0499318826421,0.999999994134,2.01195335798e-05,-0.000102278049348,2.94430847978e-05,1793196372954995456
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.079517812,743,712,675.920482188,664.920482188,634,879,785,801,650.079517812,630.920482188,651,0.432530922789,-0.00556308532812,0.0499165343321,0.99999998974,4.12894000315e-05,-0.000133981804793,2.93959675797e-05,1793196372971662336
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.656369393,743,712,675.343630607,664.343630607,634,879,785,801,650.656369393,630.343630607,651,0.433378185041,-0.00556277868771,0.0499312575189,0.999999993526,4.26206663971e-05,-0.000101195440394,2.98536428898e-05,1793196372988328960
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,743,712,675,664.231477818,633.768522182,879,785,801,650.768522182,630,651,0.434215011881,-0.0055621463981,0.0499507946557,0.999999996353,4.25500203205e-05,-6.72478958513e-05,3.09981317798e-05,1793196373004995584
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,743,712,675,664.80401794,633.19598206,879,785,801,650.19598206,630,651,0.43503646318,-0.00556103429282,0.0499774247286,0.999999998135,4.04137791775e-05,-3.1589449188e-05,3.31545804439e-05,1793196373021662464
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,743.389515267,712,675,665,633,879.389515267,785,801,650,630,651,0.4357866479,-0.00555987777509,0.0499721136047,0.999999997013,4.03697275205e-05,-5.62076849667e-05,3.44309522357e-05,1793196373038329088
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,743.981756218,712,675,665,633,879.981756218,785,801,650,630,651,0.43649974143,-0.00555869814267,0.0499501784812,0.999999992227,4.14145691592e-05,-0.000112197303479,3.5249282248e-05,1793196373054995712
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.438884367,743.438884367,712,675,664.438884367,633,878.877768734,785,801,650,630.561115633,651,0.437278808684,-0.00555906539036,0.0499466494049,0.99999999336,3.98077867528e-05,-0.000102466185835,3.45886447039e-05,1793196373071662080
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,743,711.858990504,675.141009496,664.141009496,633.141009496,878.141009496,785,801,650,630.858990504,651,0.437928502855,-0.00556091740413,0.0499468589524,0.999999994711,3.65350840785e-05,-8.98582550535e-05,3.41918287864e-05,1793196373088328704
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,743,711.276139128,675.723860872,664.723860872,633.723860872,878.723860872,785,801,650,630.276139128,651,0.438166246416,-0.00556726775599,0.0499569500851,0.999999996199,2.83064347549e-05,-7.47813102748e-05,3.47689697562e-05,1793196373104995328
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,743,711.305096274,675.694903726,665.305096274,634,879,785.305096274,801,649.694903726,630,651,0.438278882849,-0.00557027637997,0.0499617309892,0.999999996801,2.44079245306e-05,-6.763826394e-05,3.50424034452e-05,1793196373121661952
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,743,711.88487675,675.11512325,665.88487675,634,879,785.88487675,801,649.11512325,630,651,0.438278882849,-0.00557027637997,0.0499617309892,0.999999996801,2.44079245306e-05,-6.763826394e-05,3.50424034452e-05,1793196373138328576
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.463664861,743,712,675,664.609005418,634,879,785.072670279,801,649.463664861,630,650.536335139,0.438278882849,-0.00557027637997,0.0499617309892,0.999999996801,2.44079245306e-05,-6.763826394e-05,3.50424034452e-05,1793196373154995712
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,743.0425915,712,675.0425915,663.0425915,633.9574085,878.9574085,784.0425915,801,650,630,650,0.438278882849,-0.00557027637997,0.0499617309892,0.999999996801,2.44079245306e-05,-6.763826394e-05,3.50424034452e-05,1793196373171663104
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,743.626402201,712,675.626402201,663.626402201,633.373597799,878.373597799,784.626402201,801,650,630,650,0.438278882849,-0.00557027637997,0.0499617309892,0.999999996801,2.44079245306e-05,-6.763826394e-05,3.50424034452e-05,1793196373188329472
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,743.791325712,712,675.791325712,664.417348577,633.208674288,878,785,801,650,630,650.208674288,0.438278882849,-0.00557027637997,0.0499617309892,0.999999996801,2.44079245306e-05,-6.763826394e-05,3.50424034452e-05,1793196373204995840
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,743.211788005,712,675.211788005,665.576423989,633.788211995,878,785,801,650,630,650.788211995,0.438278882849,-0.00557027637997,0.0499617309892,0.999999996801,2.44079245306e-05,-6.763826394e-05,3.50424034452e-05,1793196373221661952
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.993306546,743,712,675,665.986613091,633.993306546,878,785,801,650,630,650.993306546,0.438278465231,-0.00557003575778,0.0499612426369,0.999999996748,2.45265108793e-05,-6.84188947891e-05,3.49509214156e-05,1793196373238328320
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.982758314,743,712,675,665.965516628,633.982758314,878,785,801,650,630,650.982758314,0.438277807107,-0.00556965656067,0.0499604730412,0.999999996663,2.47133914023e-05,-6.96490928923e-05,3.48067546567e-05,1793196373254995200
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.972210082,743,712,675,665.944420163,633.972210082,878,785,801,650,630,650.972210082,0.438277148982,-0.00556927736354,0.0499597034454,0.999999996577,2.49002719365e-05,-7.08792910696e-05,3.4662587889e-05,1793196373271661824
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.961661849,743,712,675,665.923323699,633.961661849,878,785,801,650,630,650.961661849,0.438276490858,-0.00556889816641,0.0499589338497,0.99999999649,2.50871524706e-05,-7.21094892468e-05,3.45184211214e-05,1793196373288328448
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.951113618,743,712,675,665.902227236,633.951113618,878,785,801,650,630,650.951113618,0.438275832733,-0.0055685189693,0.049958164254,0.9999999964,2.52740329935e-05,-7.33396873503e-05,3.43742543622e-05,1793196373304995072
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.940565386,743,712,675,665.881130771,633.940565386,878,785,801,650,630,650.940565386,0.438275174609,-0.00556813977216,0.0499573946582,0.99999999631,2.54609135276e-05,-7.45698855277e-05,3.42300875943e-05,1793196373321661696
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.930017153,743,712,675,665.860034307,633.930017153,878,785,801,650,630,650.930017153,0.438274516484,-0.00556776057503,0.0499566250624,0.999999996217,2.56477940617e-05,-7.58000837051e-05,3.40859208264e-05,1793196373338328576
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.919468922,743,712,675,665.838937844,633.919468922,878,785,801,650,630,650.919468922,0.43827385836,-0.00556738137792,0.0499558554667,0.999999996123,2.58346745845e-05,-7.70302818088e-05,3.3941754067e-05,1793196373354995200
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.90892069,743,712,675,665.817841379,633.90892069,878,785,801,650,630,650.90892069,0.438273200235,-0.00556700218079,0.049955085871,0.999999996028,2.60215551186e-05,-7.82604799862e-05,3.37975872989e-05,1793196373371661824
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.898372457,743,712,675,665.796744915,633.898372457,878,785,801,650,630,650.898372457,0.438272542111,-0.00556662298365,0.0499543162752,0.999999995931,2.62084356526e-05,-7.94906781637e-05,3.36534205308e-05,1793196373388328448
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.887824226,743,712,675,665.775648452,633.887824226,878,785,801,650,630,650.887824226,0.438271883986,-0.00556624378654,0.0499535466795,0.999999995832,2.63953161755e-05,-8.07208762676e-05,3.35092537712e-05,1793196373404995072
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.877275994,743,712,675,665.754551987,633.877275994,878,785,801,650,630,650.877275994,0.438271225862,-0.00556586458941,0.0499527770838,0.999999995732,2.65821967095e-05,-8.19510744451e-05,3.3365087003e-05,1793196373421661952
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.866727761,743,712,675,665.733455523,633.866727761,878,785,801,650,630,650.866727761,0.438270567737,-0.00556548539228,0.049952007488,0.99999999563,2.67690772434e-05,-8.31812726227e-05,3.32209202346e-05,1793196373438328576
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.85617953,743,712,675,665.71235906,633.85617953,878,785,801,650,630,650.85617953,0.438269909613,-0.00556510619516,0.0499512378923,0.999999995527,2.69559577662e-05,-8.44114707265e-05,3.30767534748e-05,1793196373454995200
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.845631298,743,712,675,665.691262595,633.845631298,878,785,801,650,630,650.845631298,0.438269251488,-0.00556472699803,0.0499504682965,0.999999995422,2.71428383001e-05,-8.5641668904e-05,3.29325867063e-05,1793196373471661824
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.835083065,743,712,675,665.670166131,633.835083065,878,785,801,650,630,650.835083065,0.438268593363,-0.0055643478009,0.0499496987008,0.999999995316,2.73297188341e-05,-8.68718670815e-05,3.27884199378e-05,1793196373488328448
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.824534834,743,712,675,665.649069667,633.824534834,878,785,801,650,630,650.824534834,0.438267935239,-0.00556396860379,0.0499489291051,0.999999995208,2.75165993567e-05,-8.81020651852e-05,3.26442531778e-05,1793196373504995328
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.813986601,743,712,675,665.627973203,633.813986601,878,785,801,650,630,650.813986601,0.438267277114,-0.00556358940666,0.0499481595093,0.999999995098,2.77034798906e-05,-8.93322633628e-05,3.25000864091e-05,1793196373521661952
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.803438369,743,712,675,665.606876739,633.803438369,878,785,801,650,630,650.803438369,0.43826661899,-0.00556321020952,0.0499473899136,0.999999994987,2.78903604244e-05,-9.05624615403e-05,3.23559196404e-05,1793196373538328576
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.792890138,743,712,675,665.585780275,633.792890138,878,785,801,650,630,650.792890138,0.438265960865,-0.00556283101241,0.0499466203179,0.999999994874,2.8077240947e-05,-9.17926596439e-05,3.22117528802e-05,1793196373554995200
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.782341905,743,712,675,665.564683811,633.782341905,878,785,801,650,630,650.782341905,0.438265302741,-0.00556245181528,0.0499458507221,0.99999999476,2.82641214809e-05,-9.30228578214e-05,3.20675861113e-05,1793196373571661824
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.771793673,743,712,675,665.543587346,633.771793673,878,785,801,650,630,650.771793673,0.438264644616,-0.00556207261815,0.0499450811264,0.999999994644,2.84510020146e-05,-9.42530559989e-05,3.19234193423e-05,1793196373588328704
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.761245442,743,712,675,665.522490883,633.761245442,878,785,801,650,630,650.761245442,0.438263986492,-0.00556169342103,0.0499443115306,0.999999994526,2.86378825371e-05,-9.54832541023e-05,3.1779252582e-05,1793196373604995328
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.750697209,743,712,675,665.501394419,633.750697209,878,785,801,650,630,650.750697209,0.438263328367,-0.0055613142239,0.0499435419349,0.999999994407,2.88247630708e-05,-9.67134522796e-05,3.1635085813e-05,1793196373621661952
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.740148977,743,712,675,665.480297954,633.740148977,878,785,801,650,630,650.740148977,0.438262670243,-0.00556093502677,0.0499427723391,0.999999994287,2.90116436045e-05,-9.79436504568e-05,3.14909190438e-05,1793196373638328576
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.729600746,743,712,675,665.459201491,633.729600746,878,785,801,650,630,650.729600746,0.438262012118,-0.00556055582966,0.0499420027434,0.999999994165,2.91985241268e-05,-9.91738485602e-05,3.13467522833e-05,1793196373654995456
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.719052513,743,712,675,665.438105027,633.719052513,878,785,801,650,630,650.719052513,0.438261353994,-0.00556017663252,0.0499412331477,0.999999994041,2.93854046605e-05,-0.000100404046738,3.1202585514e-05,1793196373671662080
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.708504281,743,712,675,665.417008562,633.708504281,878,785,801,650,630,650.708504281,0.438260695869,-0.00555979743539,0.0499404635519,0.999999993916,2.9572285194e-05,-0.000101634244914,3.10584187447e-05,1793196373688328704
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.69795605,743,712,675,665.395912099,633.69795605,878,785,801,650,630,650.69795605,0.438260037745,-0.00555941823828,0.0499396939562,0.999999993789,2.97591657164e-05,-0.000102864443017,3.0914251984e-05,1793196373704995328
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.687407817,743,712,675,665.374815635,633.687407817,878,785,801,650,630,650.687407817,0.43825937962,-0.00555903904115,0.0499389243605,0.99999999366,2.99460462499e-05,-0.000104094641194,3.07700852146e-05,1793196373721661952
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.676859585,743,712,675,665.35371917,633.676859585,878,785,801,650,630,650.676859585,0.438258721496,-0.00555865984401,0.0499381547647,0.99999999353,3.01329267833e-05,-0.000105324839371,3.06259184452e-05,1793196373738328832
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.666311353,743,712,675,665.332622707,633.666311353,878,785,801,650,630,650.666311353,0.438258063371,-0.0055582806469,0.049937385169,0.999999993399,3.03198073056e-05,-0.000106555037474,3.04817516843e-05,1793196373754995456
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.655763121,743,712,675,665.311526243,633.655763121,878,785,801,650,630,650.655763121,0.438257405247,-0.00555790144977,0.0499366155732,0.999999993266,3.05066878389e-05,-0.000107785235651,3.03375849147e-05,1793196373771662080
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.645214889,743,712,675,665.290429778,633.645214889,878,785,801,650,630,650.645214889,0.438256747122,-0.00555752225264,0.0499358459775,0.999999993131,3.06935683723e-05,-0.000109015433826,3.0193418145e-05,1793196373788328704
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.634666657,743,712,675,665.269333315,633.634666657,878,785,801,650,630,650.634666657,0.438256088998,-0.00555714305553,0.0499350763818,0.999999992995,3.08804488943e-05,-0.000110245631929,3.0049251384e-05,1793196373804995328
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.624118425,743,712,675,665.24823685,633.624118425,878,785,801,650,630,650.624118425,0.438255430873,-0.00555676385839,0.049934306786,0.999999992857,3.10673294276e-05,-0.000111475830105,2.99050846142e-05,1793196373821662208
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.613570193,743,712,675,665.227140386,633.613570193,878,785,801,650,630,650.613570193,0.438254772749,-0.00555638466126,0.0499335371903,0.999999992717,3.12542099608e-05,-0.000112706028282,2.97609178445e-05,1793196373838328832
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.603021961,743,712,675,665.206043923,633.603021961,878,785,801,650,630,650.603021961,0.438254114624,-0.00555600546415,0.0499327675945,0.999999992576,3.14410904828e-05,-0.000113936226384,2.96167510832e-05,1793196373854995456
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.592473729,743,712,675,665.184947458,633.592473729,878,785,801,650,630,650.592473729,0.4382534565,-0.00555562626702,0.0499319979988,0.999999992434,3.1627971016e-05,-0.00011516642456,2.94725843134e-05,1793196373871662080
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.581925497,743,712,675,665.163850994,633.581925497,878,785,801,650,630,650.581925497,0.438252798375,-0.00555524706988,0.049931228403,0.99999999229,3.1814851549e-05,-0.000116396622735,2.93284175434e-05,1793196373888328704
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.571377265,743,712,675,665.142754531,633.571377265,878,785,801,650,630,650.571377265,0.43825214025,-0.00555486787277,0.0499304588073,0.999999992144,3.20017320709e-05,-0.000117626820836,2.91842507821e-05,1793196373904995584
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.560829033,743,712,675,665.121658066,633.560829033,878,785,801,650,630,650.560829033,0.438251482126,-0.00555448867564,0.0499296892116,0.999999991997,3.21886126038e-05,-0.000118857019012,2.9040084012e-05,1793196373921662208
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.550280801,743,712,675,665.100561602,633.550280801,878,785,801,650,630,650.550280801,0.438250824001,-0.00555410947851,0.0499289196158,0.999999991848,3.23754931368e-05,-0.000120087217187,2.8895917242e-05,1793196373938328832
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.539732569,743,712,675,665.079465139,633.539732569,878,785,801,650,630,650.539732569,0.438250165877,-0.0055537302814,0.0499281500201,0.999999991698,3.25623736585e-05,-0.000121317415289,2.87517504804e-05,1793196373954995456
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.529184337,743,712,675,665.058368674,633.529184337,878,785,801,650,630,650.529184337,0.438249507752,-0.00555335108426,0.0499273804244,0.999999991546,3.27492541914e-05,-0.000122547613464,2.86075837103e-05,1793196373971662080
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.518636105,743,712,675,665.03727221,633.518636105,878,785,801,650,630,650.518636105,0.438248849628,-0.00555297188713,0.0499266108286,0.999999991392,3.29361347241e-05,-0.000123777811638,2.846341694e-05,1793196373988328960
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.508087873,743,712,675,665.016175746,633.508087873,878,785,801,650,630,650.508087873,0.438248191503,-0.00555259269002,0.0499258412329,0.999999991237,3.31230152457e-05,-0.000125008009738,2.83192501784e-05,1793196374004995584
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.497539641,743,712,675,664.995079282,633.497539641,878,785,801,650,630,650.497539641,0.438247533379,-0.00555221349289,0.0499250716371,0.99999999108,3.33098957784e-05,-0.000126238207913,2.8175083408e-05,1793196374021662208
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.486991409,743,712,675,664.973982818,633.486991409,878,785,801,650,630,650.486991409,0.438246875254,-0.00555183429575,0.0499243020414,0.999999990922,3.3496776311e-05,-0.000127468406087,2.80309166376e-05,1793196374038328832
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.476443177,743,712,675,664.952886354,633.476443177,878,785,801,650,630,650.476443177,0.43824621713,-0.00555145509864,0.0499235324457,0.999999990762,3.36836568325e-05,-0.000128698604187,2.78867498759e-05,1793196374054995712
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.465894945,743,712,675,664.93178989,633.465894945,878,785,801,650,630,650.465894945,0.438245559005,-0.00555107590151,0.0499227628499,0.999999990601,3.38705373649e-05,-0.000129928802361,2.77425831055e-05,1793196374071662336
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.455346713,743,712,675,664.910693425,633.455346713,878,785,801,650,630,650.455346713,0.438244900881,-0.00555069670438,0.0499219932542,0.999999990438,3.40574178975e-05,-0.000131159000533,2.75984163349e-05,1793196374088328960
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.444798481,743,712,675,664.889596962,633.444798481,878,785,801,650,630,650.444798481,0.438244242756,-0.00555031750727,0.0499212236585,0.999999990273,3.42442984187e-05,-0.000132389198633,2.74542495731e-05,1793196374104995584
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.434250249,743,712,675,664.868500498,633.434250249,878,785,801,650,630,650.434250249,0.438243584632,-0.00554993831013,0.0499204540627,0.999999990107,3.44311789511e-05,-0.000133619396806,2.73100828025e-05,1793196374121662208
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.423702017,743,712,675,664.847404033,633.423702017,878,785,801,650,630,650.423702017,0.438242926507,-0.005549559113,0.0499196844669,0.99999998994,3.46180594833e-05,-0.000134849594979,2.71659160318e-05,1793196374138329088
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.413153785,743,712,675,664.82630757,633.413153785,878,785,801,650,630,650.413153785,0.438242268383,-0.00554917991589,0.0499189148712,0.99999998977,3.48049400044e-05,-0.000136079793078,2.70217492698e-05,1793196374154995712
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.402605553,743,712,675,664.805211106,633.402605553,878,785,801,650,630,650.402605553,0.438241610258,-0.00554880071876,0.0499181452755,0.9999999896,3.49918205367e-05,-0.00013730999125,2.68775824991e-05,1793196374171662336
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.392057321,743,712,675,664.784114641,633.392057321,878,785,801,650,630,650.392057321,0.438240952134,-0.00554842152162,0.0499173756797,0.999999989427,3.51787010687e-05,-0.000138540189422,2.67334157284e-05,1793196374188328960
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.381509089,743,712,675,664.763018178,633.381509089,878,785,801,650,630,650.381509089,0.438240294009,-0.00554804232451,0.049916606084,0.999999989253,3.53655815897e-05,-0.00013977038752,2.65892489663e-05,1793196374204995584
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.370960857,743,712,675,664.741921714,633.370960857,878,785,801,650,630,650.370960857,0.438239635885,-0.00554766312738,0.0499158364883,0.999999989078,3.55524621216e-05,-0.000141000585691,2.64450821955e-05,1793196374221662464
+252,4.200000000,POSE1_TO_POSE2_PRESS,765.360412625,743,712,675,664.720825249,633.360412625,878,785,801,650,630,650.360412625,0.43823897776,-0.00554728393025,0.0499150668925,0.999999988901,3.57393426536e-05,-0.000142230783863,2.63009154246e-05,1793196374238329088
+253,4.216666667,POSE1_TO_POSE2_PRESS,765.349864393,743,712,675,664.699728786,633.349864393,878,785,801,650,630,650.349864393,0.438238319636,-0.00554690473314,0.0499142972968,0.999999988722,3.59262231742e-05,-0.00014346098196,2.61567486624e-05,1793196374254995712
+254,4.233333333,POSE1_TO_POSE2_PRESS,765.339316161,743,712,675,664.678632322,633.339316161,878,785,801,650,630,650.339316161,0.438237661511,-0.005546525536,0.049913527701,0.999999988542,3.61131037061e-05,-0.00014469118013,2.60125818914e-05,1793196374271662336
+255,4.250000000,POSE1_TO_POSE2_PRESS,765.328767929,743,712,675,664.657535857,633.328767929,878,785,801,650,630,650.328767929,0.438237003387,-0.00554614633887,0.0499127581053,0.99999998836,3.62999842378e-05,-0.0001459213783,2.58684151205e-05,1793196374288328960
+256,4.266666667,POSE1_TO_POSE2_PRESS,765.318219697,743,712,675,664.636439394,633.318219697,878,785,801,650,630,650.318219697,0.438236345262,-0.00554576714176,0.0499119885096,0.999999988177,3.64868647583e-05,-0.000147151576397,2.57242483582e-05,1793196374304995840
+257,4.283333333,POSE1_TO_POSE2_PRESS,765.307671465,743,712,675,664.615342929,633.307671465,878,785,801,650,630,650.307671465,0.438235687137,-0.00554538794463,0.0499112189138,0.999999987992,3.667374529e-05,-0.000148381774567,2.55800815872e-05,1793196374321662464
+258,4.300000000,POSE1_TO_POSE2_PRESS,765.297123233,743,712,675,664.594246465,633.297123233,878,785,801,650,630,650.297123233,0.438235029013,-0.00554500874749,0.0499104493181,0.999999987805,3.68606258215e-05,-0.000149611972736,2.54359148161e-05,1793196374338329088
+259,4.316666667,POSE1_TO_POSE2_PRESS,765.286575001,743,712,675,664.573150002,633.286575001,878,785,801,650,630,650.286575001,0.438234370888,-0.00554462955038,0.0499096797224,0.999999987617,3.70475063418e-05,-0.000150842170832,2.52917480537e-05,1793196374354995712
+260,4.333333333,POSE1_TO_POSE2_PRESS,765.276026769,743,712,675,664.552053537,633.276026769,878,785,801,650,630,650.276026769,0.438233712764,-0.00554425035325,0.0499089101266,0.999999987428,3.72343868732e-05,-0.000152072369,2.51475812825e-05,1793196374371662592
+261,4.350000000,POSE1_TO_POSE2_PRESS,765.265478536,743,712,675,664.530957073,633.265478536,878,785,801,650,630,650.265478536,0.438233054639,-0.00554387115612,0.0499081405309,0.999999987236,3.74212674046e-05,-0.000153302567169,2.50034145115e-05,1793196374388329216
+262,4.366666667,POSE1_TO_POSE2_PRESS,765.254930305,743,712,675,664.50986061,633.254930305,878,785,801,650,630,650.254930305,0.438232396515,-0.00554349195901,0.0499073709351,0.999999987044,3.76081479246e-05,-0.000154532765263,2.48592477489e-05,1793196374404995840
+263,4.383333333,POSE1_TO_POSE2_PRESS,765.244382073,743,712,675,664.488764145,633.244382073,878,785,801,650,630,650.244382073,0.43823173839,-0.00554311276187,0.0499066013394,0.999999986849,3.77950284558e-05,-0.000155762963431,2.47150809777e-05,1793196374421662464
+264,4.400000000,POSE1_TO_POSE2_PRESS,765.23383384,743,712,675,664.467667681,633.23383384,878,785,801,650,630,650.23383384,0.438231080266,-0.00554273356474,0.0499058317436,0.999999986653,3.79819089869e-05,-0.000156993161599,2.45709142065e-05,1793196374438329088
+265,4.416666667,POSE1_TO_POSE2_PRESS,765.223285609,743,712,675,664.446571218,633.223285609,878,785,801,650,630,650.223285609,0.438230422141,-0.00554235436763,0.0499050621479,0.999999986456,3.81687895068e-05,-0.000158223359693,2.44267474439e-05,1793196374454995968
+266,4.433333333,POSE1_TO_POSE2_PRESS,765.212737377,743,712,675,664.425474753,633.212737377,878,785,801,650,630,650.212737377,0.438229764017,-0.0055419751705,0.0499042925522,0.999999986257,3.83556700378e-05,-0.000159453557859,2.42825806726e-05,1793196374471662592
+267,4.450000000,POSE1_TO_POSE2_PRESS,765.202189144,743,712,675,664.404378289,633.202189144,878,785,801,650,630,650.202189144,0.438229105892,-0.00554159597336,0.0499035229564,0.999999986056,3.85425505687e-05,-0.000160683756025,2.41384139012e-05,1793196374488329216
+268,4.466666667,POSE1_TO_POSE2_PRESS,765.191640913,743,712,675,664.383281826,633.191640913,878,785,801,650,630,650.191640913,0.438228447768,-0.00554121677625,0.0499027533607,0.999999985854,3.87294310883e-05,-0.000161913954118,2.39942471386e-05,1793196374504995840
+269,4.483333333,POSE1_TO_POSE2_PRESS,765.181092681,743,712,675,664.362185361,633.181092681,878,785,801,650,630,650.181092681,0.438227789643,-0.00554083757912,0.049901983765,0.99999998565,3.8916311619e-05,-0.000163144152284,2.38500803673e-05,1793196374521662464
+270,4.500000000,POSE1_TO_POSE2_PRESS,765.170544448,743,712,675,664.341088897,633.170544448,878,785,801,650,630,650.170544448,0.438227131519,-0.00554045838199,0.0499012141692,0.999999985445,3.91031921497e-05,-0.000164374350449,2.37059135959e-05,1793196374538329344
+271,4.516666667,POSE1_TO_POSE2_PRESS,765.159996217,743,712,675,664.319992433,633.159996217,878,785,801,650,630,650.159996217,0.438226473394,-0.00554007918488,0.0499004445735,0.999999985238,3.9290072669e-05,-0.00016560454854,2.35617468331e-05,1793196374554995968
+272,4.533333333,POSE1_TO_POSE2_PRESS,765.149447985,743,712,675,664.298895969,633.149447985,878,785,801,650,630,650.149447985,0.43822581527,-0.00553969998774,0.0498996749777,0.99999998503,3.94769531996e-05,-0.000166834746704,2.34175800617e-05,1793196374571662592
+273,4.550000000,POSE1_TO_POSE2_PRESS,765.138899752,743,712,675,664.277799505,633.138899752,878,785,801,650,630,650.138899752,0.438225157145,-0.00553932079061,0.049898905382,0.99999998482,3.96638337299e-05,-0.000168064944869,2.32734132902e-05,1793196374588329216
+274,4.566666667,POSE1_TO_POSE2_PRESS,765.128351521,743,712,675,664.256703041,633.128351521,878,785,801,650,630,650.128351521,0.438224499021,-0.0055389415935,0.0498981357863,0.999999984608,3.98507142491e-05,-0.000169295142959,2.31292465274e-05,1793196374604995840
+275,4.583333333,POSE1_TO_POSE2_PRESS,765.117803288,743,712,675,664.235606577,633.117803288,878,785,801,650,630,650.117803288,0.438223840896,-0.00553856239637,0.0498973661905,0.999999984395,4.00375947794e-05,-0.000170525341122,2.2985079756e-05,1793196374621662720
+276,4.600000000,POSE1_TO_POSE2_PRESS,765.107255056,743,712,675,664.214510112,633.107255056,878,785,801,650,630,650.107255056,0.438223182772,-0.00553818319923,0.0498965965948,0.99999998418,4.02244753096e-05,-0.000171755539286,2.28409129845e-05,1793196374638329344
+277,4.616666667,POSE1_TO_POSE2_PRESS,765.096706825,743,712,675,664.193413649,633.096706825,878,785,801,650,630,650.096706825,0.438222524647,-0.00553780400212,0.0498958269991,0.999999983964,4.04113558285e-05,-0.000172985737375,2.26967462216e-05,1793196374654995968
+278,4.633333333,POSE1_TO_POSE2_PRESS,765.086158592,743,712,675,664.172317185,633.086158592,878,785,801,650,630,650.086158592,0.438221866523,-0.00553742480499,0.0498950574033,0.999999983746,4.05982363585e-05,-0.000174215935536,2.255257945e-05,1793196374671662592
+279,4.650000000,POSE1_TO_POSE2_PRESS,765.07561036,743,712,675,664.15122072,633.07561036,878,785,801,650,630,650.07561036,0.438221208398,-0.00553704560786,0.0498942878075,0.999999983527,4.07851168884e-05,-0.000175446133698,2.24084126784e-05,1793196374688329216
+280,4.666666667,POSE1_TO_POSE2_PRESS,765.065062129,743,712,675,664.130124257,633.065062129,878,785,801,650,630,650.065062129,0.438220550274,-0.00553666641075,0.0498935182118,0.999999983306,4.0971997407e-05,-0.000176676331786,2.22642459155e-05,1793196374704996096
+281,4.683333333,POSE1_TO_POSE2_PRESS,765.054513896,743,712,675,664.109027793,633.054513896,878,785,801,650,630,650.054513896,0.438219892149,-0.00553628721361,0.0498927486161,0.999999983083,4.11588779368e-05,-0.000177906529947,2.21200791439e-05,1793196374721662720
+282,4.700000000,POSE1_TO_POSE2_PRESS,765.043965664,743,712,675,664.087931328,633.043965664,878,785,801,650,630,650.043965664,0.438219234024,-0.00553590801648,0.0498919790203,0.999999982859,4.13457584663e-05,-0.000179136728108,2.19759123723e-05,1793196374738329344
+283,4.716666667,POSE1_TO_POSE2_PRESS,765.033417433,743,712,675,664.066834865,633.033417433,878,785,801,650,630,650.033417433,0.4382185759,-0.00553552881937,0.0498912094246,0.999999982633,4.15326389847e-05,-0.000180366926194,2.18317456094e-05,1793196374754995968
+284,4.733333333,POSE1_TO_POSE2_PRESS,765.0228692,743,712,675,664.045738401,633.0228692,878,785,801,650,630,650.0228692,0.438217917775,-0.00553514962224,0.0498904398289,0.999999982406,4.17195195143e-05,-0.000181597124353,2.16875788377e-05,1793196374771662848
+285,4.750000000,POSE1_TO_POSE2_PRESS,765.012320968,743,712,675,664.024641936,633.012320968,878,785,801,650,630,650.012320968,0.438217259651,-0.0055347704251,0.0498896702331,0.999999982177,4.19064000436e-05,-0.000182827322512,2.1543412066e-05,1793196374788329472
+286,4.766666667,POSE1_TO_POSE2_PRESS,765.001772737,743,712,675,664.003545473,633.001772737,878,785,801,650,630,650.001772737,0.438216601526,-0.00553439122799,0.0498889006374,0.999999981947,4.20932805617e-05,-0.000184057520597,2.1399245303e-05,1793196374804996096
+287,4.783333333,POSE1_TO_POSE2_PRESS,765.490179124,743.490179124,712,675,664,633,877.509820876,785,801.490179124,650,630,650.490179124,0.438215987645,-0.00553381586628,0.0498879542786,0.9999999817,4.30186749999e-05,-0.000185186301632,2.13380056189e-05,1793196374821662464
+288,4.800000000,POSE1_TO_POSE2_PRESS,765.921962169,743.921962169,712,675,664.078037831,633,877.078037831,785,801.921962169,650,630,651,0.438215503394,-0.00553311696986,0.0498870426948,0.999999981472,4.41702745179e-05,-0.000186149410825,2.12978916793e-05,1793196374838329088
+289,4.816666667,POSE1_TO_POSE2_PRESS,765.342718928,743.342718928,712,675,664.657281072,633,877.657281072,785,801.342718928,650,630,651,0.438215794304,-0.00553187916932,0.0498865837938,0.999999981392,4.5816529434e-05,-0.000186180058096,2.12858679702e-05,1793196374854995712
+290,4.833333333,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633.148576112,878,785,801,650,630,651,0.438216069302,-0.00553156304815,0.049886520409,0.999999981455,4.61037013705e-05,-0.000185772215918,2.12809483203e-05,1793196374871662080
+291,4.850000000,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633.512435962,878,785,801,650,630,651,0.438216321243,-0.00553258242159,0.0498870301192,0.999999981724,4.44215898137e-05,-0.000184729011525,2.12863223076e-05,1793196374888328704
+292,4.866666667,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633.876295789,878,785,801,650,630,651,0.438216573184,-0.00553360179497,0.0498875398294,0.99999998199,4.27394783577e-05,-0.000183685807194,2.12916962944e-05,1793196374904995328
+293,4.883333333,POSE1_TO_POSE2_PRESS,765,743,712,675.408790671,665,633.591209329,878,785,801,650,630,651,0.438216848871,-0.00553329200133,0.0498882737399,0.999999982043,4.35696891071e-05,-0.000183193399431,2.13345461817e-05,1793196374921662208
+294,4.900000000,POSE1_TO_POSE2_PRESS,765.05510663,743,712,675.94489337,665,633,878,785,801,650,630,651,0.438217113501,-0.00553247219249,0.04988898372,0.999999981971,4.54186478675e-05,-0.00018313359615,2.14004931681e-05,1793196374938329344
+295,4.916666667,POSE1_TO_POSE2_PRESS,765.874786743,743,712,675,664.874786743,633,878,785,801,650,630.125213257,651,0.438216975652,-0.00553458753134,0.0498874137552,0.999999981725,4.25382468303e-05,-0.000185152302033,2.14237569307e-05,1793196374954995456
+296,4.933333333,POSE1_TO_POSE2_PRESS,765.307429445,743,712,675,664.307429445,633,878,785,801,650,630.692570555,651,0.43821714374,-0.00553411559233,0.0498881324578,0.999999982008,4.33784830063e-05,-0.000183468509264,2.10149834658e-05,1793196374971662336
+297,4.950000000,POSE1_TO_POSE2_PRESS,765,743,712,675,664.260776114,633.260776114,878,785,801,650,630.739223886,651,0.438217210512,-0.00553380511965,0.0498882322254,0.999999982065,4.32171258959e-05,-0.00018321278717,2.08487775953e-05,1793196374988328960
+298,4.966666667,POSE1_TO_POSE2_PRESS,765,743,712,675,664.829984917,633.829984917,878,785,801,650,630.170015083,651,0.438217157454,-0.00553368562114,0.0498875999481,0.999999981856,4.18711352687e-05,-0.00018464611435,2.09694683313e-05,1793196375004995584
+299,4.983333333,POSE1_TO_POSE2_PRESS,765.395700382,743,712,675,665,633.604299618,878,785,801.395700382,650,630,650.604299618,0.438215771549,-0.00553212276524,0.0498869954005,0.999999981534,4.38447713289e-05,-0.000185946916474,2.0822116943e-05,1793196375021662464
+300,5.000000000,POSE1_TO_POSE2_PRESS,765.959928034,743,712,675,665,633.040071966,878,785,801.959928034,650,630,650.040071966,0.438213817991,-0.005529945189,0.0498864026628,0.999999981153,4.72322236489e-05,-0.000187191276647,2.05606074426e-05,1793196375038329088
+301,5.016666667,POSE1_TO_POSE2_PRESS,765.416462616,743,712,675,665,633.583537384,878,785,802,650,629.416462616,650.583537384,0.438215623847,-0.00552958299652,0.0498872915063,0.999999981493,4.61253855958e-05,-0.000185666890353,2.03413234977e-05,1793196375054995712
+302,5.033333333,POSE1_TO_POSE2_PRESS,765,743,712,675,665.195479794,634,878,785,802,650,629.195479794,651,0.438216953309,-0.00553041574053,0.0498879254922,0.999999981756,4.45928363909e-05,-0.000184612976843,2.04487987151e-05,1793196375071662080
+303,5.050000000,POSE1_TO_POSE2_PRESS,765,743,712,675,665.775537783,634,878,785,802,650,629.775537783,651,0.438216780101,-0.00553332630577,0.0498878352449,0.999999981761,4.28987273922e-05,-0.000184901084791,2.11927743618e-05,1793196375088328960
+304,5.066666667,POSE1_TO_POSE2_PRESS,765,743,712,675,665.648367621,633.648367621,878,785,801.648367621,650,630,650.648367621,0.438215859779,-0.00553397337713,0.049887561756,0.999999981701,4.21421073575e-05,-0.000185378480891,2.13812472202e-05,1793196375104995840
+305,5.083333333,POSE1_TO_POSE2_PRESS,765,743,712,675,665.074774778,633.074774778,878,785,801.074774778,650,630,650.074774778,0.438214467857,-0.00553319166635,0.0498871725998,0.9999999816,4.19772571393e-05,-0.000185975361144,2.12190708237e-05,1793196375121662464
+306,5.100000000,POSE1_TO_POSE2_PRESS,765,743,712,674.487791589,665,633,878.512208411,785,801,650,630,650,0.438203889667,-0.00553254186538,0.0498809330712,0.999999979509,4.3008477661e-05,-0.000196722467068,2.08112534376e-05,1793196375138328832
+307,5.116666667,POSE1_TO_POSE2_PRESS,765.099772337,743.099772337,712,674.099772337,665,633,878.900227663,785,801,650,630,650.099772337,0.438192366439,-0.00553183396307,0.0498737863758,0.999999976991,4.44850615859e-05,-0.000208871252394,2.02954064045e-05,1793196375154995200
+308,5.133333333,POSE1_TO_POSE2_PRESS,765.680460412,743.680460412,712,674.680460412,665,633,878.319539588,785,801,650,630,650.680460412,0.4381829256,-0.00553075069221,0.0498664942396,0.999999974398,4.72441272627e-05,-0.00022044220916,1.94363316597e-05,1793196375171661824
+309,5.150000000,POSE1_TO_POSE2_PRESS,766,743.742222561,712,675,665,633,878,785,801.257777439,650,630,651,0.438178150427,-0.00553090660312,0.0498618783025,0.999999972937,4.70841816533e-05,-0.000227036119812,1.9088832122e-05,1793196375188328704
+310,5.166666667,POSE1_TO_POSE2_PRESS,766,743.169030362,712,675,665,633,878,785,801.830969638,650,630,651,0.438179084134,-0.00553257876864,0.0498605369453,0.999999972985,4.33525530885e-05,-0.000227540149274,1.93672926592e-05,1793196375204995328
+311,5.183333333,POSE1_TO_POSE2_PRESS,765.594095683,743,712,675,665,633.405904317,878,785,801.594095683,650,630,651,0.438180737863,-0.00553262409284,0.0498586411001,0.999999972582,4.1886281016e-05,-0.000229595665876,1.91673004536e-05,1793196375221661952
+312,5.200000000,POSE1_TO_POSE2_PRESS,765.01843227,743,712,675,665,633.98156773,878,785,801.01843227,650,630,651,0.438182692723,-0.00553198903223,0.0498565133546,0.999999971987,4.1367436433e-05,-0.000232300052266,1.8767207622e-05,1793196375238328832
+313,5.216666667,POSE1_TO_POSE2_PRESS,765,743,712,675.576058064,665,634,878,785,801,649.423941936,630,651,0.438185745412,-0.00553301666156,0.0498485891772,0.99999996922,4.05488141049e-05,-0.000244095553166,1.8225460475e-05,1793196375254995456
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+315,5.250000000,POSE1_TO_POSE2_PRESS,765,743,712,675.255905747,664.255905747,633.255905747,878,785.744094253,801,649.744094253,630,651,0.438236674417,-0.00553419485771,0.0498412165334,0.999999967716,4.03104119431e-05,-0.000250268056021,1.75587999749e-05,1793196375288328448
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+318,5.300000000,POSE1_TO_POSE2_PRESS,766,743,712,675,665,633.466955296,878,784.533044704,801.533044704,650,630,651,0.438412334911,-0.00554029516942,0.0498436862325,0.999999967849,3.65744591208e-05,-0.00025023760553,1.86080485069e-05,1793196375338328832
+319,5.316666667,POSE1_TO_POSE2_PRESS,766,743,712,675,665,634,878.042043025,784.042043025,801,650,630,651,0.438489081694,-0.00554304235114,0.0498422693007,0.999999966835,3.62249319051e-05,-0.000254248849922,1.93897453722e-05,1793196375354995712
+320,5.333333333,POSE1_TO_POSE2_PRESS,766,743,712,675,665,634,878.634751958,784.634751958,801,650,630,651,0.438582345215,-0.00554546715213,0.0498374807295,0.999999964526,3.49092914196e-05,-0.000263329444901,1.96879918281e-05,1793196375371662080
+321,5.350000000,POSE1_TO_POSE2_PRESS,765.777942201,743,712,675,664.777942201,633.777942201,878.777942201,785,801.222057799,650,630,651,0.438687786869,-0.00554982077642,0.0498329627997,0.999999962684,3.11778995298e-05,-0.000270652609925,2.01597903889e-05,1793196375388328704
+322,5.366666667,POSE1_TO_POSE2_PRESS,765.199312477,743,712,675,664.199312477,633.199312477,878.199312477,785,801.800687523,650,630,651,0.438812783696,-0.0055572716313,0.0498288794556,0.999999961649,2.35673864524e-05,-0.00027515376057,2.09102722693e-05,1793196375404995328
+323,5.383333333,POSE1_TO_POSE2_PRESS,765.37545457,743,711.62454543,675,664.37545457,633,878,785,801.62454543,650,630,651,0.438958089836,-0.00556459742062,0.0498246203187,0.999999960299,1.7572990599e-05,-0.000280390867202,2.17934149539e-05,1793196375421661952
+324,5.400000000,POSE1_TO_POSE2_PRESS,765.948191953,743,711.051808047,675,664.948191953,633,878,785,801.051808047,650,630,651,0.439114067511,-0.00557185749395,0.0498202688115,0.999999958762,1.24277846783e-05,-0.000286014682165,2.27462643075e-05,1793196375438328576
+325,5.416666667,POSE1_TO_POSE2_PRESS,765.462605913,743,711.537394087,674.462605913,665,633.537394087,878,785,801,650,630,651,0.439301506997,-0.00557803018924,0.0498205066301,0.999999959177,8.66455632554e-06,-0.000284627349517,2.36064206701e-05,1793196375454995200
+326,5.433333333,POSE1_TO_POSE2_PRESS,765.125756341,743,712,674.125756341,665,633.874243659,878,785,801.125756341,650,630,651,0.439499228945,-0.00558392177295,0.0498218328238,0.999999959926,5.4935605792e-06,-0.000281974036238,2.46856641271e-05,1793196375471661824
+327,5.450000000,POSE1_TO_POSE2_PRESS,765.70518136,743,712,674.70518136,665,633.29481864,878,785,801.70518136,650,630,651,0.439722757205,-0.00558918936792,0.0498254387988,0.9999999612,3.96323257026e-06,-0.000277269125615,2.65885250639e-05,1793196375488328704
+328,5.466666667,POSE1_TO_POSE2_PRESS,765.71739415,743,712,675,664.71739415,633.28260585,878,785,801.71739415,650,630,651,0.439960168449,-0.00559441641001,0.0498299940698,0.999999962787,2.51602154114e-06,-0.000271280507191,2.87669709703e-05,1793196375504995584
+329,5.483333333,POSE1_TO_POSE2_PRESS,765.142041902,743,712,675,664.142041902,633.857958098,878,785,801.142041902,650,630,651,0.440211960857,-0.00559960144473,0.0498355327001,0.999999964674,1.15490973348e-06,-0.000263962117992,3.12308907014e-05,1793196375521662208
+330,5.500000000,POSE1_TO_POSE2_PRESS,765,743,712,675,664.442450255,633.557549745,877.557549745,785,801,650,630,651.442450255,0.440494334669,-0.00560213804117,0.0498432037553,0.999999967935,3.14449510997e-06,-0.000250989730839,3.35263941526e-05,1793196375538328832
+331,5.516666667,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633.029536953,877.029536953,785,801,650,630,651.940926094,0.440787744793,-0.00560367738266,0.0498517924097,0.999999971494,6.50529142923e-06,-0.000235974087805,3.58539888456e-05,1793196375554995200
+332,5.533333333,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633.609145683,877.609145683,785,801,650,630,650.781708634,0.441099993208,-0.00560281284774,0.0498644516642,0.99999997546,1.49470699754e-05,-0.000217423019808,3.98073738917e-05,1793196375571661568
+333,5.550000000,POSE1_TO_POSE2_PRESS,765.187995808,743,712,675,665,634,878.187995808,785,801,650,630,650.187995808,0.44142014742,-0.00559974676526,0.0498761801998,0.999999978964,2.58030763622e-05,-0.000198851011796,4.31700198e-05,1793196375588328448
+334,5.566666667,POSE1_TO_POSE2_PRESS,765.765275052,743,712,675,665,634,878.765275052,785,801,650,630,650.765275052,0.441756672169,-0.00559212193221,0.0498859814921,0.999999981863,4.16582304729e-05,-0.000180235644434,4.5309420327e-05,1793196375604995072
+335,5.583333333,POSE1_TO_POSE2_PRESS,765.659283934,743,712,675,665,633.659283934,878.659283934,785,801,650,630,651,0.442099081891,-0.00558948248607,0.0498953349319,0.999999984666,4.84403404534e-05,-0.000161534093412,4.72139322369e-05,1793196375621661952
+336,5.600000000,POSE1_TO_POSE2_PRESS,765.085102535,743,712,675,665,633.085102535,878.085102535,785,801,650,630,651,0.442445524099,-0.00559025912517,0.0499043814939,0.999999987409,4.90054219322e-05,-0.000142773488423,4.89574937699e-05,1793196375638328832
+337,5.616666667,POSE1_TO_POSE2_PRESS,765.49984346,743,712,675,665,633.49984346,878.99968692,785,801,650,630,651,0.442793455866,-0.00559288839239,0.0499073971322,0.999999987757,4.85435256843e-05,-0.000140010571419,5.02553998302e-05,1793196375654995712
+338,5.633333333,POSE1_TO_POSE2_PRESS,765.913889611,743,711.913889611,675,665,633.913889611,879.827779223,784.913889611,801,650,630,651,0.443140738789,-0.00559546906463,0.0499079653877,0.999999987488,4.74774960658e-05,-0.000141935273518,5.12197810012e-05,1793196375671662336
+339,5.650000000,POSE1_TO_POSE2_PRESS,765.330809658,743,711.330809658,675,665,633.330809658,878.661619317,784.330809658,801,650,630,651,0.443482781011,-0.00559590879446,0.0499004655419,0.999999985759,4.39561599109e-05,-0.000154848138162,5.07068322333e-05,1793196375688328960
+340,5.666666667,POSE1_TO_POSE2_PRESS,765,743,711.24857266,675,664.75142734,633,878.24857266,784,801.24857266,650,630,651,0.443821457023,-0.00559525591157,0.0498898399151,0.999999983038,4.19250224551e-05,-0.00017231922723,4.97228506305e-05,1793196375704995328
+341,5.683333333,POSE1_TO_POSE2_PRESS,765,743,711.823106239,675,664.176893761,633,878.823106239,784,801.823106239,650,630,651,0.444155718867,-0.00559317025235,0.049875115355,0.999999978804,4.18480275532e-05,-0.000195767656904,4.8121189209e-05,1793196375721661952
+342,5.700000000,POSE1_TO_POSE2_PRESS,765,743,711.601666707,675,664.398333293,633,879,784,802,650,630,650.601666707,0.444508669977,-0.00559135373704,0.049873908411,0.999999979112,3.84924465057e-05,-0.000195181994933,4.68816257917e-05,1793196375738328576
+343,5.716666667,POSE1_TO_POSE2_PRESS,765,743,711.02613119,675,664.97386881,633,879,784,802,650,630,650.02613119,0.44486993516,-0.005589656953,0.0498787149035,0.999999981473,3.3678356299e-05,-0.000183904545106,4.58031450957e-05,1793196375754995200
+344,5.733333333,POSE1_TO_POSE2_PRESS,765.564909633,743,711.564909633,675,664.435090367,633,878.435090367,784.564909633,801.435090367,649.435090367,630.564909633,650.564909633,0.445239378963,-0.0055903693454,0.0498910058581,0.999999986238,2.93203754156e-05,-0.000156843180038,4.54413696532e-05,1793196375771662080
+345,5.750000000,POSE1_TO_POSE2_PRESS,765.847152854,743,712,675.152847146,664,633,878.152847146,785,801.152847146,649.152847146,630.847152854,651,0.44560149258,-0.00559128619416,0.0499004820703,0.999999989612,2.53400412663e-05,-0.00013457207153,4.49916641183e-05,1793196375788328704
+346,5.766666667,POSE1_TO_POSE2_PRESS,765.269880448,743,712,675.730119552,664,633,878.730119552,785,801.730119552,649.730119552,630.269880448,651,0.445942171582,-0.00559245259142,0.0499011538299,0.999999990621,2.23481158276e-05,-0.000127687141842,4.42031380527e-05,1793196375804995584
+347,5.783333333,POSE1_TO_POSE2_PRESS,765,743,712,675.694028908,664,633,879,785,801.694028908,650,630,651,0.446266233771,-0.00559423077174,0.0498985058987,0.999999990753,1.71083350567e-05,-0.000127808056562,4.32042126193e-05,1793196375821662464
+348,5.800000000,POSE1_TO_POSE2_PRESS,765,743,712,675.119424873,664,633,879,785,801.119424873,650,630,651,0.446575706905,-0.00559654607817,0.0498929433839,0.999999990079,9.89500854354e-06,-0.000134079881491,4.20205632345e-05,1793196375838329088
+349,5.816666667,POSE1_TO_POSE2_PRESS,765,743,712,675,664,633,879,785,801.467929507,650,630,651,0.446840505225,-0.0055976240622,0.0498741198748,0.999999985416,3.71024630563e-06,-0.000165964332841,4.01255008239e-05,1793196375854995456
+350,5.833333333,POSE1_TO_POSE2_PRESS,765,743,712,675,664,632.942501425,879,784.942501425,802,650,630,651,0.447093418423,-0.00559798792346,0.0498517421911,0.999999978527,-1.55590668137e-06,-0.000203717844512,3.79889511075e-05,1793196375871662080
+351,5.850000000,POSE1_TO_POSE2_PRESS,765,743,712,675,664,632.363193218,879,784.363193218,802,650,630,651,0.447344844583,-0.00559481711403,0.0498286847779,0.999999972055,-9.34572590179e-07,-0.000233749290024,3.53547694312e-05,1793196375888328704
+352,5.866666667,POSE1_TO_POSE2_PRESS,765,743,712,675,664,632,879,784,802,650,630,650.784683201,0.447591605482,-0.00559359930051,0.0498130059664,0.999999967139,-1.77688084827e-06,-0.000254163953138,3.34497238282e-05,1793196375904995072
+353,5.883333333,POSE1_TO_POSE2_PRESS,765,743,712,675,664,632,879,784,802,650,630,650.207514494,0.447830526191,-0.0055956636052,0.0498097273035,0.99999996606,-5.07892173357e-06,-0.000258417081363,3.27700317449e-05,1793196375921661696
+354,5.900000000,POSE1_TO_POSE2_PRESS,765,743.367051034,711.632948966,675,664,632,879,784,801.632948966,650,630,650.367051034,0.448060579214,-0.00560073637707,0.0498143827462,0.999999967971,-1.31711197127e-05,-0.000250617807731,3.28059532406e-05,1793196375938328832
+355,5.916666667,POSE1_TO_POSE2_PRESS,765,743.940155169,711.059844831,675,664,632,879,784,801.059844831,650,630,650.940155169,0.448285654128,-0.00560749802566,0.049823492194,0.9999999713,-2.39523896683e-05,-0.000236052622376,3.32436020037e-05,1793196375954995712
+356,5.933333333,POSE1_TO_POSE2_PRESS,765,743.46966602,711.53033398,675,664,632,879,784,801.53033398,650,630,651,0.448474612186,-0.00560201474925,0.049824798326,0.999999971724,-2.02694815257e-05,-0.000234621578673,3.30845579237e-05,1793196375971662336
+357,5.950000000,POSE1_TO_POSE2_PRESS,765,743,712,675,664,632,879,784,802,650,630,650.880679908,0.448655049741,-0.0055923131023,0.0498260663141,0.999999971995,-1.12412561989e-05,-0.000234125309171,3.27084691759e-05,1793196375988328704
+358,5.966666667,POSE1_TO_POSE2_PRESS,765,743,712,675,664,632,879,784,802,650,630,650.30389927,0.448818965654,-0.00557191243472,0.0498306763245,0.999999972666,1.18145262352e-05,-0.000231341600902,3.17669896786e-05,1793196376004995328
+359,5.983333333,POSE1_TO_POSE2_PRESS,765,743,712,675.272357706,664,632,879,784,802,650,630,650.272357706,0.448965919098,-0.00555740551224,0.0498332492275,0.999999972862,2.78679183825e-05,-0.000229221649461,3.09396472171e-05,1793196376021661952
+360,6.000000000,POSE1_TO_POSE2_PRESS,765,743,712,675.848031458,664,632,879,784,802,650,630,650.848031458,0.449093981971,-0.00554946226613,0.0498335534691,0.999999972935,3.6122971397e-05,-0.000227840903002,3.02394155895e-05,1793196376038328576
+361,6.016666667,POSE1_TO_POSE2_PRESS,765,743.430893939,712,675.569106061,664,632,879,784.430893939,802,650,629.569106061,651,0.449193912378,-0.00555701001152,0.0498303484833,0.999999971837,2.6998312314e-05,-0.000233726718522,3.11369219549e-05,1793196376054995200
+362,6.033333333,POSE1_TO_POSE2_PRESS,765,744,712,675,664,632,878.983737121,784.983737121,802,650,629.016262879,651,0.44928334309,-0.00556974343011,0.0498259290748,0.999999970097,1.20084353545e-05,-0.000242079788424,3.25348964497e-05,1793196376071662080
+363,6.050000000,POSE1_TO_POSE2_PRESS,765,744,712,675,664,632,878.400874581,784.400874581,802,650,629.599125419,651,0.449358504979,-0.00556957154244,0.0498230502019,0.999999969301,9.849825851e-06,-0.000245589635032,3.14039753544e-05,1793196376088328704
+364,6.066666667,POSE1_TO_POSE2_PRESS,764.82005202,743.82005202,712,675,664,632,878.17994798,784,802,650,630,651,0.449428343579,-0.00556960456836,0.0498213467544,0.999999968822,8.33185643855e-06,-0.000247698532902,3.05147042712e-05,1793196376104995584
+365,6.083333333,POSE1_TO_POSE2_PRESS,764.24372292,743.24372292,712,675,664,632,878.75627708,784,802,650,630,651,0.449486456299,-0.00557008896849,0.0498222324797,0.999999969076,8.22505908348e-06,-0.000246721486126,3.0157728483e-05,1793196376121662208
+366,6.100000000,POSE1_TO_POSE2_PRESS,764.330938251,743.330938251,712,675,664,632,879,784,802,650,630,651,0.449532403299,-0.00557166199265,0.049822473169,0.99999996919,5.24060728819e-06,-0.000246361161098,2.99932540504e-05,1793196376138328832
+367,6.116666667,POSE1_TO_POSE2_PRESS,764.904377185,743.904377185,712,675,664,632,879,784,802,650,630,651,0.449569435656,-0.00557403272473,0.0498222411971,0.999999969181,1.47504821693e-07,-0.00024645274957,2.99698383104e-05,1793196376154995712
+368,6.133333333,POSE1_TO_POSE2_PRESS,765,743.509671262,712,675,664,632,879,784,802,650,630,651,0.449591200352,-0.00557135391818,0.0498205132946,0.999999968211,2.88558231735e-06,-0.00025041557119,2.93629067649e-05,1793196376171662080
+369,6.150000000,POSE1_TO_POSE2_PRESS,765,743,712,675,663.922225827,632,878.922225827,784,802,650,629.922225827,651,0.449609020469,-0.00556823526376,0.049818535355,0.999999967144,6.4681490956e-06,-0.000254655523049,2.86580775692e-05,1793196376188328704
+370,6.166666667,POSE1_TO_POSE2_PRESS,765,743,712,675,663.341315575,632,878.341315575,784,802,650,629.341315575,651,0.449621088554,-0.00556880851018,0.0498168765773,0.999999966906,5.37527937759e-06,-0.000255676410151,2.80753756253e-05,1793196376204995584
+371,6.183333333,POSE1_TO_POSE2_PRESS,765,743,712,675.237605854,663,632,878.237605854,784,802,650,629.237605854,650.762394146,0.449631167277,-0.00556936639755,0.0498160689984,0.999999966798,4.16623074375e-06,-0.000256149026155,2.78389475485e-05,1793196376221662208
+372,6.200000000,POSE1_TO_POSE2_PRESS,765,743,712,675.813694049,663,632,878.813694049,784,802,650,629.813694049,650.186305951,0.449638412044,-0.00556990240509,0.0498164739981,0.999999966874,2.79167907873e-06,-0.000255840600354,2.80958053e-05,1793196376238329088
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+375,6.250000000,POSE1_TO_POSE2_PRESS,765,743,712,675.449866528,663.449866528,632,878.550133472,784,802,650,630,651,0.449642254618,-0.0055670862059,0.049814570548,0.999999965512,5.17187976098e-06,-0.000261076759835,2.80843217115e-05,1793196376288328704
+376,6.266666667,POSE1_TO_POSE2_PRESS,765,743,712,675,663.13839885,631.86160115,878.86160115,784,802,650,630,651,0.449644010007,-0.00556898720811,0.0498147245783,0.999999965791,3.4940904527e-06,-0.000259999574693,2.83963579033e-05,1793196376304995328
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+378,6.300000000,POSE1_TO_POSE2_PRESS,765,743,712,675.294496838,664,631.294496838,878.294496838,784.294496838,802,650,630,651,0.449645398087,-0.00556987466217,0.0498137749099,0.999999965592,-4.15722513583e-08,-0.000260871610866,2.75980757419e-05,1793196376338328576
+379,6.316666667,POSE1_TO_POSE2_PRESS,765,743,712,675.869917265,664,631.869917265,878.869917265,784.869917265,802,650,630,651,0.449647781766,-0.00556597540731,0.0498149534459,0.999999965964,2.59232228581e-06,-0.000259506365729,2.68496429145e-05,1793196376354995456
+380,6.333333333,POSE1_TO_POSE2_PRESS,764.545402536,743,712,676,664,632,879,784.545402536,802,650,630,651,0.449646754947,-0.00556790435321,0.0498139403067,0.999999965472,1.19875980777e-06,-0.000261367463785,2.7244913894e-05,1793196376371662336
+381,6.350000000,POSE1_TO_POSE2_PRESS,764.041425083,743,712,676,663.958574917,631.958574917,879,784,802,650,630,651,0.449645042949,-0.00557111704519,0.049812492449,0.999999964809,-1.0145039519e-06,-0.000263824910509,2.78773609101e-05,1793196376388328960
+382,6.366666667,POSE1_TO_POSE2_PRESS,764.621012151,743,712,676,663.378987849,631.378987849,879,784,802,650,630,651,0.449647371522,-0.00556889075878,0.0498137138672,0.999999965362,1.40639481905e-06,-0.000261786577206,2.72509752565e-05,1793196376404995584
+383,6.383333333,POSE1_TO_POSE2_PRESS,765,743,712,675.799840148,663.200159852,631.200159852,878.799840148,784,802,650,630,651,0.449649219455,-0.00556687099915,0.0498149005027,0.999999965873,3.05926899059e-06,-0.000259852865135,2.68656879388e-05,1793196376421661952
+384,6.400000000,POSE1_TO_POSE2_PRESS,765,743,712,675.221522601,663.778477399,631.778477399,878.221522601,784,802,650,630,651,0.449650159326,-0.00556524142637,0.0498160214238,0.99999996632,3.26113055532e-06,-0.000258116811939,2.6935902585e-05,1793196376438328576
+385,6.416666667,POSE1_TO_POSE2_PRESS,765,743,712,675.354458658,663.645541342,631.645541342,878.708917315,784,802,650,630,651,0.449650312286,-0.00556436649468,0.0498159168208,0.999999966283,3.46176457233e-06,-0.000258292765945,2.65893046145e-05,1793196376454995200
+386,6.433333333,POSE1_TO_POSE2_PRESS,765,743,712,675.928989444,663.071010556,631.071010556,879.857978888,784,802,650,630,651,0.449649976679,-0.00556396009554,0.0498150513291,0.999999965945,3.6616364636e-06,-0.000259655824363,2.59839209282e-05,1793196376471661824
+387,6.450000000,POSE1_TO_POSE2_PRESS,765,743,712,675.484208328,663,631.515791672,879.484208328,784,802,650,629.484208328,651,0.449648934291,-0.00556495399434,0.0498137267188,0.999999965529,3.52937519563e-06,-0.000261226141411,2.62877707686e-05,1793196376488328704
+388,6.466666667,POSE1_TO_POSE2_PRESS,765,743,712,675,663.102852011,632,879,784,802,650,629,651,0.449648022508,-0.0055659427698,0.0498126508458,0.999999965178,3.36054375015e-06,-0.000262530614779,2.66517441723e-05,1793196376504995584
+389,6.483333333,POSE1_TO_POSE2_PRESS,765,743,712,675,663.683078094,632,879,784,802,650,629,651,0.449648179543,-0.00556599118192,0.0498130299758,0.999999965194,3.23937894366e-06,-0.000262465546222,2.66996219135e-05,1793196376521662720
+390,6.500000000,POSE1_TO_POSE2_PRESS,765.260633891,743.260633891,712,675,664,631.739366109,879,784,802,650,629.260633891,651,0.449648455687,-0.00556539054139,0.0498130389998,0.999999965159,3.57570285081e-06,-0.000262618624454,2.64887973741e-05,1793196376538329344
+391,6.516666667,POSE1_TO_POSE2_PRESS,765.834975606,743.834975606,712,675,664,631.165024394,879,784,802,650,629.834975606,651,0.449648875194,-0.00556400867901,0.0498126025517,0.999999965059,4.46267575362e-06,-0.000263034271589,2.59665899608e-05,1793196376554995968
+392,6.533333333,POSE1_TO_POSE2_PRESS,765.589144048,743.589144048,712,675.410855952,664,631.410855952,878.589144048,784,802,650,630,651,0.44964830756,-0.00556361245085,0.049812614215,0.999999964939,4.82402440469e-06,-0.000263506582227,2.57475801153e-05,1793196376571662592
+393,6.550000000,POSE1_TO_POSE2_PRESS,765.012643386,743.012643386,712,675.987356614,664,631.987356614,878.012643386,784,802,650,630,651,0.44964734194,-0.00556361360067,0.0498128065433,0.99999996481,4.9734572129e-06,-0.000264001737864,2.56508103832e-05,1793196376588328704
+394,6.566666667,POSE1_TO_POSE2_PRESS,765.58077419,743,712,675.41922581,664,631.41922581,878,784,801.41922581,650,630,651,0.449648578553,-0.00556372085418,0.0498129331387,0.999999964963,4.56506857321e-06,-0.000263416044394,2.58086176239e-05,1793196376604995072
+395,6.583333333,POSE1_TO_POSE2_PRESS,765.830774616,743.169225384,712,675,664,631.169225384,878,784,801.169225384,650,630,651,0.449649259865,-0.00556436610927,0.0498128500257,0.999999965046,3.42238075938e-06,-0.000263108679737,2.58973761455e-05,1793196376621661696
+396,6.600000000,POSE1_TO_POSE2_PRESS,765.255161026,743.744838974,712,675,664,631.744838974,878,784,801.744838974,650,630,651,0.449648489059,-0.00556629764082,0.0498122668456,0.999999964943,5.46339565389e-07,-0.000263527912627,2.58066083506e-05,1793196376638328320
+397,6.616666667,HOLD_POSE2,765,743,712,675,665,631,879,784,802,650,630,651,0.449649934127,-0.0055673815382,0.0498130784714,0.999999965338,-3.39908686261e-07,-0.000261935171654,2.67052066075e-05,1793196376674750464
+398,6.633333333,HOLD_POSE2,765,743,712,675,663.815331791,631,878.407665895,784,802,650,630,651,0.449650463318,-0.00556463326021,0.0498130135145,0.999999965434,4.26119848797e-06,-0.00026158981071,2.61767724711e-05,1793196376691416576
+399,6.650000000,HOLD_POSE2,765,743,712,675,663.178930326,631.178930326,878.178930326,784,801.821069674,650,629.821069674,650.821069674,0.449650487657,-0.00556335924296,0.0498126126402,0.999999965308,6.04649634898e-06,-0.000262074692135,2.57644661135e-05,1793196376708082944
+400,6.666666667,HOLD_POSE2,765,743,712,675,663.752859943,631.752859943,878.752859943,784,801.247140057,650,629.247140057,650.247140057,0.449649397504,-0.00556533974307,0.0498114702083,0.999999964719,1.61572925897e-06,-0.000264392382699,2.56085186047e-05,1793196376724749312
+401,6.683333333,HOLD_POSE2,765,743,712,674.670325552,663.670325552,631.670325552,879,784,801,650,629.329674448,650.329674448,0.449649963566,-0.00556543347031,0.0498118614938,0.999999964846,9.96925552658e-07,-0.00026392208332,2.55511238572e-05,1793196376741415680
+402,6.700000000,HOLD_POSE2,765,743,712,674.091329338,663.091329338,631.091329338,879,784,801,650,629.908670662,650.908670662,0.449651782166,-0.00556410029417,0.0498134126786,0.999999965518,3.26098261945e-06,-0.000261343320186,2.55682612789e-05,1793196376758082304
+403,6.716666667,HOLD_POSE2,765,743,712,674.481359354,663,631,879,784,801,650,630,651,0.449651861576,-0.00556427714901,0.0498132248853,0.999999965537,3.23068021874e-06,-0.000261252220949,2.57402132675e-05,1793196376774748928
+404,6.733333333,HOLD_POSE2,765,743,712.054909191,675,663.054909191,631.054909191,878.945090809,784,801.054909191,650,630,651,0.449651545731,-0.00556479230167,0.0498127468244,0.999999965413,2.67874339934e-06,-0.000261712393966,2.59602274602e-05,1793196376791415808
+405,6.750000000,HOLD_POSE2,765,743,712.648495735,675,663.648495735,631.648495735,878.351504265,784,801.648495735,650,630,651,0.449650547651,-0.00556585194795,0.0498126160978,0.999999965064,1.22473599747e-06,-0.000263010243963,2.63673131263e-05,1793196376808082688
+406,6.766666667,HOLD_POSE2,765,743,712.763549246,675.236450754,664,631.763549246,878.236450754,784,802,650,630,651,0.44964999553,-0.00556616714197,0.0498124238366,0.99999996483,1.00537402732e-06,-0.000263897250741,2.64228178049e-05,1793196376824749824
+407,6.783333333,HOLD_POSE2,765,743,712.18377127,675.81622873,664,631.18377127,878.81622873,784,802,650,630,651,0.449650090943,-0.00556540138895,0.0498121422269,0.999999964762,2.57872114193e-06,-0.000264187711792,2.59678257742e-05,1793196376841416448
+408,6.800000000,HOLD_POSE2,765,743,712,675.6072723,663.6072723,631,878.6072723,784,802,650,629.6072723,651,0.449650335307,-0.00556458903014,0.0498122558594,0.999999964763,3.62682836993e-06,-0.000264183605954,2.58309985974e-05,1793196376858083072
+409,6.816666667,HOLD_POSE2,765,743,712,675.032294937,663.032294937,631,878.032294937,784,802,650,629.032294937,651,0.449650648795,-0.00556375504334,0.0498125529084,0.999999964797,4.43119231785e-06,-0.000264042803098,2.58418193241e-05,1793196376874749440
+410,6.833333333,HOLD_POSE2,765,743,712,675,663.55443052,631,878,784,802,650,629.55443052,651,0.449650462345,-0.00556460097351,0.0498116654584,0.999999964661,3.82831231278e-06,-0.000264536794928,2.61611769798e-05,1793196376891415808
+411,6.850000000,HOLD_POSE2,765,743,712.139901104,675.139901104,664,631,878.139901104,784,802,650,630,651,0.449650257696,-0.00556521274597,0.0498109544576,0.99999996455,3.07884030945e-06,-0.000264948793792,2.63121448811e-05,1793196376908082432
+412,6.866666667,HOLD_POSE2,765,743,712.719234281,675.719234281,664,631,878.719234281,784,802,650,630,651,0.449650089329,-0.00556477501213,0.0498110190957,0.999999964555,2.13196400545e-06,-0.000264984594508,2.5876525199e-05,1793196376924749056
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,663,632,878,784,801,650,629,651,0.449652947511,-0.0055636446656,0.0498135901843,0.999999965662,3.29070933738e-06,-0.000260789356356,2.55803364107e-05,1793196376962896896
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,663.591731338,631.408268662,878.591731338,784,801.591731338,650,629,651,0.449650550651,-0.00556551349019,0.0498117592197,0.999999964718,4.50527774321e-07,-0.000264383213785,2.58076781804e-05,1793196376979563520
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,664,631,879,784,802,650,629.185403045,651,0.449649413969,-0.00556674664106,0.0498108624228,0.999999964226,-1.17763722494e-06,-0.000266207925525,2.60840280517e-05,1793196376996230144
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,664,631,879,784,802,650,629.783392866,651,0.449651081625,-0.00556656519537,0.0498120444762,0.999999964776,-1.0864098973e-07,-0.000264095668558,2.6469438176e-05,1793196377012896768
+417,6.950000000,POSE2_TO_POSE3_RETREAT,765.369135589,743,712,675,664,631.369135589,878.630864411,784,802,650,629.630864411,651,0.44965072552,-0.00556555812142,0.0498115934923,0.999999964633,2.0173405587e-06,-0.000264663508864,2.61331655535e-05,1793196377029563136
+418,6.966666667,POSE2_TO_POSE3_RETREAT,765.94792251,743,712,675,664,631.94792251,878.05207749,784,802,650,629.05207749,651,0.449649220015,-0.00556408213017,0.0498102150214,0.999999964088,4.74363907016e-06,-0.000266753516167,2.5387011677e-05,1793196377046229504
+419,6.983333333,POSE2_TO_POSE3_RETREAT,766,743,712,675,664,632,878.522563886,784,801.477436114,650,629.522563886,651,0.449650905186,-0.00556482146906,0.0498115929161,0.999999964581,2.81232565287e-06,-0.000264900680444,2.56338225111e-05,1793196377062896128
+420,7.000000000,POSE2_TO_POSE3_RETREAT,765.900759864,743,712,675.099240136,664,632,878.900759864,784,801,650,630,651,0.449652220157,-0.00556509452281,0.0498127325435,0.99999996498,1.49633569383e-06,-0.000263387453778,2.57784916954e-05,1793196377079563008
+421,7.016666667,POSE2_TO_POSE3_RETREAT,765.312025041,743,712,675.687974959,664,632,878.312025041,784,801,650,630,651,0.4496501531,-0.00556198727563,0.0498113526968,0.999999964436,5.4868319892e-06,-0.000265472190107,2.49351004883e-05,1793196377096229888
+422,7.033333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.727762614,663.727762614,631.727762614,878,784,801,650,630,651,0.449646354676,-0.00556070383765,0.0498094832526,0.999999963725,7.34683800764e-06,-0.000268125550544,2.46078441661e-05,1793196377112897024
+423,7.050000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.148543414,663.148543414,631.148543414,878,784,801,650,630,651,0.449640603918,-0.00556147697362,0.0498070617259,0.999999962833,6.80444862544e-06,-0.000271420105877,2.4862594751e-05,1793196377129563648
+424,7.066666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,663.428230831,631,878.428230831,784,801.428230831,650,630,651,0.449623176882,-0.00556196832034,0.0497987318639,0.999999958951,3.39240476061e-06,-0.000285478660609,2.42470711192e-05,1793196377146230016
+425,7.083333333,POSE2_TO_POSE3_RETREAT,765,743,712.004137216,675,663.995862784,631.004137216,878.995862784,784,802,650,630,651,0.449601555337,-0.00556234332453,0.0497883103935,0.999999953714,-9.45868217646e-07,-0.000303358147917,2.33325348002e-05,1793196377162896384
+426,7.100000000,POSE2_TO_POSE3_RETREAT,765,743,712.576660877,675,663.423339123,631.576660877,878.423339123,784,802,650,630,651,0.449556953713,-0.00556008725556,0.0497705008569,0.99999994325,3.44485330009e-06,-0.000336122410507,2.2576224756e-05,1793196377179563008
+427,7.116666667,POSE2_TO_POSE3_RETREAT,765.154706491,743,712.845293509,675,663.154706491,632,878.154706491,784,801.845293509,650,629.845293509,651,0.449508641847,-0.00555824618547,0.0497528077909,0.999999932012,6.57342640767e-06,-0.000368046936471,2.17692320656e-05,1793196377196229376
+428,7.133333333,POSE2_TO_POSE3_RETREAT,765.748421825,743,712.251578175,675,663.748421825,632,878.748421825,784,801.251578175,650,629.251578175,651,0.449449801462,-0.00555758275244,0.0497354452281,0.999999920726,6.12041641166e-06,-0.000397588559666,2.08184176835e-05,1793196377212896256
+429,7.150000000,POSE2_TO_POSE3_RETREAT,765.666196579,743.333803421,712,675,664,631.666196579,878.666196579,784,801.333803421,650,629,651,0.449388712424,-0.00555520828983,0.0497243014614,0.999999914528,6.82052198824e-06,-0.000412928014071,1.96916608883e-05,1793196377229562880
+430,7.166666667,POSE2_TO_POSE3_RETREAT,765.086942929,743.913057071,712,675,664,631.086942929,878.086942929,784,801.913057071,650,629,651,0.449325969923,-0.00555157568375,0.0497177304619,0.999999912506,8.36852927417e-06,-0.000417824417582,1.84355312921e-05,1793196377246229760
+431,7.183333333,POSE2_TO_POSE3_RETREAT,765,743.513509582,712,675.486490418,663.513509582,631.486490418,878.486490418,784,802,650,629.486490418,651,0.449254874813,-0.00554654171437,0.049716888315,0.99999991172,1.23405534213e-05,-0.000419640838366,1.7575102671e-05,1793196377262896384
+432,7.200000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.939278344,663,631.939278344,878.939278344,784,802,650,629.939278344,651,0.449180756576,-0.00554163107206,0.0497174132689,0.999999911305,1.64589149591e-05,-0.000420517643202,1.68769418024e-05,1793196377279563008
+433,7.216666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.349128356,663,631.349128356,878.349128356,784,802,650,629.349128356,651,0.449093141064,-0.00553995350105,0.0497210367181,0.999999912353,1.81207316295e-05,-0.000417944489703,1.6984291056e-05,1793196377296229376
+434,7.233333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,663,631,878.236674202,784,802,650,629.236674202,651,0.448997597916,-0.00553754861324,0.0497250314129,0.999999914233,2.00631980349e-05,-0.000413336316373,1.68818342117e-05,1793196377312896000
+435,7.250000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,663,631,878.816179305,784,802,650,629.816179305,651,0.448890571315,-0.00553409018161,0.0497295638697,0.999999917284,2.24121953005e-05,-0.000405780345503,1.64754658505e-05,1793196377329562880
+436,7.266666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.393479382,663.393479382,631.393479382,878.606520618,784,802,650,630,651,0.448761280276,-0.00552739628402,0.0497307803612,0.99999991821,2.75220473531e-05,-0.000403219476864,1.53996930278e-05,1793196377346229760
+437,7.283333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.969755136,663.969755136,631.969755136,878.030244864,784,802,650,630,651,0.44862164597,-0.00551919930499,0.0497304563747,0.999999918131,3.39144934624e-05,-0.000402979152424,1.40129389287e-05,1793196377362896384
+438,7.300000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.455625536,663.455625536,632,878,784,802,650,629.455625536,651,0.448458330572,-0.00551264779786,0.0497278345537,0.999999916869,3.8295402626e-05,-0.000405743488765,1.29334452929e-05,1793196377379563008
+439,7.316666667,POSE2_TO_POSE3_RETREAT,764.877758806,743,712,675.122241194,663.122241194,632,878.122241194,784,802,650,629.122241194,651,0.448288520608,-0.00550613579105,0.0497245162033,0.999999915197,4.23461063711e-05,-0.000409481744906,1.1715018433e-05,1793196377396229632
+440,7.333333333,POSE2_TO_POSE3_RETREAT,764.287096476,743,712,675.712903524,663.712903524,632,878.712903524,784,802,650,629.712903524,651,0.448098850176,-0.00549942588934,0.0497190165139,0.999999912254,4.55584376675e-05,-0.000416314258374,9.89899036113e-06,1793196377412896256
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+442,7.366666667,POSE2_TO_POSE3_RETREAT,765.755200565,743.877600283,712,676,664,632,879.877600283,784,802.877600283,650,630,651,0.447671031896,-0.00548036790586,0.0497134996172,0.999999908466,6.16089017373e-05,-0.000423345860344,7.04799695565e-06,1793196377446229504
+443,7.383333333,POSE2_TO_POSE3_RETREAT,765.545931943,744,712,676,664,632,879.545931943,784.454068057,802.545931943,650,630,651,0.447428859282,-0.0054695280198,0.0497166143264,0.999999910185,7.13432645721e-05,-0.000417744096219,5.4721910546e-06,1793196377462896128
+444,7.400000000,POSE2_TO_POSE3_RETREAT,765.029570874,743.970429126,712,675.970429126,664,632,879,784.970429126,802,650,630,651,0.447179893094,-0.00545866718094,0.0497209539948,0.999999912563,8.08398672446e-05,-0.000410273747557,3.82669114574e-06,1793196377479563008
+445,7.416666667,POSE2_TO_POSE3_RETREAT,765.603135337,743.396864663,712,675.396864663,664,632,879,784.396864663,802,650,630,651,0.446906803887,-0.00544941914926,0.0497232418818,0.999999913107,8.51553883962e-05,-0.000408080950832,2.2566177814e-06,1793196377496229632
+446,7.433333333,POSE2_TO_POSE3_RETREAT,765.817343465,743,712,675,664,632,878.817343465,784,801.817343465,650,630,651,0.446628652497,-0.00544120837757,0.0497279335002,0.999999915585,8.9545624581e-05,-0.000401012298092,9.58992225238e-07,1793196377512896256
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+448,7.466666667,POSE2_TO_POSE3_RETREAT,765.357354355,743,712,675,664,632.357354355,878.357354355,784,801.357354355,650,630,651,0.446031933967,-0.00542806562274,0.0497550992916,0.999999932558,9.86456617831e-05,-0.000353769569093,-7.65893942926e-07,1793196377546229760
+449,7.483333333,POSE2_TO_POSE3_RETREAT,765.932389744,743,712,675,664,632.932389744,878.932389744,784,801.932389744,650,630,651,0.445713968655,-0.00541996301448,0.0497764296631,0.999999944201,0.000103177877579,-0.000317722156851,-2.02037729853e-06,1793196377562896640
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+451,7.516666667,POSE2_TO_POSE3_RETREAT,765,743,712.916200429,675,664,633,878,784.083799571,801.083799571,650,630,651,0.444954910867,-0.00540482969704,0.0498047558634,0.999999950591,0.000105308434145,-0.000296140074278,-5.4689299448e-06,1793196377596229632
+452,7.533333333,POSE2_TO_POSE3_RETREAT,765,743,712.341247741,675,664,633,878,784.658752259,801.658752259,650,630,651,0.444538934502,-0.00541811047435,0.0498063233102,0.999999951966,8.38816788867e-05,-0.000298259829011,-8.5587720874e-06,1793196377612896256
+453,7.550000000,POSE2_TO_POSE3_RETREAT,765,743.242351878,712,675,664.484703756,633,878.242351878,785,801.757648122,650,630,651,0.44410306823,-0.00543433146263,0.049801430873,0.999999950643,5.91355280689e-05,-0.000308389589709,-1.06263758456e-05,1793196377629562880
+454,7.566666667,POSE2_TO_POSE3_RETREAT,765,743.838577405,712,675,665.677154811,633,878.838577405,785,801.161422595,650,630,651,0.443638159441,-0.00545484564226,0.0497871059413,0.99999994498,2.95425144043e-05,-0.000330215277858,-1.12013430424e-05,1793196377646229760
+455,7.583333333,POSE2_TO_POSE3_RETREAT,765,743.579994976,712,675.420005024,665.159989952,633,878.579994976,785,801,650,630,650.579994976,0.443151990502,-0.00545718996704,0.0497740557695,0.999999938554,1.88131987743e-05,-0.000349738519496,-1.48569187861e-05,1793196377662896384
+456,7.600000000,POSE2_TO_POSE3_RETREAT,765,743.004061163,712,675.995938837,664.008122325,633,878.004061163,785,801,650,630,650.004061163,0.442657928645,-0.00545278864947,0.0497614788585,0.999999931831,1.50871181454e-05,-0.00036840696682,-1.96561845563e-05,1793196377679563008
+457,7.616666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.431960181,664.568039819,633,878,785,801.568039819,650,630,650.568039819,0.442163694668,-0.00543745880723,0.0497774284656,0.999999942746,2.42212159135e-05,-0.000336696199509,-2.35935354464e-05,1793196377696229632
+458,7.633333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,665,633,878.144717177,784.855282823,801.855282823,650,630,651,0.441665804643,-0.00542457753963,0.0497955666621,0.999999953157,2.98431116436e-05,-0.000303410122,-2.71599399608e-05,1793196377712896512
+459,7.650000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,665,633,878.735586984,784.264413016,801.264413016,650,630,651,0.441156647141,-0.00541948431727,0.0498198275745,0.999999963789,2.43555860895e-05,-0.000266370458777,-2.96016131453e-05,1793196377729563136
+460,7.666666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.319708867,665,633,878.680291133,784,801,650,630,650.680291133,0.440606871279,-0.00541915156481,0.049828857256,0.999999967719,1.53732123562e-05,-0.000251518552128,-3.260631116e-05,1793196377746229760
+461,7.683333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.898365345,665,633,878.101634655,784,801,650,630,650.101634655,0.440024196595,-0.00542267454566,0.0498255504325,0.999999966923,3.56019215658e-06,-0.000254637574471,-3.60670303917e-05,1793196377762896384
+462,7.700000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.526867827,665,633,878.473132173,784.473132173,801.473132173,650,630,650.473132173,0.439387927555,-0.00542491051943,0.0497963543094,0.999999953,-8.93283321113e-06,-0.000303714144936,-4.09618075162e-05,1793196377779563008
+463,7.716666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,664.952928726,633,879,785,801.952928726,650,630,651,0.438739014866,-0.00542617904499,0.049763293144,0.999999934021,-2.07576773414e-05,-0.000359726726151,-4.60934620318e-05,1793196377796229632
+464,7.733333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,664.378977961,633,879,785,801.378977961,650,630,651,0.438076392332,-0.00541968800755,0.0497487114425,0.99999992481,-2.34817239727e-05,-0.000383774395455,-5.04565484164e-05,1793196377812896256
+465,7.750000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,664.202044614,633,878.797955386,785,801,650,630,651,0.437430207034,-0.0054140516594,0.0497514310692,0.999999924573,-2.55310659486e-05,-0.000383842147897,-5.35508941319e-05,1793196377829562880
+466,7.766666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,664.796812967,633,878.203187033,785,801,650,630,651,0.436815971615,-0.00541007661191,0.0497877801127,0.999999941302,-2.62689521726e-05,-0.000337298992124,-5.41791278889e-05,1793196377846229248
+467,7.783333333,POSE2_TO_POSE3_RETREAT,765.379208035,743,712,675.379208035,665,633,877.620791965,785,801,650,630,651,0.436166817873,-0.00541086240458,0.0498127278743,0.999999952637,-3.23658951219e-05,-0.000301053720593,-5.51800495856e-05,1793196377862896128
+468,7.800000000,POSE2_TO_POSE3_RETREAT,765.95518273,743,712,675.95518273,665,633,877.04481727,785,801,650,630,651,0.435499545438,-0.00541411854222,0.0498317596417,0.999999961069,-4.12435905457e-05,-0.000270151903431,-5.63743547146e-05,1793196377879563008
+469,7.816666667,POSE2_TO_POSE3_RETREAT,765.469586379,743,712,676,664.469586379,633,877.530413621,785,801,650,630,651,0.434775076234,-0.00541644977782,0.0498080027271,0.999999949934,-2.92100459532e-05,-0.00031053232124,-5.33665987331e-05,1793196377896229632
+470,7.833333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.891550313,664.108449687,633,878,785.108449687,801.108449687,650,630.108449687,650.891550313,0.434049447123,-0.00541711508437,0.0497862214142,0.999999938862,-1.169445284e-05,-0.000345950740988,-4.95796668072e-05,1793196377912896256
+471,7.850000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.300758966,664.699241034,633,878,785.699241034,801.699241034,650,630.699241034,650.300758966,0.433340123879,-0.00541071808326,0.0497892842952,0.999999943492,2.23556900697e-05,-0.000332549751303,-4.39041921361e-05,1793196377929562880
+472,7.866666667,POSE2_TO_POSE3_RETREAT,765.284534402,743,712,675.284534402,664.715465598,633,878,785.715465598,802,650,630.715465598,650.284534402,0.432624758554,-0.00540545392792,0.0498006642125,0.999999949004,3.82166874325e-05,-0.000314232832414,-4.23091577033e-05,1793196377946229504
+473,7.883333333,POSE2_TO_POSE3_RETREAT,765.864126523,743,712,675.864126523,664.135873477,633,878,785.135873477,802,650,630.135873477,650.864126523,0.431903127601,-0.00540136451512,0.0498206687667,0.999999956082,3.52158298354e-05,-0.000290818170493,-4.49454752427e-05,1793196377962896128
+474,7.900000000,POSE2_TO_POSE3_RETREAT,765.558115854,743,712,675.558115854,664,633,878,785,801.558115854,650,630,651,0.431139280162,-0.00540129954891,0.0498060279079,0.999999949283,2.58105758059e-05,-0.000313653219681,-4.88785337097e-05,1793196377979562752
+475,7.916666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,664.018905867,633,878,785,801,650,630,651,0.430362112912,-0.0054024532477,0.0497807694112,0.999999936945,1.47043181943e-05,-0.000350808263504,-5.31657621551e-05,1793196377996229376
+476,7.933333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,664.590834492,633,878,785,801,650,630,651,0.429573463875,-0.00540320671741,0.0497552569807,0.999999921301,1.12069445513e-05,-0.00039257402938,-5.61977633831e-05,1793196378012896512
+477,7.950000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,664.831286083,633,878,785,801.168713917,650,630,651,0.428796328654,-0.00540395551051,0.0497464468371,0.999999915209,1.30323160768e-05,-0.00040762894735,-5.70155860215e-05,1793196378029563392
+478,7.966666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,664.238447146,633,878,785,801.761552854,650,630,651,0.428048137726,-0.00540469254716,0.0497796240893,0.999999935032,2.82383824068e-05,-0.000355536238332,-5.22672492989e-05,1793196378046229760
+479,7.983333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,664.343302497,633,878,785,801.656697503,650,630,651,0.427271628173,-0.00540129781728,0.0497882214647,0.999999937431,3.87449310988e-05,-0.000347927074088,-5.08296695783e-05,1793196378062896384
+480,8.000000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,664.917590852,633,878,785,801.082409148,650,630,651,0.426476064895,-0.00539512309115,0.0497802806429,0.999999929064,4.60894803068e-05,-0.000370247988173,-5.16196825453e-05,1793196378079563008
+481,8.016666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.496780972,664.503219028,633.496780972,877.503219028,785,801,650,630,651,0.425725824254,-0.00539433625807,0.0497848273512,0.99999993752,4.55994312497e-05,-0.00034636511321,-5.39562167214e-05,1793196378096229632
+482,8.033333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.922164608,664.077835392,634,877,785,801,650,630,651,0.424982537547,-0.00539489597839,0.0497948690218,0.999999948777,4.3928845236e-05,-0.000312069099734,-5.59452933117e-05,1793196378112896256
+483,8.050000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.334275285,664.665724715,634,877,785,801,650,630,651,0.424235061243,-0.00539836436431,0.0498272092354,0.999999963746,4.31236926082e-05,-0.000260262332825,-5.39595867141e-05,1793196378129563136
+484,8.066666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,665,633.750077115,877.249922885,785,801,650,630,651,0.423467910584,-0.00539840810196,0.0498391114371,0.999999968807,4.54136473782e-05,-0.000239672631705,-5.36750964831e-05,1793196378146230272
+485,8.083333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,665,633.170743978,877.829256022,785,801,650,630,651,0.422674828085,-0.00539393799077,0.0498240753713,0.999999963252,5.17831009311e-05,-0.000260228501761,-5.56328902084e-05,1793196378162896896
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+487,8.116666667,POSE2_TO_POSE3_RETREAT,764.016988746,743,712,675,665,633.983011254,878,785,801,649.016988746,630,650.016988746,0.421068937774,-0.00539182887388,0.0497720994843,0.999999932829,6.1832552076e-05,-0.000356570201803,-5.81154782687e-05,1793196378196229888
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7a1309dbf2e8b1590e2695460f5a556eb2485374
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,571 @@
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+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
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c09a3f9151bfacc43e549527dc4ba56fa75cc9a3
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3cc5254a10873a5456fcbc720c5416f09eeee166
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_02/franka_data.csv
@@ -0,0 +1,421 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,743,712,673,664,634,877,785,801,650,630,651,0.400981754802,-0.00543041643255,0.0498545230098,0.999999965068,1.14941898563e-06,-0.000258980251639,-5.284500212e-05,1793196379718679040
+1,0.016666667,BASELINE,765,742.424194824,711.424194824,673.575805176,664,634,877,785,801,650,630.575805176,651,0.400980744624,-0.00543125241288,0.0498543647423,0.99999996499,-2.65744179564e-07,-0.0002592661469,-5.29310241887e-05,1793196379735346176
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+3,0.050000000,BASELINE,765,742.725830751,711.725830751,674,664,633.274169249,877,785,801,650,630.274169249,651,0.400981113244,-0.00543249786179,0.0498539530146,0.999999965111,-1.98177481673e-06,-0.000258727051275,-5.32302067117e-05,1793196379768680192
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+6,0.100000000,BASELINE,765,742.520597867,712,674.520597867,664,634,877,785,801,650,630,651,0.400981533535,-0.00543188572626,0.049855468954,0.999999965555,-1.51692347976e-06,-0.000257139713436,-5.25961387631e-05,1793196379818679296
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+9,0.150000000,BASELINE,764.208246529,743,711.208246529,673.791753471,664,633,877.208246529,785,801,650,630,651,0.400983665822,-0.00543153149376,0.0498559270854,0.999999966045,8.11908850485e-07,-0.000255165523288,-5.29105279801e-05,1793196379868678912
+10,0.166666667,BASELINE,764.784534018,743,711.784534018,673.215465982,664,633,877.784534018,785,801,650,630,651,0.400982647115,-0.00543051161492,0.049855212618,0.999999965662,3.94361988019e-06,-0.000256661844905,-5.27758054964e-05,1793196379885345536
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+12,0.200000000,BASELINE,764.036238216,743,711.036238216,673.963761784,664,633.963761784,877.036238216,785,801,650,629.036238216,651,0.400981737242,-0.00543095342262,0.049855520199,0.999999965914,1.75102222756e-07,-0.0002557496787,-5.25760572894e-05,1793196379918678528
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+15,0.250000000,BASELINE,765,742.692472084,711,673.307527916,664,633.307527916,877,785,801,650,630,651.307527916,0.400981798255,-0.00543330284825,0.0498557016541,0.999999965899,-1.68284578593e-06,-0.000255779651231,-5.26917742701e-05,1793196379968678656
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+17,0.283333333,BASELINE,765,743,711,673,664,633.864204746,876.135795254,785,801,650,630,651,0.400982391501,-0.00543119263998,0.0498557712277,0.999999965981,1.25727187182e-07,-0.000255392479602,-5.30333042625e-05,1793196380002011904
+18,0.300000000,BASELINE,765,743,711,673.445757711,664,633.554242289,876,785,801,650.445757711,630,651,0.400982171775,-0.00543124222811,0.0498552398006,0.999999965842,-1.01002016973e-06,-0.000255900959528,-5.31923060281e-05,1793196380018678784
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+21,0.350000000,BASELINE,764.173540681,743,711,673,664,634,876,785,801,650,629.173540681,651,0.400981211246,-0.00543061866805,0.0498549215567,0.999999965437,3.07627057648e-06,-0.000257507400568,-5.296807555e-05,1793196380068678912
+22,0.366666667,BASELINE,764.750412847,743,711,673,664,634,876,785,801,650,629.750412847,651,0.400978852061,-0.00543150379748,0.0498530859628,0.999999964742,1.77032974717e-07,-0.000260212212343,-5.2970485274e-05,1793196380085346304
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+24,0.400000000,BASELINE,765,743,711.926435412,673.926435412,664.926435412,634,876.926435412,785,801,650,630,651,0.40098202454,-0.00543160040754,0.049855413985,0.999999965862,2.07405465397e-06,-0.000255939919272,-5.25988733859e-05,1793196380118679040
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+26,0.433333333,BASELINE,764.085495695,743,711,674,664,633.914504305,877,785,801.914504305,650,629.085495695,651.085495695,0.40098299121,-0.00543195632768,0.0498556139881,0.999999966337,-1.82496030467e-06,-0.000254011324724,-5.29245759341e-05,1793196380152012544
+27,0.450000000,BASELINE,764.659591771,743,711,674,664,633.340408229,877,785,801.340408229,650,629.659591771,651.659591771,0.400983481818,-0.00543164004179,0.0498562531658,0.999999966355,-5.20172163715e-07,-0.00025397254977,-5.28069054506e-05,1793196380168679424
+28,0.466666667,BASELINE,765,743,711.239357476,674,664.239357476,633.239357476,877,785,801.239357476,650,630,651.760642524,0.400983889495,-0.00543190720085,0.0498565706774,0.999999966381,2.7143568741e-07,-0.000253884464795,-5.27285342627e-05,1793196380185346048
+29,0.483333333,BASELINE,765,743,711.827381978,674,664.827381978,633.827381978,877,785,801.827381978,650,630,651.172618022,0.400984176369,-0.00543302425197,0.0498564196249,0.999999966423,3.15504474458e-07,-0.000253724550949,-5.27074095433e-05,1793196380202012928
+30,0.500000000,BASELINE,765,743,711.590447985,674,664.590447985,634,877,785,802,650.409552015,630,651.409552015,0.400983904697,-0.00543250947261,0.0498566509648,0.999999966435,4.80293053586e-07,-0.000253702281569,-5.25817680491e-05,1793196380218679552
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+38,0.633333333,BASELINE,764.951134086,742.048865914,712,674,664,634,877,785,802,650,629.048865914,651.951134086,0.400982486622,-0.00543248217173,0.0498561949293,0.99999996617,1.3317529911e-07,-0.000254722918917,-5.26864220748e-05,1793196380352012032
+39,0.650000000,BASELINE,764.37776734,742.62223266,712,674,664,634,877,785,802,650,629.62223266,651.37776734,0.400982453306,-0.00543283688325,0.0498558986329,0.999999966082,-9.52728864257e-07,-0.000255016720989,-5.2922891488e-05,1793196380368679680
+40,0.666666667,BASELINE,764.20094292,743,712,674,664,633.79905708,876.79905708,785,801.79905708,650,630,651,0.400982607664,-0.00543263533468,0.0498558764275,0.99999996606,-9.80442092378e-07,-0.000255082712171,-5.30313706379e-05,1793196380385347072
+41,0.683333333,BASELINE,764.789973243,743,712,674,664,633.210026757,876.210026757,785,801.210026757,650,630,651,0.400983124486,-0.00543135946341,0.0498563835827,0.999999966162,1.03556229663e-06,-0.000254708724971,-5.28926581385e-05,1793196380402012928
+42,0.700000000,BASELINE,765,743,712,674,664,633,876.372866731,785,801.372866731,650,630,651.372866731,0.400982465236,-0.0054305397355,0.0498563823878,0.999999966129,2.2925543369e-06,-0.000254809997452,-5.30020497933e-05,1793196380418679296
+43,0.716666667,BASELINE,765,743,712,674,664,633,876.952359442,785,801.952359442,650,630,651.952359442,0.40098115426,-0.00542997278177,0.0498560994881,0.99999996602,3.12893578839e-06,-0.000255174637496,-5.32489296211e-05,1793196380435345920
+44,0.733333333,BASELINE,765,743,712,674,664,633.5287153,876.4712847,785,801.4712847,650,630,651.4712847,0.400980448987,-0.0054307596875,0.0498554506323,0.999999965723,1.70477519337e-06,-0.000256367174334,-5.31764644594e-05,1793196380452012544
+45,0.750000000,BASELINE,765,743,711.895530196,673.895530196,664,634,876.104469804,785,801,650,630,651,0.400980268216,-0.00543162737042,0.049855255695,0.999999965602,3.53848056182e-07,-0.000256874974448,-5.30189094415e-05,1793196380468679168
+46,0.766666667,BASELINE,765,743,711.321216709,673.321216709,664,634,876.678783291,785,801,650,630,651,0.400982202335,-0.00543231293255,0.0498572496437,0.999999966366,2.42952584971e-07,-0.000253969709262,-5.26073200261e-05,1793196380485346048
+47,0.783333333,BASELINE,765,743,711.260485785,673.260485785,664,634,877,785,801,650,630,651,0.400983315229,-0.00543233578211,0.0498579315406,0.999999966654,4.16838868851e-07,-0.000252862891551,-5.24656674933e-05,1793196380502012928
+48,0.800000000,BASELINE,765,743,711.851566086,673.851566086,664,634,877,785,801,650,630,651,0.400983385866,-0.00543151755268,0.0498569482521,0.999999966345,9.52154788592e-07,-0.000254038566028,-5.26666042442e-05,1793196380518679296
+49,0.816666667,BASELINE,765,743,711.566184059,674,664,633.566184059,877,785,801,650,630,651,0.400983126133,-0.00543162059255,0.0498565366016,0.999999966305,5.20212515311e-07,-0.000254219448132,-5.25575963704e-05,1793196380535345920
+50,0.833333333,BASELINE,765,743,711,674,664.013040749,633,877,785,801,650,630,651,0.40098276146,-0.00543203492108,0.0498563348793,0.999999966356,-2.39945822994e-07,-0.000254061456612,-5.23518072075e-05,1793196380552012800
+51,0.850000000,BASELINE,765,743,711,674,664.589505918,633,877,785,801,650,630,651,0.400982649341,-0.00543255107206,0.049856921177,0.999999966448,-1.16698646348e-06,-0.000253675041491,-5.24550774953e-05,1793196380568679168
+52,0.866666667,BASELINE,764.835159598,742.835159598,711,673.835159598,664.835159598,633,876.835159598,785,801,650,629.835159598,651,0.400982655049,-0.00543264484531,0.0498574973676,0.999999966543,-1.34881835997e-06,-0.000253277570566,-5.25521507118e-05,1793196380585345536
+53,0.883333333,BASELINE,764.262621654,742.262621654,711,673.262621654,664.262621654,633,876.262621654,785,801,650,629.262621654,651,0.400982952176,-0.00543169395738,0.0498580485603,0.999999966648,3.12464526026e-07,-0.000252852755489,-5.26338967898e-05,1793196380602012160
+54,0.900000000,BASELINE,764.320534153,742.320534153,711.320534153,673.320534153,664.320534153,633.320534153,876.320534153,785,801,650,629.320534153,651,0.400982025421,-0.00543089654068,0.0498571243012,0.999999966288,1.69925737723e-06,-0.000254255997658,-5.26856022807e-05,1793196380618679040
+55,0.916666667,BASELINE,764.912687459,742.912687459,711.912687459,673.912687459,664.912687459,633.912687459,876.912687459,785,801,650,629.912687459,651,0.400980061554,-0.00543022917484,0.049854949751,0.999999965529,2.85344856334e-06,-0.000257208327068,-5.27118515129e-05,1793196380635345920
+56,0.933333333,BASELINE,765,743,712,674,665,634,876.508435914,785,801,650,630,651,0.400980400095,-0.00543301600021,0.049855101085,0.999999965634,-8.71202341427e-07,-0.000256920112152,-5.21947009666e-05,1793196380652012800
+57,0.950000000,BASELINE,765,742.931947912,712,673.931947912,664.931947912,633.931947912,876.068052088,785,801,650,630,651,0.40098121874,-0.00543582990751,0.0498557320225,0.999999965898,-4.81491335679e-06,-0.000255944136939,-5.17044864779e-05,1793196380668679424
+58,0.966666667,BASELINE,765,742.356149739,712,673.356149739,664.356149739,633.356149739,876.643850261,785,801,650,630,651,0.400982648464,-0.00543438855615,0.0498569400066,0.999999966371,-4.09735873027e-06,-0.000254018314214,-5.21164538878e-05,1793196380685346048
+59,0.983333333,BASELINE,765,742.224761228,711.775238772,673.224761228,664,633.224761228,877,785,801,650,630,651,0.400983906378,-0.00543340988598,0.0498578603545,0.999999966798,-3.72598086438e-06,-0.000252283791851,-5.23760208003e-05,1793196380702012416
+60,1.000000000,BASELINE,765,742.813962442,711.186037558,673.813962442,664,633.813962442,877,785,801,650,630,651,0.400984885708,-0.00543318143184,0.0498583143138,0.999999967155,-3.91591257163e-06,-0.000250859453921,-5.23884773854e-05,1793196380718679040
+61,1.016666667,BASELINE,765,742.603973845,711.396026155,674,664,633.603973845,876.603973845,785,801,650,630,651,0.400983940949,-0.00543153197705,0.0498578026532,0.99999996686,-8.36873675547e-07,-0.000252058047232,-5.24081574916e-05,1793196380735345920
+62,1.033333333,BASELINE,765,742.025203727,711.974796273,674,664,633.025203727,876.025203727,785,801,650,630,651,0.40098210833,-0.00542922680978,0.0498568454129,0.999999966242,3.7506126854e-06,-0.000254466976972,-5.2431170848e-05,1793196380752012544
+63,1.050000000,BASELINE,765,742.528742758,711.471257242,674,664,633,876.528742758,784.471257242,801,650,630,651,0.400980961415,-0.00543197016054,0.0498559314877,0.999999965906,8.62143884487e-08,-0.000255837834136,-5.230227641e-05,1793196380768679424
+64,1.066666667,BASELINE,765,743,711.08872515,673.91127485,664,633.08872515,877,784.08872515,801,650,629.91127485,651,0.400980312232,-0.0054342561318,0.0498553815938,0.999999965695,-2.63208748262e-06,-0.000256666928662,-5.22028071332e-05,1793196380785346304
+65,1.083333333,BASELINE,765,743,711.690114164,673.309885836,664,633.690114164,877,784.690114164,801,650,629.309885836,651,0.400982358609,-0.00543257116966,0.0498569237187,0.999999966209,2.28713374665e-06,-0.000254638749724,-5.23133230223e-05,1793196380802012928
+66,1.100000000,BASELINE,765,743,712,673,664.28590634,634,877,785,801,650.28590634,629.28590634,651,0.400983314004,-0.00543179284264,0.0498577422733,0.999999966555,3.18615828164e-06,-0.000253245302165,-5.24051466559e-05,1793196380818679296
+67,1.116666667,BASELINE,765,743,712,673,664.875748696,634,877,785,801,650.875748696,629.875748696,651,0.400983109618,-0.00543197832461,0.049857791628,0.999999966738,-1.88533724964e-07,-0.000252526613218,-5.24770992663e-05,1793196380835345920
+68,1.133333333,BASELINE,765,743,711.542846146,673.457153854,664.542846146,634,877,785,801,650.542846146,630,651,0.400983908695,-0.00543282616544,0.049858414088,0.999999967053,-1.74826632414e-06,-0.000251305337942,-5.23172579688e-05,1793196380852012544
+69,1.150000000,BASELINE,765,742.964059305,711.035940695,674,664,634,877,785,801,650,630,651,0.400984717066,-0.00543376378859,0.049858976047,0.999999967325,-2.71844277753e-06,-0.000250253152758,-5.21126067608e-05,1793196380868678912
+70,1.166666667,BASELINE,765,742.390755791,711.609244209,674,664,634,877,785,801,650,630,651,0.400981660533,-0.0054334009399,0.0498563467178,0.999999966447,-2.115707187e-06,-0.000253734439211,-5.21628534627e-05,1793196380885345792
+71,1.183333333,BASELINE,764.818743384,742.181256616,711.818743384,674,664,634,876.818743384,785,801,650,630,651,0.400979685376,-0.00543346841052,0.0498546814301,0.999999965803,-1.95680339864e-06,-0.000256245019711,-5.22402397573e-05,1793196380902012416
+72,1.200000000,BASELINE,764.249494575,742.750505425,711.249494575,674,664,634,876.249494575,785,801,650,630,651,0.40098002498,-0.00543445700902,0.049855079739,0.999999965683,-2.74795184921e-06,-0.000256677738337,-5.2375720218e-05,1793196380918679296
+73,1.216666667,BASELINE,764.337236787,743,711,674,664,634,876,785,800.662763213,650,629.662763213,651,0.400981052436,-0.00543390532284,0.0498559092254,0.999999965994,-1.80255563661e-06,-0.000255417566794,-5.26384895124e-05,1793196380935345920
+74,1.233333333,BASELINE,764.937609222,743,711,674,664,634,876,785,800.062390778,650,629.062390778,651,0.400982616603,-0.00543215179913,0.0498570751464,0.999999966632,4.9781381459e-07,-0.000252836484311,-5.3000578419e-05,1793196380952012544
+75,1.250000000,BASELINE,765,742.481903653,711.518096347,674,664,634,876.518096347,785,800.518096347,650,629.518096347,651.518096347,0.400981573026,-0.00543224308637,0.0498563662987,0.999999966283,3.09610465333e-07,-0.000254243227462,-5.28698005604e-05,1793196380968679168
+76,1.266666667,BASELINE,764.904312534,742.095687466,711.904312534,673.904312534,664,633.904312534,876.904312534,785,801,650,629.904312534,651.904312534,0.400980785203,-0.00543274044276,0.0498558773167,0.999999966027,-6.51858538558e-07,-0.000255288165153,-5.26736370115e-05,1793196380985345536
+77,1.283333333,BASELINE,764.329673943,742.670326057,711.329673943,673.329673943,664,633.329673943,876.329673943,785,801,650,629.329673943,651.329673943,0.400982791265,-0.00543419944493,0.0498575771143,0.999999966813,-4.03923508827e-06,-0.00025220727007,-5.24362944233e-05,1793196381002012416
+78,1.300000000,BASELINE,764.251089109,743,711.251089109,673.251089109,664,633,876.251089109,784.748910891,801,650,629.502178218,651,0.40098325525,-0.00543384108013,0.0498580343821,0.999999966963,-3.69213634154e-06,-0.000251629984782,-5.23639174012e-05,1793196381018679040
+79,1.316666667,BASELINE,764.840094425,743,711.840094425,673.840094425,664,633,876.840094425,784.159905575,801,650,630.68018885,651,0.400981643902,-0.00543103689925,0.0498568194507,0.999999966254,1.68082672958e-06,-0.000254422062631,-5.25135513747e-05,1793196381035345664
+80,1.333333333,BASELINE,765,743,711.578554743,674,664,633,877,784.421445257,801,650,630.578554743,651.421445257,0.40098130741,-0.00543175049263,0.0498565589238,0.99999996607,-2.64584333217e-07,-0.000255139720069,-5.25732558658e-05,1793196381052012288
+81,1.350000000,BASELINE,765,743,711.000056334,674,664,633,877,784.999943666,801,650,630.000056334,651.999943666,0.400981445998,-0.00543377499751,0.0498566540591,0.99999996607,-4.93721444641e-06,-0.000255084337209,-5.25994478105e-05,1793196381068679168
+82,1.366666667,BASELINE,765,743,711,674,664,633,877,785,801,650,630,651.424835043,0.400983286445,-0.00543391029013,0.049858043189,0.99999996682,-2.84944801016e-06,-0.000252190963083,-5.24546666954e-05,1793196381085346048
+83,1.383333333,BASELINE,765,743,711.150124173,674,664,633,876.849875827,785,801,650,630,651,0.400984317824,-0.0054340051165,0.0498587866811,0.999999967279,-1.81243603142e-06,-0.000250394239838,-5.23537647778e-05,1793196381102012672
+84,1.400000000,BASELINE,765,743,711.724344068,674,664,633,876.275655932,785,801,650,630,651,0.400983063147,-0.00543398614688,0.0498577059126,0.999999966946,-3.74562939524e-06,-0.000251696298467,-5.23768671196e-05,1793196381118679040
+85,1.416666667,BASELINE,765,743,711.69141315,673.69141315,664,633,876.30858685,785,801,650,630,651,0.400982637689,-0.00543337110139,0.0498573083902,0.999999966777,-3.44890119809e-06,-0.000252327948516,-5.25725946068e-05,1793196381135345664
+86,1.433333333,BASELINE,765,743,711.097916546,673.097916546,664,633,876.902083454,785,801,650,630,651,0.400982977825,-0.00543220571544,0.0498575416902,0.999999966761,-1.09334762576e-06,-0.000252340628679,-5.29277021426e-05,1793196381152012288
+87,1.450000000,BASELINE,765,742.516977776,711,673.483022224,664,633.483022224,877,785,801,650,630,651,0.400982590287,-0.00543250047265,0.049857262877,0.999999966743,-1.66152339264e-06,-0.000252466977933,-5.26511623214e-05,1793196381168678912
+88,1.466666667,BASELINE,764.939143665,742.060856335,711.060856335,673.939143665,664,633.939143665,876.939143665,785,801,650,629.939143665,651,0.400982045768,-0.00543309473999,0.049856832379,0.999999966689,-2.80215226389e-06,-0.000252738538673,-5.23188441193e-05,1793196381185345536
+89,1.483333333,BASELINE,764.366552357,742.633447643,711.633447643,673.366552357,664,633.366552357,876.366552357,785,801,650,629.366552357,651,0.400981390198,-0.00543378163587,0.0498559772175,0.999999966342,-3.89891714992e-06,-0.000254042315572,-5.25669276476e-05,1793196381202012416
+90,1.500000000,BASELINE,764.212581696,742.787418304,712,673.212581696,664,633,876.212581696,785,800.787418304,650,629,651,0.40098153101,-0.00543353537202,0.049855988134,0.999999966337,-3.36750749939e-06,-0.000254045552983,-5.26892422218e-05,1793196381218679296
+91,1.516666667,BASELINE,764.803355515,742.196644485,712,673.803355515,664,633,876.803355515,785,800.196644485,650,629,651,0.400983088618,-0.00543162897615,0.049857539841,0.999999966932,6.04958999903e-08,-0.000251735073683,-5.25878083054e-05,1793196381235345920
+92,1.533333333,BASELINE,765,742.386589595,711.613410405,674,664,633,876.613410405,785,800.386589595,650,629,651,0.400983625392,-0.00543174012968,0.0498575747493,0.999999967031,-4.97607904369e-07,-0.000251342972368,-5.25781640959e-05,1793196381252012544
+93,1.550000000,BASELINE,765,742.966061896,711.033938104,674,664,633,876.033938104,785,800.966061896,650,629,651,0.400983652838,-0.00543285790711,0.0498568528753,0.999999966882,-3.04451594389e-06,-0.00025190801491,-5.26143168859e-05,1793196381268679168
+94,1.566666667,BASELINE,765,743,711.54041817,674,664,633,876.54041817,784.45958183,801,650,629,651,0.400983545886,-0.00543362437278,0.0498574440719,0.999999966965,-2.96662898811e-06,-0.000251632404995,-5.23726632557e-05,1793196381285345792
+95,1.583333333,BASELINE,765,743,711.885201175,674,664,633.114798825,877,784.114798825,801,650,629.114798825,651,0.400983133855,-0.00543407023012,0.049857790599,0.999999966961,-2.40214503658e-06,-0.000251695978811,-5.21718787621e-05,1793196381302012416
+96,1.600000000,BASELINE,765,743,711.309444474,674,664,633.690555526,877,784.690555526,801,650,629.690555526,651,0.400981530388,-0.00543331648896,0.0498568266886,0.999999966549,-5.39471216078e-07,-0.000253331488661,-5.22045937836e-05,1793196381318679040
+97,1.616666667,BASELINE,765,742.72628253,711,674,664,633.72628253,877,785,801,650.27371747,629.72628253,651,0.400981820247,-0.00543261484208,0.0498569396119,0.999999966615,-1.42067468015e-07,-0.0002530284891,-5.24003102107e-05,1793196381335345664
+98,1.633333333,BASELINE,765,742.134516014,711,674,664,633.134516014,877,785,801,650.865483986,629.134516014,651,0.400984310077,-0.00543197372678,0.0498583037742,0.999999967237,-1.44725061545e-06,-0.000250473016964,-5.2785427924e-05,1793196381352012544
+99,1.650000000,BASELINE,765.447630542,742.447630542,711.447630542,673.552369458,664,633.447630542,877,785,800.552369458,650.552369458,629.447630542,651,0.400982696011,-0.00543194557736,0.0498574570254,0.999999966805,-1.41509010679e-07,-0.000252206652323,-5.27418370323e-05,1793196381368679424
+100,1.666666667,BASELINE,765.973177267,743,711.973177267,673.026822733,664,633.973177267,877,785,800.026822733,650,630,651,0.400980082404,-0.00543213532692,0.0498560752323,0.999999966106,1.7388811286e-06,-0.000254993001338,-5.25643690359e-05,1793196381385346048
+101,1.683333333,BASELINE,765.396533306,743,711.396533306,673.603466694,664,633.396533306,877,785,800.603466694,650,630,651,0.400981727543,-0.0054330952792,0.0498570583598,0.999999966507,-3.46029158469e-07,-0.000253493656325,-5.22278816349e-05,1793196381402012416
+102,1.700000000,BASELINE,765,743,711,673.819503224,664,633.180496776,877,785,801,650,630,651,0.400982816786,-0.00543379928465,0.049857630422,0.999999966762,-2.28080110657e-06,-0.000252516982448,-5.20220510468e-05,1793196381418679040
+103,1.716666667,BASELINE,765,743,711,673.241623128,664,633.758376872,877,785,801,650,630,651,0.400982682162,-0.00543393979513,0.0498572974794,0.999999966709,-3.88502686666e-06,-0.000252691026232,-5.21038757142e-05,1793196381435345664
+104,1.733333333,BASELINE,765,743,711.341658591,673.341658591,664,634,877,785,801,650,630,651,0.400981612361,-0.00543234112811,0.0498565629178,0.999999966346,-1.49507737137e-06,-0.000254057139046,-5.25446787397e-05,1793196381452012288
+105,1.750000000,BASELINE,765,743,711.928821799,673.928821799,664,634,877,785,801,650,630,651,0.400979870572,-0.00542949274542,0.0498555397661,0.999999965736,3.76495481745e-06,-0.000256279833435,-5.32434318037e-05,1793196381468679168
+106,1.766666667,BASELINE,765,743,712,674,664,633.496746955,877,785,801,650,630,651,0.40098154053,-0.00543034233032,0.0498567003604,0.999999966351,3.40406119346e-06,-0.000253951276848,-5.28696649418e-05,1793196381485346048
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,711,674,664,633,876,785,801,650,630,651,0.400979808832,-0.00543029802286,0.0498549109121,0.999999965856,2.92009902982e-06,-0.000255915266009,-5.27844903851e-05,1793196381528613120
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,743,711,674,664,633.590509162,876.590509162,785,801,650,630,651,0.400981205079,-0.00543172953761,0.0498561224331,0.999999966412,-7.88049291898e-07,-0.000253777166818,-5.26538960116e-05,1793196381545279232
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,743,711.177489328,674,664.177489328,634,877,785,801,650,630,651,0.400982402017,-0.00543305547435,0.0498571468555,0.999999966842,-3.00128332237e-06,-0.00025211513994,-5.23907418902e-05,1793196381561945344
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,743,711.756486482,674,664.756486482,634,877,785,801,650,630,651,0.400983148087,-0.00543414257787,0.0498577480329,0.999999967022,-1.83279481486e-06,-0.000251530060554,-5.18277174542e-05,1793196381578611712
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,743,711.665998978,674.334001022,664.665998978,634,877,784.665998978,801,650,630,651.334001022,0.400983709461,-0.00543408421226,0.04985808791,0.999999967129,-1.41413776421e-06,-0.000251093190896,-5.18773057264e-05,1793196381595278336
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,743,711.08956064,674.91043936,664.08956064,634,877,784.08956064,801,650,630,651.91043936,0.400984136771,-0.00543319439863,0.0498582381201,0.999999967186,-1.53975195044e-06,-0.000250763900491,-5.23715638717e-05,1793196381611945216
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,743,711,674.033013432,664.483493284,634,877,784.483493284,801.483493284,650,630,651.516506716,0.400985213517,-0.00543320609589,0.0498590712221,0.99999996732,-1.87525314186e-06,-0.00025021937387,-5.241103344e-05,1793196381628612096
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,743,711.057947901,673.057947901,664.942052099,634,877,785,801.942052099,650,630,651,0.400987087458,-0.00543344811949,0.0498602389881,0.999999967609,-2.18484604649e-06,-0.000249076623154,-5.23228703784e-05,1793196381645278976
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,743,711.651088816,673.651088816,664.348911184,634,877,785,801.348911184,650,630,651,0.400995220758,-0.00543428579757,0.0498633374598,0.999999969185,-1.8985773398e-06,-0.000242774483765,-5.1828566994e-05,1793196381661945856
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,743,712,674,664.238556729,634,877,785,801,650,630,651,0.401011633311,-0.00543432700212,0.0498696368092,0.999999972154,-2.02126934764e-06,-0.000230322792168,-5.13804292228e-05,1793196381678612736
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664.817920033,634,877,785,801,650,630,651,0.401039873758,-0.00543323034971,0.0498805089917,0.999999976837,-2.7282102542e-06,-0.000209085736514,-5.09982445328e-05,1793196381695279104
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,743,712,673.604644151,664.604644151,634,877,785,801,650,630,651,0.401087282707,-0.00543540787491,0.049895352921,0.999999983155,-2.40600497532e-06,-0.000176588728661,-5.00022660811e-05,1793196381711945472
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,743,712,673.028091677,664.028091677,634,877,785,801,650,630,651,0.401143476827,-0.00543908599736,0.0499120171533,0.999999989161,-1.61212894193e-06,-0.000138931139155,-4.87249780386e-05,1793196381728612096
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,743,711.442969134,673.557030866,664.557030866,634,876.442969134,785,801.557030866,650,630,651,0.401209568786,-0.00544155451185,0.0499230841794,0.999999991352,-2.7367999686e-06,-0.000122768532044,-4.70845191982e-05,1793196381745278720
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,743,711.140962462,674,664.859037538,634,876.140962462,785,801.859037538,650,629.859037538,650.859037538,0.401279281618,-0.00544408645502,0.0499320463618,0.999999992892,-4.19535590009e-06,-0.000110073125014,-4.56394238289e-05,1793196381761945344
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,743,711.719830853,674,664.280169147,634,876.719830853,785,801.280169147,650,629.280169147,650.280169147,0.401358667972,-0.0054470079087,0.0499353603559,0.999999993489,-6.38587147867e-06,-0.000104728559221,-4.48590187643e-05,1793196381778612480
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,742.703523898,711.703523898,673.703523898,664.296476102,633.703523898,877,785,801,650,629.296476102,650.592952203,0.40144800699,-0.00545104552466,0.0499366471573,0.999999993686,-9.57860592207e-06,-0.000102974762196,-4.39511605861e-05,1793196381795279360
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,742.128963912,711.128963912,673.128963912,664.871036088,633.128963912,877,785,801,650,629.871036088,651.742072175,0.401546681242,-0.00545613006038,0.0499360325247,0.999999993515,-1.37113853614e-05,-0.000104588977014,-4.29237560342e-05,1793196381811945728
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.44597624,742.44597624,711.44597624,673.44597624,664.55402376,633.44597624,877,785,800.55402376,650,630,651.55402376,0.401665951764,-0.00545991602361,0.0499359236269,0.999999993213,-1.38194941197e-05,-0.000107895230507,-4.17391928066e-05,1793196381828612352
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.97831705,743,711.97831705,674,664.02168295,633.97831705,877,785,800.02168295,650,630,651,0.401792452282,-0.00546345333813,0.0499359686103,0.999999992872,-1.29616409836e-05,-0.000111571877784,-4.04875088742e-05,1793196381845278976
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.385311243,743,711.385311243,674,664.614688757,633.385311243,877,785,800.614688757,650,630,651,0.401952390888,-0.00547034178334,0.0499362115231,0.999999992818,-1.7343373999e-05,-0.00011210472483,-3.86657381981e-05,1793196381861945600
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,711.202914104,674,664.797085896,633.202914104,877.202914104,785,801,650,630,651,0.402121542395,-0.00547749627222,0.0499351263689,0.999999992536,-2.16566581135e-05,-0.000114418252131,-3.69760447895e-05,1793196381878612224
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,711.782270762,674,664.217729238,633.782270762,877.782270762,785,801,650,630,651,0.402307785492,-0.00548514431974,0.0499315774088,0.999999991831,-2.58429565839e-05,-0.000120035264997,-3.55313789279e-05,1793196381895278848
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,712,674.357306293,664.357306293,634,877.642693707,785,801.357306293,650.357306293,630,651,0.402517495087,-0.00549460684689,0.049931451121,0.999999991743,-3.12518829019e-05,-0.000120032734243,-3.35980298911e-05,1793196381911945216
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,743,712,674.929740207,664.929740207,634,877.070259793,785,801.929740207,650.929740207,630,651,0.402741333452,-0.00550516183998,0.0499333855618,0.999999992005,-3.73969316159e-05,-0.000116646779002,-3.13704534612e-05,1793196381928611840
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,743,712,673.990739822,664.495369911,634,877.504630089,785,802,650.495369911,629.495369911,651,0.403013131222,-0.00551238083686,0.0499398190132,0.999999993354,-3.98399185252e-05,-0.000104134981854,-2.93524485142e-05,1793196381945278720
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,743,712,673.08247565,664,634,877.91752435,785,801.91752435,650,629.08247565,651,0.403298709201,-0.00551967030499,0.0499475008149,0.999999994804,-4.1857976681e-05,-8.89028288103e-05,-2.71178315898e-05,1793196381961945856
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,743,712,673.676523307,664,634,877.323476693,785,801.323476693,650,629.676523307,651,0.403628141347,-0.00553029195853,0.0499590214002,0.999999996645,-4.44530807941e-05,-6.47167681398e-05,-2.33577619907e-05,1793196381978612224
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664,634,877,785,801,650,630,651,0.403973077678,-0.00554074212174,0.0499696978369,0.999999997764,-4.64739526997e-05,-4.39783781681e-05,-1.94616743094e-05,1793196381995278848
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,743,712,674,664,634,877,785,801,650,630,651,0.40433654976,-0.00555098726188,0.0499793650651,0.999999998364,-4.78083106119e-05,-2.73617955596e-05,-1.54029726855e-05,1793196382011945216
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,743,712,674,664.412750486,633.587249514,877,785,801,650,629.587249514,651,0.404722936508,-0.00555737451818,0.0499841074316,0.999999998826,-4.3390324053e-05,-1.84820038102e-05,-1.11055117811e-05,1793196382028611584
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664.986132795,633.013867205,877,785,801,650,629.013867205,651,0.405118241044,-0.00556226038555,0.049986933169,0.999999999223,-3.67336736329e-05,-1.26131715354e-05,-6.71513202888e-06,1793196382045278208
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,743,712,673.42285124,664.42285124,633.57714876,877,785,801,650,629.57714876,651,0.40553148361,-0.00554676195726,0.0499688957632,0.99999999887,-7.22520935993e-06,-4.67139943288e-05,-5.0455670715e-06,1793196382061945600
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.835106125,743,711.835106125,673.164893875,664,634,877,785,800.835106125,650,629.835106125,651.164893875,0.405954951396,-0.00553364985602,0.049949843352,0.999999996438,1.97506708335e-05,-8.19969479845e-05,-3.27572336134e-06,1793196382078612480
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.25666044,743,711.25666044,673.74333956,664,634,877,785,800.25666044,650,629.25666044,651.74333956,0.406402948834,-0.00552778969912,0.0499295421504,0.999999992307,3.89544156569e-05,-0.000117760200798,-1.0852594958e-06,1793196382095278848
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.309713085,743,711.309713085,674.309713085,664.309713085,634,877,785,800.309713085,650,629.309713085,651.690286915,0.406889139925,-0.00552957213273,0.0499172712458,0.999999989363,4.95786739517e-05,-0.000137151736421,2.4962836622e-06,1793196382111945472
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.866457747,743,711.866457747,674.866457747,664.866457747,634,877,785,800.866457747,650,629.866457747,651.133542253,0.407405794866,-0.00553745040496,0.0499114054185,0.999999988257,5.33598134633e-05,-0.00014348496074,7.18737175183e-06,1793196382128612352
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,743,711.546938759,674.546938759,664.546938759,633.546938759,877.453061241,785,801,650,630,651,0.407983737002,-0.00554168111989,0.0499295259495,0.999999992554,6.1713069841e-05,-0.000104542879589,1.244605267e-05,1793196382145278976
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,743,711,674,664,633.048725758,878,785,801,650,629.951274242,651,0.408584710812,-0.00554454901625,0.0499549777343,0.999999995843,7.19101121472e-05,-5.31022195879e-05,1.79923258524e-05,1793196382161945600
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,743,711,674,664,633.640368536,878,785,801,650,629.359631464,651,0.409226826806,-0.00554505669099,0.049977781201,0.999999995713,8.65757441469e-05,-2.15853177605e-05,2.4747402116e-05,1793196382178612224
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,743,711,674,664,633.773832651,878.226167349,785,801,650,629.226167349,651,0.409862190356,-0.00554492316799,0.0499900557199,0.999999994521,9.9878588864e-05,-7.17126344264e-06,3.05156433682e-05,1793196382195279104
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,743,711,674,664,633.197092371,878.802907629,785,801,650,629.802907629,651,0.410487087175,-0.00554379575007,0.0499860097379,0.999999993042,0.00011106903094,-1.92676486377e-05,3.47542308992e-05,1793196382211945728
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,743,711,674,664.378595966,633,878.621404034,785,801,650,630,651,0.411108417355,-0.00554350651499,0.0499604038923,0.999999994582,6.69176762105e-05,-7.60303472593e-05,2.40325526829e-05,1793196382228612352
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,743,711,674,664.953738173,633,878.046261827,785,801,650,630,651,0.411727895911,-0.00554365241846,0.0499236053492,0.999999987802,-5.96410231439e-06,-0.000155981342639,5.54432540021e-06,1793196382245278976
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743,711.542095302,674,664.457904698,633.542095302,878,785.542095302,800.457904698,650,629.457904698,651,0.412451726838,-0.00554960012568,0.0499275031232,0.999999991582,-2.95919030098e-06,-0.000129379859689,9.38704771956e-06,1793196382261945344
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,743,712,674,664.129368319,633.870631681,878,785.870631681,800.129368319,650,629,651,0.413200409639,-0.00555501561564,0.0499385163549,0.999999995443,6.28274002644e-06,-9.40624060824e-05,1.50853594687e-05,1793196382278611968
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664.70884745,633.29115255,878,785.29115255,800.70884745,650,629,651,0.414003800883,-0.00555681365017,0.0499619009216,0.99999999784,1.4129869424e-05,-6.08475264514e-05,2.04436500441e-05,1793196382295278592
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,743,712,674,665,633.287840265,878,785,801,650,629,651,0.414775221368,-0.00555687673437,0.0499583864768,0.999999997153,1.94078161254e-05,-6.92303708646e-05,2.28961204218e-05,1793196382311945216
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,743,712,674,665,633.866342067,878,785,801,650,629,651,0.415514357829,-0.0055551878633,0.0499277093721,0.99999999235,2.20913991586e-05,-0.000119618656198,2.24142897678e-05,1793196382328611840
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664.560168974,633.560168974,878,785,801,650.439831026,629.439831026,651,0.416301476044,-0.0055539467251,0.0499203312056,0.999999991389,1.53213153386e-05,-0.000128684659117,2.07000864113e-05,1793196382345278208
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743,712,674,664.012202026,633,878,785,801,650.987797974,630,651,0.417104077585,-0.00555301416112,0.0499206632646,0.999999992098,5.71821159916e-06,-0.000124183378965,1.87272045606e-05,1793196382361945088
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,743,712,674,664.602981898,633,878,785,801,650.397018102,630,651,0.417957261354,-0.00556033435897,0.0499546524761,0.999999997633,-3.5325262507e-06,-6.50783051125e-05,2.20460306667e-05,1793196382378611968
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664.810112479,633.189887521,877.810112479,785,801,650,630,651,0.418803849193,-0.00556490180928,0.0499730041116,0.999999998968,-8.60512784073e-06,-3.69778587213e-05,2.49340577375e-05,1793196382395278848
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743,712,674,664.231145227,633.768854773,877.231145227,785,801,650,630,651,0.419636921915,-0.00556382887657,0.0499593143356,0.999999997003,-5.11672332093e-06,-7.24059303675e-05,2.69393770504e-05,1793196382411945472
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,743,712,674.345123189,664,634,877.345123189,785,801,650,630,651,0.420498876266,-0.0055641265826,0.0499545237826,0.999999996962,-5.80967860639e-06,-7.27707736744e-05,2.73421253406e-05,1793196382428612096
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743,712,674.919598071,664,634,877.919598071,785,801,650,630,651,0.421380023876,-0.00556533514696,0.0499556472109,0.999999998359,-9.28135762783e-06,-4.9834339325e-05,2.66798846227e-05,1793196382445278464
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743,712,674.508010338,664.491989662,633.508010338,878,785,801.491989662,650,630,651,0.422270919071,-0.00556598345623,0.0499697260463,0.999999999286,-1.59642858471e-05,-2.08404555386e-05,2.71788523539e-05,1793196382461945088
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.067139209,743,712,674,665,633.067139209,878,785,801.932860791,650,630,651,0.423159394546,-0.0055665951252,0.0499821080817,0.999999999353,-2.27750999232e-05,2.02306813472e-06,2.7774593649e-05,1793196382478611968
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.666854965,743,712,674,665,633.666854965,878,785,801.333145035,650,630,651,0.424016092473,-0.00556763936195,0.0499643066779,0.99999999877,-2.64550618902e-05,-3.156138536e-05,2.76390188235e-05,1793196382495278592
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.744862853,743,712,674,665,634,878,785,801.255137147,650,630,651,0.424903687956,-0.00556964575472,0.0499603645905,0.999999998279,-3.14315826102e-05,-4.06224449601e-05,2.83412480078e-05,1793196382511945472
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.170869629,743,712,674,665,634,878,785,801.829130371,650,630,651,0.425829897584,-0.00557285459618,0.0499737430957,0.999999998643,-3.80284701516e-05,-1.90355488333e-05,3.00905175889e-05,1793196382528612096
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.405863533,743,712,674.405863533,665,633.594136467,878,785,801.594136467,650,630,651,0.426718777736,-0.0055747231417,0.0499842401862,0.99999999847,-4.10533171893e-05,-1.76726317903e-05,3.26064203157e-05,1793196382545278720
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.98375802,743,712,674.98375802,665,633.01624198,878,785,801.01624198,650,630,651,0.42759183521,-0.00557602358379,0.0499935159479,0.999999998156,-4.25641043293e-05,-2.48819334463e-05,3.54472711596e-05,1793196382561945600
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.430364273,743,712,675,664.430364273,633,877.430364273,785,801,650,630,651,0.428395243818,-0.00557190858988,0.0499540551654,0.999999995004,-4.25819923751e-05,-8.42280521128e-05,3.29340406e-05,1793196382578611968
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.154498839,743,712,675,664.154498839,633,877.154498839,785,801,650,630,651,0.429228672297,-0.00556924013369,0.0499268636171,0.999999991266,-4.42242396941e-05,-0.000120623413528,3.10050435098e-05,1793196382595278592
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.735920383,743,712,675,664.735920383,633,877.735920383,785,801,650,630,651,0.430150619445,-0.0055710016002,0.0499374698177,0.999999994243,-5.04743339106e-05,-8.94333325425e-05,3.11182831826e-05,1793196382611945216
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,743,712,675,665,633,878.315208282,785,801,650,630,651,0.431034672467,-0.00557192312838,0.0499355479562,0.999999993793,-5.56698828518e-05,-9.13509294523e-05,3.11313984992e-05,1793196382628611840
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,743,712,675,665,633,878.892720618,785,801,650,630,651,0.431887191428,-0.00557214569252,0.049923200729,0.99999999042,-5.99878799784e-05,-0.000120819447693,3.10611942194e-05,1793196382645278464
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.532865383,743,712,675,665,633,878.532865383,785,800.532865383,650,630,651,0.432729060206,-0.0055717693074,0.0499212762105,0.999999990548,-6.37066538232e-05,-0.000117890125954,3.07733803046e-05,1793196382661948928
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633.042118682,878,785,800.042118682,650,630,651,0.433568260525,-0.00557139025445,0.0499239458208,0.99999999176,-6.71717716659e-05,-0.000105021307109,3.06424083843e-05,1793196382678619136
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633.633762301,878,785,800.633762301,650,630,651,0.434404345483,-0.00557275920779,0.0499555313971,0.999999995326,-6.9111050081e-05,-5.89056712161e-05,3.32054934227e-05,1793196382695281408
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743,712,675,665,634,878,785,801.21932978,650,630,651,0.435212182008,-0.00557306844186,0.0499720454221,0.999999996064,-6.95587294422e-05,-4.22213178071e-05,3.53654706759e-05,1793196382711945216
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743,712,675,665,634,878,785,801.795024889,650,630,651,0.435974120831,-0.0055716558525,0.0499640713123,0.999999994346,-6.75828706662e-05,-7.33566770831e-05,3.6870481996e-05,1793196382728611840
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,743,712,675,665,634,878,785,802,650,630,650.629470166,0.436743394048,-0.00556978846357,0.0499520379605,0.999999992593,-6.63323977472e-05,-9.51051403504e-05,3.70137459552e-05,1793196382745278464
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,743,712,675,665,634,878,785,802,650,630,650.054070399,0.437516722485,-0.00556766961114,0.0499377602106,0.999999990959,-6.54829986032e-05,-0.000111663485934,3.64040850584e-05,1793196382761945344
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.535324661,743,712,675,665,634,878,785,801.464675339,649.464675339,630,650,0.438284496671,-0.00557144813694,0.0499581047491,0.999999994138,-7.57182975298e-05,-6.81219694066e-05,3.67308672245e-05,1793196382778611968
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,743,712,675,665,633.876343494,878.123656506,785,801,649.123656506,630.123656506,650,0.439031982343,-0.00557486312475,0.0499741500622,0.999999995004,-8.67213412863e-05,-3.39417061072e-05,3.63266345829e-05,1793196382795278592
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,743,712,675,665,633.29727325,878.70272675,785,801,649.70272675,630.70272675,650,0.439706869144,-0.00557468658142,0.0499611368879,0.999999993186,-9.63178144882e-05,-5.71946727134e-05,3.28724534018e-05,1793196382811945216
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.719887629,743,712,675,665,633.280112371,879,785,801,650,630.719887629,650.280112371,0.440369193362,-0.00557465401564,0.0499469745309,0.999999991234,-0.000100085848688,-8.07387998845e-05,3.15533792298e-05,1793196382828611584
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.144279188,743,712,675,665,633.855720812,879,785,801,650,630.144279188,650.855720812,0.441018265021,-0.00557477333463,0.0499315998793,0.99999998923,-9.77053469127e-05,-0.000104590076613,3.24866718169e-05,1793196382845278208
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633.560121127,879,785,801,650,630,651,0.44167291836,-0.00557460936855,0.0499461491658,0.999999991955,-9.34417411981e-05,-7.82855127313e-05,3.50612211896e-05,1793196382861945088
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,743,712,675.026535739,665,633,878.973464261,785,801,650,630,650.973464261,0.442327243434,-0.00557437596908,0.0499704429643,0.999999994704,-8.8656855664e-05,-3.57513197535e-05,3.81355699692e-05,1793196382878611712
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,743,712,675.605673144,665,633,878.394326856,785,801,650,630,650.394326856,0.442935850073,-0.00557466996153,0.049989217847,0.999999995472,-8.61338988109e-05,-4.6176931282e-06,4.01853488935e-05,1793196382895278592
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,743,712,675.815489002,665,633,878,785,801.184510998,650,630,650.184510998,0.443508852115,-0.00557515258065,0.0499942070611,0.999999995619,-8.37424840062e-05,2.11429942577e-06,4.17616899877e-05,1793196382911945472
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,743,712,675.237290187,665,633,878,785,801.762709813,650,630,650.762709813,0.444005885378,-0.00557603766918,0.049969782044,0.999999994838,-8.16317376806e-05,-4.32190326313e-05,4.23278656467e-05,1793196382928612096
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,743,712,675,664.661748519,633,878,785,801.661748519,650,630,651,0.444485489283,-0.00557501027266,0.0499428173608,0.999999992655,-7.45363798944e-05,-8.58870392687e-05,4.19138166002e-05,1793196382945278720
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,743,712,675,664.088056397,633,878,785,801.088056397,650,630,651,0.444952961415,-0.00557265168692,0.0499140849393,0.999999989094,-6.39714731398e-05,-0.000126699837887,4.0817480079e-05,1793196382961945344
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.499278676,743,712,675,664.499278676,633.499278676,878,785,801,650,630,651,0.445426209856,-0.00557220840578,0.0499144033997,0.999999992136,4.0790055352e-05,-0.000111348948154,4.08046334075e-05,1793196382978612480
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.912467711,743,712,675,664.912467711,633.912467711,878.087532289,785,801.087532289,650,630,651,0.445894503641,-0.00557272957678,0.0499208361711,0.99999998531,0.000142393226785,-8.62121672566e-05,4.08941662746e-05,1793196382995279360
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.332955329,743,712,675,664.332955329,633.332955329,878.667044671,785,801.667044671,650,630,651,0.446329062698,-0.00557671956044,0.049932028145,0.999999988696,0.000130246089015,-6.3311341913e-05,4.04549151092e-05,1793196383011945728
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,743,712.244745212,675,664,633,878.755254788,785,802,650,630,651,0.446718462444,-0.00558102439655,0.0499293741757,0.999999991776,0.000102909776179,-6.79646617467e-05,3.5182010208e-05,1793196383028612096
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,743,712.819998963,675,664,633,878.180001037,785,802,650,630,651,0.447046878171,-0.00558575441498,0.0499080223836,0.99999999218,5.5061716362e-05,-0.000109827619238,2.33816483324e-05,1793196383045278976
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,743,712.605156791,675,664,633,878.394843209,785,802,650,630,651,0.447342304619,-0.00558773352774,0.0498756314117,0.999999986364,4.18564823726e-05,-0.000158605656542,1.90766628711e-05,1793196383061945344
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,743,712.030498985,675,664,633,878.969501015,785,802,650,630,651,0.447622707529,-0.00558845985758,0.0498382131116,0.999999976686,4.44278500786e-05,-0.000210532877159,1.81851276898e-05,1793196383078611712
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,743,712,675,664,632.439898128,879,784.439898128,802,650,630,651,0.447895644273,-0.00558891143407,0.0498252989413,0.9999999722,4.62616105681e-05,-0.000230416843972,1.91859061936e-05,1793196383095278592
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,742.851621435,712,675.148378565,664,632,879,784,802,650,630,651,0.448165082745,-0.0055879434533,0.0498189534858,0.999999969766,4.96254851231e-05,-0.00023997953299,2.03560564714e-05,1793196383111945472
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,742.272681762,712,675.727318238,664,632,879,784,802,650,630,651,0.448425584371,-0.00558290092332,0.0498276836403,0.99999997284,5.75493691405e-05,-0.000224803674162,2.17099226258e-05,1793196383128612352
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,742.304310167,712,675.695689833,664,632,879,784,802,650,630,651,0.448664486205,-0.00557504518843,0.0498375289693,0.999999975234,6.79783088989e-05,-0.000210663274475,2.30510255379e-05,1793196383145278976
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,742.879567854,712,675.120432146,664,632,879,784,802,650,630,651,0.448884156297,-0.00556468467094,0.0498483672117,0.999999976959,8.06376654156e-05,-0.00019744481362,2.43807644064e-05,1793196383161945600
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.547256613,743,712,675,664,632,879,784,802,650,630,651,0.449066011745,-0.00555787324623,0.0498511717983,0.999999976236,9.06767624134e-05,-0.000196657573475,2.51394328778e-05,1793196383178611968
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.026356577,743,712,675,664,632,878.973643423,784.026356577,802,650,630,651,0.449236110449,-0.00555260148841,0.0498513752734,0.999999974801,9.91559085664e-05,-0.00019976048847,2.57369019109e-05,1793196383195278336
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.621305355,743,712,675,664,632,878.378694645,784.621305355,802,650,630,651,0.449368588007,-0.00556027165453,0.0498413552865,0.999999972423,8.89497888568e-05,-0.000215775370703,2.61189187388e-05,1793196383211945216
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,743,712,675.20786786,664,631.79213214,878.20786786,784.79213214,802,650,630,651,0.449493236182,-0.0055661188969,0.0498330416267,0.999999970029,8.22593852788e-05,-0.000229071245316,2.64861236072e-05,1793196383228611840
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,743,712,675.779744637,664,631.220255363,878.779744637,784.220255363,802,650,630,651,0.449604173878,-0.00556877391578,0.0498277160119,0.999999968072,8.17255479676e-05,-0.000237605713578,2.68273904052e-05,1793196383245278464
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,743,712,676,664,631.356110029,878.643889971,784,802,650,630,651,0.449701305134,-0.00557103946849,0.0498254952956,0.999999967097,7.94086326734e-05,-0.000242410739899,2.7166803564e-05,1793196383261945344
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,743,712,676,664,631.935287141,878.064712859,784,802,650,630,651,0.449789788055,-0.00557306106011,0.0498252194852,0.999999966753,7.59747984755e-05,-0.000244879647123,2.7505055638e-05,1793196383278612224
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,743,712,675.488968091,663.488968091,631.488968091,878,784.511031909,802,650,630,651,0.449865346798,-0.00557470464306,0.0498270679004,0.999999967948,7.34513909532e-05,-0.0002407263314,2.75741611742e-05,1793196383295279104
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,743,712,675.088910466,663.088910466,631,878,784.911089534,801.911089534,650.088910466,630,651,0.449935985869,-0.00557601828851,0.0498289055792,0.999999969129,7.13910259426e-05,-0.000236402236941,2.75714030342e-05,1793196383311945984
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,743,712,675.681317776,663.681317776,631,878,784.318682224,801.318682224,650.681317776,630,651,0.449987971275,-0.00557573277584,0.0498291693161,0.999999969276,7.13043321792e-05,-0.000235828213067,2.73534037174e-05,1793196383328612096
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,743,712,675.735434291,663.735434291,631,878.264565709,784,801,650.735434291,629.735434291,651,0.450032073513,-0.00557573673631,0.0498299468424,0.999999969421,7.11983814102e-05,-0.000235253922973,2.72804575646e-05,1793196383345278464
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,743,712,675.162850124,663.162850124,631,878.837149876,784,801,650.162850124,629.162850124,651,0.450066997833,-0.00557607771355,0.0498313225438,0.999999969563,7.10700108353e-05,-0.000234679322969,2.73763883825e-05,1793196383361945088
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.412659775,743,712,675.412659775,663,631.412659775,879,784,801.412659775,650,629.412659775,651,0.45009259339,-0.00557750524773,0.0498319529913,0.999999969694,6.97717836916e-05,-0.000234461627156,2.77881330747e-05,1793196383378611712
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.989332501,743,712,675.989332501,663,631.989332501,879,784,801.989332501,650,629.989332501,651,0.450114481199,-0.00557936463745,0.0498322872352,0.999999969818,6.80085933037e-05,-0.000234385784072,2.83253990022e-05,1793196383395278336
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.418709433,743,712,675.418709433,663.581290567,631.418709433,878.418709433,784,802,650,630,651,0.450127794308,-0.0055759894982,0.0498312209948,0.999999969215,7.03969828743e-05,-0.000236342512716,2.75014236561e-05,1793196383411945472
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,743,712,675,664,631,878.17005829,784,802.17005829,650,630,651,0.450139825017,-0.00557342593945,0.0498307862434,0.999999968952,7.18800219103e-05,-0.000237086180303,2.68127280357e-05,1793196383428612096
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,743,712,675,664,631,878.750433183,784,802.750433183,650,630,651,0.450149151475,-0.00557305859756,0.049831938834,0.999999969561,7.09898419476e-05,-0.000234810544941,2.65123365609e-05,1793196383445278720
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,743,712,675,663.672453591,631,878.672453591,784,802.672453591,650,630,651,0.450154169196,-0.00557404922083,0.049831710819,0.999999969458,7.01596293686e-05,-0.000235481562462,2.66507856106e-05,1793196383461945088
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,743,712,675,663.097800957,631,878.097800957,784,802.097800957,650,630,651,0.45015593634,-0.00557606431458,0.0498304412532,0.999999968814,6.93746570442e-05,-0.000238375581581,2.71203029055e-05,1793196383478611712
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,743,712,675,663.486969373,631,878.486969373,784.486969373,802,650,630,651,0.450157101355,-0.00557346875224,0.0498303072899,0.999999968524,7.21174238013e-05,-0.000238822857678,2.67261312398e-05,1793196383495278336
+226,3.766666667,POSE1_TO_POSE2_PRESS,764.926701118,743,712,675.073298882,663.926701118,631.073298882,878.926701118,784.926701118,802.073298882,650,630,651,0.450158125309,-0.00557044635436,0.049830243347,0.999999968311,7.51167607954e-05,-0.000238843222198,2.62568749671e-05,1793196383511945216
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.343957186,743,712,675.656042814,663.343957186,631.656042814,878.343957186,784.343957186,802.656042814,650,630,651,0.450159027176,-0.00557102972171,0.0498290472892,0.999999968194,7.48706189983e-05,-0.000239384219933,2.6496929688e-05,1793196383528611840
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.235070439,743,712,676,663,631.764929561,878,784,802.529859121,650,630,651,0.450159420507,-0.00557173755824,0.0498280744931,0.999999967983,7.40611263349e-05,-0.000240500542347,2.66079102232e-05,1793196383545278464
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.808744927,743,712,676,663,631.191255073,878,784,801.382510147,650,630,651,0.450159081325,-0.00557262468468,0.0498274232911,0.999999967634,7.24401625183e-05,-0.000242445583411,2.65329675716e-05,1793196383561945344
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,743,712,675.616286206,663.383713794,631,878,784,801.383713794,650,630,651,0.450159317528,-0.00557176373404,0.0498275600588,0.999999967568,7.30184351415e-05,-0.00024256129699,2.63977517908e-05,1793196383578612224
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,743,712,675.040670012,663.959329988,631,878,784,801.959329988,650,630,651,0.450159841492,-0.00557002853755,0.0498280909048,0.999999967642,7.46965868283e-05,-0.000241762129838,2.62323923002e-05,1793196383595278848
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,743,712,675.547905602,663.452094398,631,878.547905602,784,802,650.547905602,629.452094398,651,0.450159446687,-0.00557051754526,0.0498276393337,0.999999967605,7.17851159041e-05,-0.000242795201866,2.62310789194e-05,1793196383611945216
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,743,712,675.864650626,663.135349374,631,878.864650626,784,802,650.864650626,629.135349374,651,0.450159352075,-0.00557094243192,0.0498273330952,0.999999967545,6.9758432973e-05,-0.000243626132351,2.62780033617e-05,1793196383628611584
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,743,712,675.284169611,663.715830389,631,878.284169611,784,802,650.284169611,629.715830389,651,0.45016047445,-0.00557060031643,0.0498277504568,0.999999967468,7.17891610163e-05,-0.000243334148223,2.64425535824e-05,1793196383645278208
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,743,712.292128339,675,663.707871661,631,878.292128339,784.292128339,802,650,630,651,0.450160862111,-0.0055710221443,0.0498277945602,0.999999967423,7.18799797491e-05,-0.000243477995682,2.65618203906e-05,1793196383661945088
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,743,712.864414697,675,663.135585303,631,878.864414697,784.864414697,802,650,630,651,0.450160545165,-0.00557217661197,0.0498274807001,0.99999996741,7.01103795862e-05,-0.000244039815955,2.66376593492e-05,1793196383678611712
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,743,712.550612026,675.449387974,663.449387974,631,879,784.550612026,802,650,630,651,0.450160933109,-0.00557140655589,0.0498272331636,0.999999967319,7.13442749875e-05,-0.000244078858657,2.64008034255e-05,1793196383695278336
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,743,712,675.962319154,664,631,879,784,802,650,630,651,0.450161406314,-0.00557009579821,0.0498269214971,0.999999967186,7.33088595668e-05,-0.000244082346226,2.60432185681e-05,1793196383711944960
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,743,712,675.382930251,664,631,879,784,802,650,630,651,0.450159959009,-0.00556960185733,0.0498253918493,0.999999966825,7.23719682602e-05,-0.000245908089524,2.53457134615e-05,1793196383728611840
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,743,712,675.196518675,664,631,878.803481325,784,802,650,630,651,0.450159574114,-0.00556917820537,0.0498249311413,0.999999966667,7.19433303584e-05,-0.000246700172722,2.50768614418e-05,1793196383745278464
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,743,712,675.776084561,664,631,878.223915439,784,802,650,630,651,0.450161260033,-0.00556889155812,0.049826553973,0.999999966913,7.25053619688e-05,-0.000245477482318,2.5643524812e-05,1793196383761945088
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.6481526,743,712,675.6481526,664,631.3518474,878.3518474,784,802,650,629.6481526,651,0.450161108273,-0.00556789410962,0.049826697262,0.999999966732,7.40772974166e-05,-0.000245741042662,2.56821205285e-05,1793196383778611712
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.074784158,743,712,675.074784158,664,631.925215842,878.925215842,784,802,650,629.074784158,651,0.450159799523,-0.00556644914487,0.0498259090397,0.999999966278,7.62850623267e-05,-0.000246940337733,2.53882479516e-05,1793196383795278592
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,743,712,675,664,631.487880102,878.487880102,784.512119898,802,650,629,651,0.450160069758,-0.00556892118871,0.0498256943379,0.999999966634,7.20585312991e-05,-0.000246735524245,2.56952032033e-05,1793196383811945216
+245,4.083333333,HOLD_POSE2,765,743,712,675,663,631,878,784,802,650,630,651,0.450162225566,-0.00556802485037,0.0498265580624,0.999999966788,7.36295443678e-05,-0.000245721411112,2.49556828516e-05,1793196383854558976
+246,4.100000000,HOLD_POSE2,765,743,712,675,663,631,878.576148059,784,802,650,630,651,0.450161901414,-0.0055676741145,0.0498261276873,0.99999996696,7.14143726e-05,-0.000245638756033,2.53283225513e-05,1793196383871225856
+247,4.116666667,HOLD_POSE2,764.847474553,743,712,675,663.152525447,631,878.847474553,784.152525447,802,650,630,651,0.45016149031,-0.00556729073337,0.04982570202,0.999999966967,7.02696574378e-05,-0.000245919054962,2.55262453796e-05,1793196383887892480
+248,4.133333333,HOLD_POSE2,764.270458789,743,712,675,663.729541211,631,878.270458789,784.729541211,802,650,630,651,0.450160837214,-0.00556681649781,0.049825289455,0.999999966526,7.2104106701e-05,-0.00024720948343,2.52379174971e-05,1793196383904558848
+249,4.150000000,HOLD_POSE2,764.31312109,743,712,675.31312109,664,631,878,784.68687891,802,650,629.68687891,651,0.450160728843,-0.00556641855694,0.0498251937633,0.999999966383,7.26741186645e-05,-0.000247629964517,2.51367388431e-05,1793196383921225216
+250,4.166666667,HOLD_POSE2,764.902492099,743,712,675.902492099,664,631,878,784.097507901,802,650,629.097507901,651,0.450161101054,-0.00556608792683,0.0498253776317,0.999999966507,7.21285854002e-05,-0.000247282937677,2.5200671919e-05,1793196383937891840
+251,4.183333333,HOLD_POSE2,765,743.483468335,712,675.516531665,663.516531665,631,878.483468335,784,802,650,629.483468335,651,0.450160667092,-0.0055667317555,0.0498254339452,0.999999966442,7.18654169584e-05,-0.000247649222613,2.4914070497e-05,1793196383954558464
+252,4.200000000,HOLD_POSE2,765,743.937857187,712,675,663,631.062142813,879,784,802,650,630,651,0.450160371183,-0.00556743850895,0.0498255784636,0.99999996641,7.16633946395e-05,-0.000247868584625,2.460794099e-05,1793196383971225088
+253,4.216666667,HOLD_POSE2,765,743.364428296,712,675,663,631.635571704,879,784,802,650,630,651,0.450162526037,-0.00556707358628,0.0498266567446,0.99999996695,7.15039054572e-05,-0.000245715673142,2.47128833026e-05,1793196383987891968
+254,4.233333333,HOLD_POSE2,765,743,712,675.214753231,663,631.785246769,878.785246769,784,802,650,630,651,0.450163218663,-0.00556707443092,0.049826773468,0.999999967039,7.13365190376e-05,-0.000245380185131,2.49469988379e-05,1793196384004558592
+255,4.250000000,HOLD_POSE2,765,743,712,675.803965403,663,631.196034597,878.196034597,784,802,650,630,651,0.450161361645,-0.00556771305336,0.0498252135511,0.999999966341,7.11553624523e-05,-0.000248213685597,2.54063499394e-05,1793196384021225216
+256,4.266666667,HOLD_POSE2,765,743,712,675.613373851,663,631,878,784,802,650,630,650.613373851,0.450161622697,-0.00556887262307,0.0498251996606,0.999999966541,6.95140156224e-05,-0.000247870341982,2.54263479522e-05,1793196384037891840
+257,4.283333333,HOLD_POSE2,765,743,712,675.033979529,663,631,878,784,802,650,630,650.033979529,0.450162939797,-0.00557029193227,0.049825956604,0.999999967184,6.71446316158e-05,-0.00024594305396,2.5227288677e-05,1793196384054558464
+258,4.300000000,HOLD_POSE2,765,743.54319792,712,674.45680208,663,631,878,784,802.54319792,650,630,650.54319792,0.450163691369,-0.00556939317805,0.0498267645348,0.999999967429,6.74603924388e-05,-0.000244836336422,2.54372600103e-05,1793196384071225088
+259,4.316666667,HOLD_POSE2,765.119606992,743.880393008,712,674.119606992,663.119606992,631,878.119606992,784.119606992,802.880393008,650,630,651,0.450163976104,-0.00556845521829,0.049827229929,0.99999996751,6.82752870047e-05,-0.000244268948355,2.55265826519e-05,1793196384087891712
+260,4.333333333,HOLD_POSE2,765.693621745,743.306378255,712,674.693621745,663.693621745,631,878.693621745,784.693621745,802.306378255,650,630,651,0.450162621095,-0.00556791697164,0.049826381899,0.999999967062,7.03509310793e-05,-0.000245556345728,2.50607266145e-05,1793196384104558336
+261,4.350000000,HOLD_POSE2,765.724842118,743,712,675,664,631,879,784.724842118,802,650,630,651,0.450162354179,-0.00556772523002,0.0498259649891,0.999999966937,7.09414136492e-05,-0.000245914053843,2.48988931022e-05,1793196384121225216
+262,4.366666667,HOLD_POSE2,765.13469587,743,712,675,664,631,879,784.13469587,802,650,630,651,0.450163332861,-0.00556793015182,0.0498260416063,0.999999967184,6.98317500186e-05,-0.000245207495444,2.50850909275e-05,1793196384137892096
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,743,712,676,664,631,878,785,802,650,629,651,0.450165467133,-0.00556771719681,0.0498270370539,0.999999967527,6.98866132272e-05,-0.000243817498072,2.48145797095e-05,1793196384170450944
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.423527733,663.423527733,631,878.576472267,784.423527733,802,650,629.576472267,651,0.450162115941,-0.00556776178736,0.0498244246059,0.999999966693,6.93693601619e-05,-0.000247359215749,2.47958129925e-05,1793196384187117568
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.155466105,663,631,878.844533895,784,801.844533895,650,630,651,0.45015981006,-0.00556756605583,0.0498226732549,0.999999966042,6.94280869213e-05,-0.000249966646263,2.47565739499e-05,1793196384203784192
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.741442706,663,631,878.258557294,784,801.258557294,650,630,651,0.450160398813,-0.0055667048341,0.0498233064185,0.999999965923,7.10817937683e-05,-0.000249986887081,2.46606437618e-05,1793196384220450560
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.676225112,663,631,878,784,801.323774888,650,630,651,0.450161363265,-0.00556742705392,0.0498242097286,0.999999966138,7.05128803517e-05,-0.00024926518212,2.48716979968e-05,1793196384237117184
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.096770897,663,631,878,784,801.903229103,650,630,651,0.450162624397,-0.00556939968969,0.0498253263684,0.999999966613,6.81888027593e-05,-0.000247957575645,2.53251724296e-05,1793196384253783808
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,663,631,878,784,802,649.519820924,630,651,0.45016204417,-0.00556891781229,0.049824925669,0.999999966534,6.91010305738e-05,-0.000248041764348,2.5150425148e-05,1793196384270450688
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,663,631,878,784,802,649.056589426,630,651,0.450160976242,-0.00556799987104,0.0498241428766,0.99999996631,7.06078351378e-05,-0.000248545219483,2.4888283146e-05,1793196384287117568
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,663,631,878,784,802,649.632655026,630,651,0.450158820183,-0.00556759626956,0.0498226450863,0.999999965789,7.16165946051e-05,-0.000250335967775,2.49800612205e-05,1793196384303784448
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,743.213423611,712.213423611,675,663.213423611,631,878.213423611,784,801.786576389,650,630,651,0.450153395254,-0.00556739901106,0.0498197275671,0.999999964645,7.16731700496e-05,-0.000254869351701,2.48035919072e-05,1793196384320451072
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,743.802469313,712.802469313,675,663.802469313,631,878.802469313,784,801.197530687,650,630,651,0.450142217166,-0.00556756491286,0.0498143113481,0.999999962346,7.00539169691e-05,-0.000264229729595,2.41550115366e-05,1793196384337117440
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.541371374,743,712,675.458628626,663,631,878.541371374,784,802.082742747,650,630,651,0.450041384347,-0.00556168208247,0.0497738993946,0.999999939863,7.51616864072e-05,-0.000337859455636,2.17934105091e-05,1793196384387117312
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,663.117532587,631,879,784,802.882467413,650,630,651,0.449989507088,-0.00555910709327,0.0497570796511,0.999999928798,7.6409929423e-05,-0.000368960283582,2.08273636031e-05,1793196384403783936
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,663.692312868,631,879,784,802.307687132,650,630,651,0.44992711159,-0.00555650178961,0.0497413738098,0.999999920566,7.64784172643e-05,-0.000390708491571,1.91060889928e-05,1793196384420450560
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,744,712,675.553393276,663.553393276,631,878,784,801.553393276,650,630,651,0.449719685163,-0.0055494153106,0.0497237166179,0.999999911885,8.07383658895e-05,-0.000411648220373,1.60472124286e-05,1793196384470450944
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,743.973277009,712,675.026722991,663,631,878.026722991,784,801.026722991,650,630,651,0.449638295512,-0.00554463883581,0.0497231436936,0.999999911467,8.42661502187e-05,-0.000411979704037,1.54226768945e-05,1793196384487117568
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,743.399413192,712,675.600586808,663,631,878.600586808,784,801.600586808,650,630,651,0.449534728098,-0.0055408035483,0.049721322913,0.999999909312,8.73319732516e-05,-0.000416566562981,1.48827076194e-05,1793196384503784192
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.821355375,663.178644625,631,878.821355375,784,801.821355375,650,629.821355375,651,0.449425206889,-0.00553665149508,0.0497204141513,0.999999908007,9.04338529357e-05,-0.000419052388815,1.42678046153e-05,1793196384520450816
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,743.348836758,712,675,663.651163242,631,878,784,801.348836758,650,629,651,0.449165933268,-0.00552443502579,0.0497221280508,0.999999908179,9.95361515903e-05,-0.000416631636146,1.23918542559e-05,1793196384553784064
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,743.927983179,712,675,663.072016821,631,878,784,801.927983179,650,629,651,0.449021250419,-0.00551547048316,0.0497222368892,0.999999906821,0.000107258690294,-0.000418006732841,1.11023135136e-05,1793196384570450688
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,743.496210594,712,675,663.503789406,631.503789406,878.503789406,784,802,650,629.503789406,651,0.448859418529,-0.00550958881671,0.0497257756195,0.999999909098,0.000110388640012,-0.000411707319722,1.07799970147e-05,1793196384587117568
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.079310795,663.920689205,631.920689205,879,784,802,650,630,651,0.448689825141,-0.00550392563463,0.0497288866819,0.999999911058,0.000113255052325,-0.000406139118085,1.0432661895e-05,1793196384603784448
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.656020876,663.343979124,631.343979124,879,784,802,650,630,651,0.4484868284,-0.00549688703722,0.0497262609196,0.999999908062,0.000118558893747,-0.000411991720725,9.06700177248e-06,1793196384620451072
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,743,712.23795391,675.76204609,663.23795391,631.23795391,878.76204609,784,801.76204609,650,630,651,0.448271026765,-0.00548883217036,0.0497225183298,0.999999905154,0.00012470285363,-0.000417238907613,7.26244026265e-06,1793196384637117440
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,743,712.827606497,675.172393503,663.827606497,631.827606497,878.172393503,784,801.172393503,650,630,651,0.448036299359,-0.00547927524572,0.049717125056,0.999999902395,0.000132088518163,-0.000421591282557,4.8091774238e-06,1793196384653784064
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,743,712.590020855,674.590020855,664,632,878,784.409979145,801.409979145,650,629.590020855,651,0.447783586982,-0.00546950941897,0.0497142979585,0.999999900688,0.000139224133544,-0.000423360381581,2.60934528135e-06,1793196384670450432
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,743.142936426,712,675.857063574,664,632,878,784.142936426,801.857063574,650,630,651,0.446948894885,-0.00544261302434,0.0497194255521,0.999999902538,0.000156009244669,-0.000413011495736,-2.37275356616e-06,1793196384720450560
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.531456219,743,712,675.468543781,664.468543781,633,878,785,802,649.468543781,630,651,0.44237215812,-0.00542519459419,0.0497701146329,0.999999933137,9.86516217706e-05,-0.0003509270333,-2.90416376248e-05,1793196384903784704
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.892924373,743,712,675,664.107075627,633,878,785,802,649,629.892924373,651,0.441874948191,-0.00541980587903,0.0497846141022,0.999999942826,9.6200892645e-05,-0.000322582981881,-3.21538938533e-05,1793196384920451584
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+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,665,633,878.859354858,785,801.140645142,649.859354858,629.859354858,651,0.44022246556,-0.00542171272674,0.0498312190753,0.999999965648,6.776065439e-05,-0.000250026077347,-3.99878417141e-05,1793196384970450688
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.987217106,664,633,877.025565787,784.012782894,801,650,630,651,0.438891710851,-0.00542134008802,0.049771158793,0.999999935209,4.89455120137e-05,-0.000353231346133,-4.91234126891e-05,1793196385003783936
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.413532158,664,633,878.172935683,784.586467842,801,650,630,651,0.438233586932,-0.00541462324018,0.0497514190208,0.999999924327,4.52182697219e-05,-0.000382600260399,-5.40219983937e-05,1793196385020450816
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,742.8352886,712,675,664,633,878.8352886,785,801,650,630,651,0.43758662596,-0.00540945131496,0.0497451419989,0.999999920515,4.12840149876e-05,-0.000392328483324,-5.78284015525e-05,1793196385037117696
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,742.245274241,712,675,664,633,878.245274241,785,801,650,630,651,0.436968488987,-0.00540826855032,0.0497736272809,0.999999935872,3.68152316175e-05,-0.000351342278803,-5.88146689619e-05,1793196385053784064
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,764.056104194,742.943895806,711.943895806,675,664.056104194,633.056104194,877.056104194,785,801,650,630,650.056104194,0.421124964627,-0.00538439704642,0.0497717277282,0.999999926876,0.000122883248925,-0.000357372946068,-5.85822339065e-05,1793196385403783936
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764.51854795,743,711.48145205,675,664,633,877,785,801,650,630,650.51854795,0.420381478009,-0.00538724547879,0.0497916971623,0.999999937226,0.000109116877294,-0.000332200310361,-5.73055484063e-05,1793196385420450560
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,743,711.665581949,674.334418051,664.665581949,633,877,785,801,650,629.334418051,651,0.418856797061,-0.00538620947177,0.0498107705153,0.999999944586,6.49146578312e-05,-0.000321810976061,-5.52338876825e-05,1793196385453784064
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.425455304,742.425455304,711.425455304,673.425455304,664,633,877,785,801,649.425455304,630,651,0.416688473096,-0.00538323013509,0.0497975343045,0.999999940893,5.64884174226e-05,-0.000334156685148,-5.79813034651e-05,1793196385503783936
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.151875705,743,711.848124295,675,664.848124295,633,877,785,801,650,630,651,0.414625774271,-0.00538477767226,0.0498134655417,0.999999952384,6.22133426992e-05,-0.000296338528976,-5.95468031194e-05,1793196385553783808
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.74423023,743,711.25576977,675,664.25576977,633,877,785,801,650,630,651,0.413908748698,-0.00538266521503,0.0497838654273,0.999999934227,6.77195893297e-05,-0.000350890026228,-6.19382546e-05,1793196385570450432
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.091790692,743,711.908209308,674.091790692,664,633.908209308,877,785,801,650,630,651,0.412578284337,-0.00538170827318,0.0497642265724,0.999999924472,7.82695433118e-05,-0.000375433803519,-6.30760561366e-05,1793196385603783680
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742.648128806,712,674,665,634,877,785,801,649,630,651,0.410795064894,-0.0053871673091,0.0498223184224,0.99999995011,8.08716413091e-05,-0.000299625228439,-5.88583449111e-05,1793196385653783808
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.232434591,743,712,674,664.767565409,633.767565409,877,784.767565409,801,649.232434591,629.767565409,651,0.410193028804,-0.00538607581521,0.0498107136798,0.999999943223,8.25080955039e-05,-0.000321120962355,-6.02308984239e-05,1793196385670450432
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,743,711.029089918,674,664.970910082,633,876.029089918,784.970910082,801,650,629.970910082,651,0.408572422698,-0.00539059040094,0.0498072244021,0.999999945038,8.49136229491e-05,-0.000314496408488,-6.16855358774e-05,1793196385720450560
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,743,711.880478434,673.119521566,664.119521566,633.119521566,877,785,801,650,630,651,0.407621840175,-0.00538695474839,0.0498365744197,0.999999954431,0.000109248602255,-0.000275732959199,-5.63366549924e-05,1793196385753784064
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,743,711.290394979,673.709605021,664.709605021,633.709605021,877,785,801,650,630,651,0.407135862213,-0.0053883859803,0.0498290064438,0.999999948578,0.000113039437124,-0.000294824262114,-5.60834784752e-05,1793196385770450688
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.181150224,664.818849776,633.181150224,877,785,801.181150224,650,630,651,0.404673058286,-0.00539693655501,0.0497983156945,0.999999931315,0.000103675916036,-0.000350400063705,-6.1971631492e-05,1793196385870450688
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,743,711.065734032,674.065734032,664,633.065734032,877.934265968,785,802,650,630,651,0.403780818061,-0.00540955505713,0.0498614181356,0.99999996109,8.97908902419e-05,-0.000257768976107,-5.75607056319e-05,1793196385920450816
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,743,712,673.243415901,664.756584099,634,877,785.243415901,801,650,629.756584099,651,0.402726310115,-0.00540632677227,0.0498259635948,0.999999941079,8.71249721896e-05,-0.000325927946682,-6.34240559236e-05,1793196385987117312
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,743,712,673.835798224,664.164201776,634,877,785.835798224,801,650,629.164201776,651,0.402505335473,-0.00540744818279,0.0498209834878,0.999999938001,8.65117369848e-05,-0.000335371856065,-6.3551963085e-05,1793196386003784192
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+417,6.950000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,664.369165546,633.630834454,877.369165546,785,801,650,630,651,0.400983529375,-0.00542512212836,0.0498545993541,0.999999964442,-5.87416036289e-05,-0.0002549673299,-5.15491597925e-05,1793196386737117184
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f96586a84abcf63b1069792eb1f4588b84b112b8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,421 @@
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+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
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3966ef70f54b352f4bab4dc06da6c6bb6cb749bb
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5ceeb25e844534e9ca3ef5ace0976cc6246a657e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_03/franka_data.csv
@@ -0,0 +1,423 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,742,712,674,665,634,877,785,802,650,630,652,0.400982105246,-0.00542707344003,0.0498550021806,0.999999964021,-6.31949523318e-05,-0.000255714420372,-5.07408242817e-05,1793196386927411968
+1,0.016666667,BASELINE,765.576410682,742.576410682,712,674,664.423589318,634,877,785,802,650,630,651.423589318,0.400982771552,-0.00542730016319,0.0498556608653,0.99999996451,-6.27708629147e-05,-0.000253874396567,-5.08666223437e-05,1793196386944078592
+2,0.033333333,BASELINE,766,743,712,674,664,633.847503089,877,785,801.847503089,650,630,651.152496911,0.400983683732,-0.00542734180212,0.0498563251506,0.999999964968,-6.22762529365e-05,-0.000252154752613,-5.1029388288e-05,1793196386960744960
+3,0.050000000,BASELINE,766,743,712,674,664,633.272316043,877,785,801.272316043,650,630,651.727683957,0.40098527742,-0.00542687042564,0.0498570049595,0.999999965346,-6.15861743431e-05,-0.00025076877648,-5.12946216429e-05,1793196386977411584
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+9,0.150000000,BASELINE,765,743,712,674,664.787897982,634,877,785,801,650,630,651.212102018,0.400982884206,-0.00542732715137,0.0498550428794,0.999999964546,-6.08404816071e-05,-0.00025412579099,-5.12504229391e-05,1793196387077411840
+10,0.166666667,BASELINE,765,743,712,674,664.21465451,634,877,785,801,650,630,651.78534549,0.400981590973,-0.00542790914701,0.0498544845074,0.999999964232,-6.19478194859e-05,-0.000255119073856,-5.11146796454e-05,1793196387094078976
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+12,0.200000000,BASELINE,765,743,712,674,664,634,877,785,801,650,629.038008851,651.038008851,0.400983589629,-0.0054293246515,0.0498553505443,0.999999964771,-6.31056715833e-05,-0.000252772757705,-5.08163799479e-05,1793196387127411456
+13,0.216666667,BASELINE,765,743,712,674,664,634,877,785,801,650,629.541804729,651,0.400984077548,-0.0054279124644,0.0498561668601,0.999999965012,-6.26655142609e-05,-0.000251948570489,-5.07057164309e-05,1793196387144078080
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+16,0.266666667,BASELINE,764.272884319,743,711.727115681,673.272884319,664,634,877,785,801,650,630,651.727115681,0.400982100784,-0.00542662907249,0.0498552215125,0.999999964531,-6.09359534604e-05,-0.000254143824639,-5.13411945701e-05,1793196387194078208
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+20,0.333333333,BASELINE,765,743.401623489,712,674.401623489,665,634,877,784.598376511,801.598376511,650,630,651.401623489,0.400983089915,-0.0054243813519,0.0498558845882,0.999999965159,-5.6937178355e-05,-0.000252647068396,-5.10878270269e-05,1793196387260744704
+21,0.350000000,BASELINE,765,743,712,674,664.826442247,634,877,785,802,650.173557753,630,651,0.400982247103,-0.00542488282779,0.049855061721,0.999999964668,-5.8324793972e-05,-0.000254264989983,-5.10995997877e-05,1793196387277411328
+22,0.366666667,BASELINE,765,743,712,674,664.249593062,634,877,785,802,650.750406938,630,651,0.400982954793,-0.00542566478741,0.0498560144738,0.999999964879,-5.9488923426e-05,-0.000253202889354,-5.09124364498e-05,1793196387294078208
+23,0.383333333,BASELINE,765,743,711.6650904,674,664.3349096,633.6650904,877,785,802,650.6650904,630,651,0.400983038232,-0.00542640188337,0.0498560966093,0.999999965056,-5.95367369106e-05,-0.000252510274994,-5.08050077655e-05,1793196387310744832
+24,0.400000000,BASELINE,765,743,711.074750491,674,664.925249509,633.074750491,877,785,802,650.074750491,630,651,0.400982645563,-0.00542710476261,0.0498555147389,0.99999996521,-5.87331538026e-05,-0.00025209946192,-5.07583914334e-05,1793196387327411200
+25,0.416666667,BASELINE,765,743,711.504273614,674,664.495726386,633.504273614,877,785,802,650,630,651.504273614,0.400983876202,-0.00542755776951,0.0498562729436,0.999999965438,-6.02620306078e-05,-0.000250851985727,-5.0655279985e-05,1793196387344078336
+26,0.433333333,BASELINE,765,743,711.91850696,674,664,633.91850696,877,785,801.91850696,650,630,651.91850696,0.400984890728,-0.00542790959838,0.0498568981965,0.999999965538,-6.18408928537e-05,-0.000250075496919,-5.06078713982e-05,1793196387360745216
+27,0.450000000,BASELINE,765,743,711.342283546,674,664,633.342283546,877,785,801.342283546,650,630,651.342283546,0.400983164512,-0.00542786711877,0.0498555368506,0.999999964823,-6.16702877154e-05,-0.000252894683221,-5.09483496956e-05,1793196387377411584
+28,0.466666667,BASELINE,765,743,711.23378333,674,664.23378333,633.23378333,877,785,801,650,630,651,0.400982016306,-0.00542729904844,0.0498548325083,0.999999964461,-6.05233940623e-05,-0.000254556689374,-5.11536641374e-05,1793196387394077952
+29,0.483333333,BASELINE,765,743,711.809621138,674,664.809621138,633.809621138,877,785,801,650,630,651,0.400981713801,-0.00542596197264,0.0498550894454,0.999999964621,-5.79480672706e-05,-0.00025452559495,-5.11612168017e-05,1793196387410744576
+30,0.500000000,BASELINE,765,743,711.604021744,674,664.604021744,633.604021744,877,785,801,650,630,651.395978256,0.400981692451,-0.00542653961485,0.049855287466,0.999999964646,-5.85560805279e-05,-0.00025433355068,-5.09360211406e-05,1793196387427411200
+31,0.516666667,BASELINE,765,743,711.012469136,674,664.012469136,633.012469136,877,785,801,650,630,651.987530864,0.400981809965,-0.00542806293968,0.0498554563878,0.999999964602,-6.07363510626e-05,-0.000254062013,-5.05958706754e-05,1793196387444077824
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+36,0.600000000,BASELINE,765,743,712,673,664,634,876.887741571,785,801,650,630,651,0.400983604642,-0.00542733196202,0.0498571289637,0.999999965389,-6.21238592582e-05,-0.000250516623385,-5.1029347642e-05,1793196387527412480
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+39,0.650000000,BASELINE,765,742.623949628,712,674,664,633.376050372,876,785,801,650,630,651.376050372,0.400982611372,-0.0054285949563,0.0498562809218,0.999999965101,-6.21223486822e-05,-0.00025171754759,-5.07605989896e-05,1793196387577411584
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+48,0.800000000,BASELINE,765,742.825058625,712,674,664,634,877.825058625,785,801.825058625,650.825058625,630,651,0.400983655127,-0.00542762870543,0.0498572576132,0.999999965421,-6.08234310098e-05,-0.000250796559742,-5.05868393349e-05,1793196387727411456
+49,0.816666667,BASELINE,765,743,712,674,664,634,877.585091885,785,801.585091885,650.585091885,630,651.414908115,0.400983069565,-0.0054273728927,0.0498566331428,0.999999965207,-6.19793944534e-05,-0.000251336385785,-5.07482562723e-05,1793196387744078336
+50,0.833333333,BASELINE,765,743,711.986969753,674,664.013030247,634,877,785,801,650,630,651.986969753,0.400982030164,-0.0054275137984,0.0498555711586,0.999999964804,-6.3392331075e-05,-0.000252544153753,-5.09358687469e-05,1793196387760744960
+51,0.850000000,BASELINE,765,743,711.410352492,674,664.589647508,634,877,785,801,650,630,651.410352492,0.400982536386,-0.0054276223546,0.0498563278326,0.999999965283,-6.08104986475e-05,-0.000251324182597,-5.07233198724e-05,1793196387777411584
+52,0.866666667,BASELINE,765,743,711,673.834625587,664.834625587,634,876.834625587,785,801,650,630,651,0.400982689034,-0.00542760559054,0.0498565342549,0.999999965468,-5.90867739959e-05,-0.000250999477529,-5.07152160269e-05,1793196387794078208
+53,0.883333333,BASELINE,765,743,711,673.261096177,664.261096177,634,876.261096177,785,801,650,630,651,0.400981969039,-0.00542727952777,0.0498553826195,0.999999964944,-5.94809162843e-05,-0.000252884348496,-5.12116960575e-05,1793196387810745088
+54,0.900000000,BASELINE,765,743,711,673.322572527,664,634,876.322572527,785.322572527,801,650,630,651,0.400981890012,-0.00542755867435,0.049855165547,0.999999964738,-5.98316298372e-05,-0.00025364662163,-5.10733654981e-05,1793196387827411968
+55,0.916666667,BASELINE,765,743,711,673.914714472,664,634,876.914714472,785.914714472,801,650,630,651,0.400982346633,-0.00542834358606,0.0498557294761,0.999999964797,-6.01460505744e-05,-0.000253470755126,-5.04045324489e-05,1793196387844078592
+56,0.933333333,BASELINE,765,743,711.494615518,674,664,634,876.505384482,785.505384482,801,650,630,651,0.400981393281,-0.00542717240194,0.0498555645627,0.999999964798,-5.9661060078e-05,-0.000253511554341,-5.07531611403e-05,1793196387860745216
+57,0.950000000,BASELINE,765,743,712,674,664,633.927965643,876.144068713,785,801.072034357,650,629.927965643,651,0.400980602668,-0.00542582639123,0.0498553874626,0.999999964837,-5.91483561863e-05,-0.00025338282946,-5.1232553913e-05,1793196387877411840
+58,0.966666667,BASELINE,765,743,712,674,664,633.353494068,877.293011864,785,801.646505932,650,629.353494068,651,0.400982601947,-0.00542555671138,0.0498559807537,0.999999965208,-5.93805684333e-05,-0.000251817393524,-5.14298942855e-05,1793196387894078464
+59,0.983333333,BASELINE,765,743,712,674,664.221145625,633.221145625,877.778854375,785,801.778854375,650,629,651,0.400983167047,-0.00542618773248,0.0498561712249,0.999999965249,-6.00354912149e-05,-0.000251530170067,-5.12928952313e-05,1793196387910745088
+60,1.000000000,BASELINE,765,743,712,674,664.796054344,633.796054344,877.203945656,785,801.203945656,650,629,651,0.400981437915,-0.00542825959034,0.0498557173114,0.999999964758,-6.13666172648e-05,-0.000253287682281,-5.06210588136e-05,1793196387927411968
+61,1.016666667,BASELINE,765,743,712,674,664.616735557,633.616735557,877,785,801,650,629,651,0.400981513633,-0.00542851190912,0.0498558814698,0.999999964808,-6.19161880982e-05,-0.000252973779134,-5.0542712085e-05,1793196387944078592
+62,1.033333333,BASELINE,765,743,712,674,664.022762521,633.022762521,877,785,801,650,629,651,0.400982581611,-0.00542776389361,0.0498563854277,0.999999965154,-6.20360805895e-05,-0.000251521066835,-5.0790650236e-05,1793196387960744960
+63,1.050000000,BASELINE,765,743,712,674.556094396,664,633.556094396,877,785,801.556094396,650,629.556094396,651.556094396,0.400981906268,-0.00542724832275,0.0498562971317,0.99999996513,-6.23706501169e-05,-0.000251516404344,-5.08905060281e-05,1793196387977411840
+64,1.066666667,BASELINE,765,743,712,674.866908454,664.133091546,634,877,785,801.866908454,650,629.866908454,651.866908454,0.400981343797,-0.00542684540228,0.0498561517823,0.999999965124,-6.17868386088e-05,-0.000251683746035,-5.08939515819e-05,1793196387994078464
+65,1.083333333,BASELINE,765,743,712,674.294065927,664.705934073,634,877,785,801.294065927,650,629.294065927,651.294065927,0.400981383814,-0.00542678408716,0.0498558959025,0.99999996522,-5.81403160722e-05,-0.000252228748945,-5.05983434595e-05,1793196388010745088
+66,1.100000000,BASELINE,765,743,711.714100664,674,665,633.714100664,877,785,801,650,629,651,0.40098195345,-0.00542684971073,0.049856122947,0.999999965402,-5.68793331262e-05,-0.000251813222857,-5.05097612345e-05,1793196388027411456
+67,1.116666667,BASELINE,765,743,711.126622058,674,665,633.126622058,877,785,801,650,629,651,0.400983081754,-0.00542704923487,0.0498568594014,0.999999965682,-5.81347231168e-05,-0.000250384488252,-5.06395591045e-05,1793196388044078080
+68,1.133333333,BASELINE,765,743,711.456726103,674,664.543273897,633,877,785,801,650,629.456726103,651.456726103,0.400984127344,-0.00542687820542,0.0498577453471,0.999999965986,-5.85334230205e-05,-0.000249078117337,-5.06215818938e-05,1793196388060744704
+69,1.150000000,BASELINE,765,743,711.961523752,674,664,633,877.038476248,785,801,650,630,652,0.400984981772,-0.00542664852661,0.0498585120194,0.999999966239,-5.86910629479e-05,-0.000248032530502,-5.05596297047e-05,1793196388077411328
+70,1.166666667,BASELINE,765,743,711.386236126,674,664,633,877.613763874,785,801,650,630,652,0.400983486218,-0.00542702102861,0.049857041572,0.999999965711,-5.87694403077e-05,-0.000250156285436,-5.04506151784e-05,1793196388094077952
+71,1.183333333,BASELINE,764.812623719,743,711,674.187376281,664,633.187376281,877.625247438,785,801.187376281,650,629.812623719,651.812623719,0.4009828747,-0.00542727696036,0.0498564217918,0.999999965476,-5.8883706492e-05,-0.000251068139345,-5.04542819568e-05,1793196388110744832
+72,1.200000000,BASELINE,764.242433713,743,711,674.757566287,664,633.757566287,876.484867426,785,801.757566287,650,629.242433713,651.242433713,0.400984069286,-0.00542729473669,0.0498575399423,0.999999965845,-5.90712943224e-05,-0.000249504054089,-5.06881590166e-05,1793196388127411456
+73,1.216666667,BASELINE,764.342369094,743,711,674.657630906,664.342369094,633.657630906,876.342369094,785,801.657630906,650,629.342369094,651,0.400983852193,-0.00542669640422,0.0498574792505,0.999999965927,-5.82746352755e-05,-0.000249305748957,-5.09488707692e-05,1793196388144078080
+74,1.233333333,BASELINE,764.937980614,743,711,674.062019386,664.937980614,633.062019386,876.937980614,785,801.062019386,650,629.937980614,651,0.400982590915,-0.00542564235047,0.0498565465965,0.999999965798,-5.67499517803e-05,-0.000250117679591,-5.12294315035e-05,1793196388160744704
+75,1.250000000,BASELINE,765,743,711,674,664.481551504,633.518448496,877,785,801.518448496,650,630,651,0.400982452455,-0.00542577081675,0.0498568823486,0.999999965698,-5.69008238669e-05,-0.000250498237044,-5.11465103523e-05,1793196388177411584
+76,1.266666667,BASELINE,765,743,711.096557606,674,664.096557606,634,877,785,802,650,629.903442394,651,0.400982546032,-0.00542598018363,0.0498572817559,0.999999965646,-5.71690097541e-05,-0.000250674259135,-5.10200267323e-05,1793196388194078208
+77,1.283333333,BASELINE,765,743,711.67169962,674,664.67169962,634,877,785,802,650,629.32830038,651,0.400983142849,-0.00542590929387,0.0498572659521,0.999999965806,-5.70533871038e-05,-0.000250085018469,-5.08870254228e-05,1793196388210744832
+78,1.300000000,BASELINE,765,743,712,674,664.747066047,634,877,785,801.747066047,650,629.252933953,651,0.400983946672,-0.00542610623556,0.0498575121851,0.999999965969,-5.75249927025e-05,-0.000249362216391,-5.07034094282e-05,1793196388227411456
+79,1.316666667,BASELINE,765,743,712,674,664.157728951,634,877,785,801.157728951,650,629.842271049,651,0.400985025811,-0.00542665939413,0.0498581069281,0.999999966133,-5.87776141701e-05,-0.00024846177716,-5.04524757155e-05,1793196388244077824
+80,1.333333333,BASELINE,765,743,711.575743864,674,664,633.575743864,877,785,801.424256136,650,630,651,0.400983943928,-0.00542603389119,0.0498574248104,0.99999996589,-5.84279852782e-05,-0.000249447278855,-5.08057917258e-05,1793196388260744704
+81,1.350000000,BASELINE,764.996480488,743,711,674,664.003519512,633.003519512,877,785,802,650,629.996480488,651,0.400982093454,-0.00542500302162,0.0498562868038,0.999999965499,-5.75185445685e-05,-0.000251105724269,-5.13723090282e-05,1793196388277411328
+82,1.366666667,BASELINE,764.422887012,743,711,674,664.577112988,633.577112988,877,785,802,650,629.422887012,651,0.400983667628,-0.00542808133187,0.0498568873297,0.999999965585,-6.07754836144e-05,-0.00025012984916,-5.07047896421e-05,1793196388294077952
+83,1.383333333,BASELINE,764.154604784,742.845395216,711.154604784,674,664.845395216,633.845395216,877,785,801.690790432,650.154604784,629.154604784,651,0.400984901503,-0.00543008216807,0.049857483305,0.999999965745,-6.28631219876e-05,-0.000249050489635,-5.03155684241e-05,1793196388310744832
+84,1.400000000,BASELINE,764.743035525,742.256964475,711.743035525,674,664.256964475,633.256964475,877,785,800.51392895,650.743035525,629.743035525,651,0.400985180491,-0.00542905957845,0.0498580665109,0.99999996614,-6.16696661108e-05,-0.000247680749317,-5.07072605945e-05,1793196388327411456
+85,1.416666667,BASELINE,765,742.326474753,712,673.673525247,664,633.326474753,877,785,800.326474753,650.673525247,629.673525247,651,0.400983603846,-0.0054282265471,0.0498574447446,0.999999965753,-6.03530722297e-05,-0.000249522408445,-5.08940182352e-05,1793196388344078080
+86,1.433333333,BASELINE,765,742.906044347,712,673.093955653,664,633.906044347,877,785,800.906044347,650.093955653,629.093955653,651,0.400980588648,-0.00542754046813,0.0498558888409,0.999999964746,-5.89410174587e-05,-0.000253853658731,-5.09219033149e-05,1793196388360744704
+87,1.450000000,BASELINE,765,743,711.520211564,673.479788436,664,634,877,785,801,650,629.479788436,651,0.400981669381,-0.00542773279736,0.0498565350372,0.999999965056,-5.97998420377e-05,-0.000252441816431,-5.08425827265e-05,1793196388377411328
+88,1.466666667,BASELINE,765,743,711.053072646,674,664,634,877,785,801,650,630,651.053072646,0.400983357998,-0.00542795669633,0.0498574777818,0.999999965563,-6.09139690614e-05,-0.000250169592062,-5.0774588893e-05,1793196388394077952
+89,1.483333333,BASELINE,765,743,711.632980239,674,664,634,877,785,801,650,630,651.632980239,0.400983214265,-0.00542680691217,0.0498571349251,0.999999965539,-6.02009631048e-05,-0.000250386783908,-5.10249306584e-05,1793196388410744576
+90,1.500000000,BASELINE,765,743,712,674,664,634,877,785,801,650,630,651.783703692,0.400983629924,-0.00542599976111,0.0498571339133,0.999999965725,-5.86088572428e-05,-0.000250026507135,-5.09992521294e-05,1793196388427411456
+91,1.516666667,BASELINE,765,743,712,674,664,634,877,785,801,650,630,651.194511455,0.400985009979,-0.00542578331134,0.0498577222438,0.999999966266,-5.55011787647e-05,-0.000248670671516,-5.04977131887e-05,1793196388444078592
+92,1.533333333,BASELINE,765,743,712,674,664,634,877,785,801,650,630,651,0.400985064102,-0.00542677882579,0.0498579425982,0.999999966202,-5.71313705553e-05,-0.000248581680213,-5.03995369996e-05,1793196388460745216
+93,1.550000000,BASELINE,765,743,712,674,664,634,877,785,801,650,630,651,0.400984464761,-0.00542837163555,0.0498579816022,0.999999965829,-6.10965384141e-05,-0.00024911703081,-5.05001510298e-05,1793196388477411584
+94,1.566666667,BASELINE,765,743,712,674,664,633.456397059,877,785,801,650,630,651,0.400984295923,-0.00542880740471,0.0498581683326,0.999999965882,-6.15766669579e-05,-0.000248787105471,-5.04817171778e-05,1793196388494078464
+95,1.583333333,BASELINE,765,743,712,673.881080076,664,633,876.881080076,785,801.118919924,650,630,651,0.400984105876,-0.00542903612594,0.0498582555624,0.99999996598,-6.14465703683e-05,-0.000248434042709,-5.04502750194e-05,1793196388510744832
+96,1.600000000,BASELINE,765,743,712,673.307506557,664,633,876.307506557,785,801.692493443,650,630,651,0.400983737343,-0.00542873504882,0.0498579289584,0.999999966145,-5.97719715269e-05,-0.000248188293401,-5.03960347019e-05,1793196388527411712
+97,1.616666667,BASELINE,765,743,712,673.274829274,664,633,876.274829274,785.274829274,801.725170726,650,630,651,0.400983982425,-0.00542768888071,0.0498580261348,0.999999966276,-5.84361068225e-05,-0.000247943509875,-5.05601132041e-05,1793196388544078336
+98,1.633333333,BASELINE,765,743,712,673.867292101,664,633,876.867292101,785.867292101,801.132707899,650,630,651,0.400984936693,-0.00542578157474,0.0498586130951,0.99999996637,-5.74917337297e-05,-0.000247699842566,-5.09765133839e-05,1793196388560744960
+99,1.650000000,BASELINE,765,743,711.55048235,674,664.44951765,633,877,785.55048235,801,650,630,651,0.400984285537,-0.00542743106659,0.0498579467807,0.999999965855,-6.16397424966e-05,-0.000248773315139,-5.10171042406e-05,1793196388577411840
+100,1.666666667,BASELINE,765,743.028667849,711.028667849,674,665,633.028667849,877,785,801,650,629.971332151,651,0.400983225169,-0.00542989051045,0.0498569966837,0.999999965196,-6.66988534834e-05,-0.000250128126844,-5.09459308582e-05,1793196388594078464
+101,1.683333333,BASELINE,765,743.60551658,711.60551658,674,665,633.60551658,877,785,801,650,629.39448342,651,0.400983201064,-0.00542820597606,0.0498575375942,0.999999965696,-6.10725165117e-05,-0.000249592705835,-5.08119008148e-05,1793196388610745088
+102,1.700000000,BASELINE,765,743.818836682,712,674,664.818836682,634,877,785,801.181163318,650,629.181163318,651,0.400983558195,-0.00542691531777,0.0498579835156,0.999999966044,-5.7134549242e-05,-0.000249144593411,-5.07459933767e-05,1793196388627411712
+103,1.716666667,BASELINE,765,743.245790111,712,674,664.245790111,634,877,785,801.754209889,650,629.754209889,651,0.400984739994,-0.00542647667239,0.0498582239613,0.99999996612,-5.68487779782e-05,-0.000248885342555,-5.08274453065e-05,1793196388644078080
+104,1.733333333,BASELINE,765,743,711.662226306,674,664,633.662226306,877,785,801.662226306,650.337773694,630,651,0.40098394143,-0.0054265582266,0.0498577441231,0.999999965729,-5.77638592835e-05,-0.000250224097633,-5.09140169021e-05,1793196388660744960
+105,1.750000000,BASELINE,765,743,711.070763338,674,664,633.070763338,877,785,801.070763338,650.929236662,630,651,0.40098165549,-0.00542703048336,0.0498567233063,0.99999996498,-5.95808563129e-05,-0.000252763055577,-5.10044336968e-05,1793196388677412352
+106,1.766666667,BASELINE,765,743,711.509274694,674,664,633.509274694,877,785,801.509274694,650.490725306,630,651,0.400982301341,-0.00542698035547,0.0498572587705,0.999999965503,-5.82572850457e-05,-0.000251054802668,-5.0701928505e-05,1793196388694078720
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,711,674,664,634,877,785,801,650,630,651,0.400981065645,-0.00542658948421,0.0498565127641,0.999999965454,-5.71768570577e-05,-0.000251508275204,-5.06579148254e-05,1793196388737246208
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,743,711.573086847,674,664,634,877,785,801,650,630,651,0.400983641003,-0.00542673656342,0.0498574031755,0.999999965848,-5.88835709639e-05,-0.000249517307185,-5.07669343348e-05,1793196388753912832
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.847866336,743,712,674,664,633.847866336,877,785,801.152133664,650,630,651.152133664,0.40098558452,-0.00542724324894,0.0498582911727,0.999999966178,-6.03712056679e-05,-0.000247838291417,-5.07561249352e-05,1793196388770579456
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.251412763,743,712,674,664,633.251412763,877,785,801.748587237,650,630,651.748587237,0.400985682693,-0.0054288001967,0.049859172119,0.999999966334,-6.12190004624e-05,-0.000247070359509,-5.03953445663e-05,1793196388787246336
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.332731218,743,711.667268782,674,664.332731218,633.332731218,877,785,802,650,630,651.667268782,0.400985123361,-0.00542958129768,0.0498588362806,0.999999966132,-6.20001527343e-05,-0.000247717757308,-5.0269110288e-05,1793196388803912960
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.907905822,743,711.092094178,674,664.907905822,633.907905822,877,785,802,650,630,651.092094178,0.400984084943,-0.00542979708064,0.0498576138364,0.999999965667,-6.27327461246e-05,-0.000249396429977,-5.03137771846e-05,1793196388820579584
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,743,711.483540896,674.483540896,664.516459104,634,877,785,801.516459104,650,630,651.483540896,0.400983963835,-0.00542924367675,0.0498571084514,0.999999965374,-6.29204526343e-05,-0.000250515908559,-5.03433926783e-05,1793196388837246464
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,743,712,674.939193932,664,634,877.060806068,785,801,650,630,651.939193932,0.400984719079,-0.0054285941032,0.0498571480774,0.999999965316,-6.26784784793e-05,-0.000250808329,-5.03476322564e-05,1793196388853913088
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,743,712,674.348488093,664,634,877.651511907,785,801,650,630,651.348488093,0.400991587407,-0.00542838433458,0.0498607459677,0.999999966997,-5.9597259294e-05,-0.000244822293056,-5.0155736767e-05,1793196388870579456
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,743,711.762891663,674,664,633.762891663,877.762891663,785,801,650,630,651,0.401005103117,-0.00542878109175,0.0498664492681,0.999999969692,-5.85433852707e-05,-0.000233881300093,-4.98850554968e-05,1793196388887246336
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,743,711.184646388,674,664,633.184646388,877.184646388,785,801,650,630,651,0.401028182671,-0.00543005048106,0.0498751817029,0.999999973663,-6.04063314263e-05,-0.00021581141923,-4.9501022083e-05,1793196388903912960
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.391158074,743,711.391158074,674,664,633.391158074,877.391158074,785,801.391158074,650.391158074,630,651,0.401070170237,-0.00543124024788,0.0498889664148,0.999999979396,-6.22180128637e-05,-0.000187021348127,-4.85875510723e-05,1793196388920579584
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.965817543,743,711.965817543,674,664,633.965817543,877.965817543,785,801.965817543,650.965817543,630,651,0.401121027996,-0.00543239266203,0.0499051212686,0.999999985092,-6.40056449341e-05,-0.000153202183434,-4.74257084329e-05,1793196388937246208
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.446407964,743,712,674,664,633.446407964,877.446407964,785,801.446407964,650.446407964,630,651,0.401186832806,-0.00543365630741,0.049919424081,0.999999989041,-6.26851485373e-05,-0.000125870299857,-4.63227841853e-05,1793196388953912832
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,743,712,674,664,633.140049775,877,785,801,650,630,651,0.401254536372,-0.00543607623504,0.0499308546689,0.999999991454,-6.23274322393e-05,-0.000105749266548,-4.49956078631e-05,1793196388970579712
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,743,712,674,664,633.719769873,877,785,801,650,630,651,0.401325233141,-0.00544210409444,0.0499336359621,0.999999991203,-6.56093743372e-05,-0.000106977817747,-4.29527192289e-05,1793196388987246336
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,743,712,674.298093934,664,634,876.701906066,785,801,650,630,651,0.401407414905,-0.00544579375355,0.0499344191081,0.999999991034,-6.68233939923e-05,-0.000108266099668,-4.17701235376e-05,1793196389003912960
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,743,712,674.875111701,664,634,876.124888299,785,801,650,630,651,0.401500343074,-0.00544729557916,0.0499333326056,0.999999990951,-6.61024768779e-05,-0.00010961027102,-4.13924963978e-05,1793196389020579584
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743,712,674.548589323,664.451410677,633.548589323,876.451410677,784.548589323,801,650,630,651,0.401617755095,-0.0054528764758,0.0499339085664,0.999999990603,-7.09515473931e-05,-0.00011009903364,-4.04644153948e-05,1793196389037246208
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.028067773,743,711.971932227,673.971932227,664.971932227,633.028067773,877,784.028067773,801,650,630,651,0.401743216313,-0.00545950916737,0.0499350481314,0.999999990186,-7.70933670008e-05,-0.00011017125379,-3.93410468153e-05,1793196389053912576
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.615825287,743,711.384174713,673.384174713,664.384174713,633.615825287,877,784.615825287,801,650,630,651,0.40189432537,-0.00546464758829,0.0499382693924,0.999999990547,-7.83336478378e-05,-0.000106648984043,-3.73554466431e-05,1793196389070579200
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.799335669,742.799335669,711.200664331,673.200664331,664.200664331,633.799335669,877,785.200664331,801,650,629.799335669,651,0.40205372587,-0.00547040049039,0.0499387631424,0.999999990404,-7.99844189713e-05,-0.000107359358714,-3.56072309873e-05,1793196389087246080
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.220004043,742.220004043,711.779995957,673.779995957,664.779995957,633.220004043,877,785.779995957,801,650,629.220004043,651,0.402228772874,-0.00547731295986,0.0499341098926,0.999999989281,-8.24098131818e-05,-0.000116057022823,-3.43069763469e-05,1793196389103912704
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.643602725,742.356397275,712,674.356397275,664.643602725,633.356397275,877,785.643602725,801,650,629.356397275,651,0.402427992285,-0.00548545103865,0.0499320347128,0.999999988593,-8.71629254214e-05,-0.000118918526913,-3.27817830953e-05,1793196389120579840
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.068995481,742.931004519,712,674.931004519,664.068995481,633.931004519,877,785.068995481,801,650,629.931004519,651,0.402642011659,-0.00549433951715,0.0499315379974,0.999999988173,-9.33412207375e-05,-0.000118206748904,-3.11188674316e-05,1793196389137246464
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.507592376,743,711.492407624,674.492407624,664,633.492407624,877,785,801,650,630,651,0.402908674463,-0.00550412270859,0.0499372072229,0.999999989043,-9.7274288239e-05,-0.00010787760681,-2.85290390485e-05,1793196389153912832
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,743,711.086436983,674,664,633,877,785,801.086436983,650,630,651,0.403187911365,-0.00551437331596,0.049944544006,0.999999990103,-0.000101160215845,-9.43577767661e-05,-2.56240513433e-05,1793196389170579200
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,743,711.676864435,674,664,633,877,785,801.676864435,650,630,651,0.403498578373,-0.0055266374171,0.0499566978878,0.999999991647,-0.000106557717612,-6.98860394979e-05,-2.16189596241e-05,1793196389187245824
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,743,712,673.73807398,664,633.26192602,877,785,801.73807398,650,629.73807398,651,0.403825153853,-0.00553769863965,0.0499662459021,0.999999992507,-0.00010942425575,-5.19131705893e-05,-1.78283373601e-05,1793196389203912704
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,743,712,673.159499353,664,633.840500647,877,785,801.159499353,650,629.159499353,651,0.404170961448,-0.00554730567286,0.0499726436205,0.999999993059,-0.000109231051391,-4.17969399666e-05,-1.42969925813e-05,1793196389220579584
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,743,712,673.417052216,664,634,877,785,801.417052216,650,629,651,0.404554439042,-0.00555248723573,0.0499797621557,0.999999994188,-0.000104113924352,-2.60000219234e-05,-1.03841684525e-05,1793196389237246208
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,743,712,673.9928338,664,634,877,785,801.9928338,650,629,651,0.404952253765,-0.00555598447184,0.0499871550324,0.999999995231,-9.7122760642e-05,-8.04104407849e-06,-6.32615400586e-06,1793196389253913088
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,743,712,674,664,634,877.579353932,785,801.420646068,650,629.579353932,651,0.405359707308,-0.00554282286501,0.0499746710054,0.999999997082,-6.98147831156e-05,-3.06954843445e-05,-4.32897788945e-06,1793196389270579968
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743,712,674,664.163842187,633.836157813,877.836157813,785,801,650,629.836157813,651,0.405772417921,-0.0055306921575,0.0499580099842,0.999999997107,-4.38309678299e-05,-6.21148707155e-05,-2.52369295097e-06,1793196389287246592
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664.742838919,633.257161081,877.257161081,785,801,650,629.257161081,651,0.406198141391,-0.00552170560015,0.0499313997621,0.999999993212,-2.18512085087e-05,-0.000114446521505,-1.13882434111e-06,1793196389303912960
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,743,712,674,665,633.321858024,877.321858024,785.321858024,801,650,629,651,0.406662965698,-0.00552251002428,0.0499136731273,0.999999989258,-8.68112769717e-06,-0.000146305162803,1.9045689939e-06,1793196389320579328
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743,712,674,665,633.900895067,877.900895067,785.900895067,801,650,629,651,0.407159033377,-0.00553113788147,0.0499030448749,0.999999986887,-2.55037342685e-06,-0.000161804955665,6.2731982381e-06,1793196389337246208
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664.526893197,634,877.526893197,785.526893197,801.473106803,650,629.473106803,651,0.407726018411,-0.00553767055185,0.0499181033469,0.999999991552,6.21894002123e-06,-0.000129298779861,1.1771603687e-05,1793196389353912832
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,743,711.954469548,674,664.045530452,634,877.045530452,784.954469548,801.954469548,650,629.954469548,651,0.408311914988,-0.00554333993402,0.049939088006,0.999999995977,1.57806237979e-05,-8.65281633539e-05,1.76001234842e-05,1793196389370579200
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,743,711.362590145,674,664.637409855,634,877.637409855,784.362590145,801.362590145,650,629.362590145,651,0.408949017644,-0.00554384183633,0.0499675356725,0.999999998515,2.83123888328e-05,-3.95418869724e-05,2.45904292847e-05,1793196389387246080
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,743,711.224397877,674,665,634,878.224397877,784.224397877,801,650.224397877,629.224397877,651,0.409584540063,-0.00554292364732,0.0499863180984,0.999999998554,4.28946096106e-05,-1.04388303215e-05,3.07016369999e-05,1793196389403912960
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,743,711.803650802,674,665,634,878.803650802,784.803650802,801,650.803650802,629.803650802,651,0.410217563509,-0.00553975977493,0.0499898162453,0.999999997483,6.07193495705e-05,-9.61568227535e-06,3.54226690335e-05,1793196389420579840
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.381236508,743,712,674.381236508,665,633.618763492,878.237526984,785,801.381236508,650.618763492,629.618763492,651,0.410835045137,-0.00553602210262,0.0499704451604,0.999999994783,7.71193435765e-05,-5.46888441046e-05,3.86624683283e-05,1793196389437246720
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.957967264,743,712,674.957967264,665,633.042032736,877.084065473,785,801.957967264,650.042032736,629.042032736,651,0.411444557058,-0.00553199019158,0.0499393469634,0.999999987248,9.27887413329e-05,-0.000123297171873,4.11427060723e-05,1793196389453913344
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.457077236,743,712,674.457077236,665,633,877,785,801.457077236,650,629.542922764,651,0.412152505805,-0.00553679755349,0.0499276698616,0.999999991406,-2.8039415684e-06,-0.000129828959283,1.8042454683e-05,1793196389470579712
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.127158965,743,712,674,665,633.127158965,877.127158965,785,801.127158965,650,629.872841035,651,0.412885637852,-0.00554404590928,0.0499265956299,0.999999989417,-8.31381283963e-05,-0.000119390494735,4.6339197802e-07,1793196389487246080
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.706537616,743,712,674,665,633.706537616,877.706537616,785,801.706537616,650,629.293462384,651,0.413680810536,-0.0055575041078,0.0499577992996,0.999999994728,-7.81030948465e-05,-6.59545372673e-05,9.67091317095e-06,1793196389503912960
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,743,712,674,665,634,878,785,801.714749375,650,629.285250625,651,0.414449725756,-0.0055626997275,0.0499628099529,0.999999996107,-6.55544331387e-05,-5.68318646758e-05,1.61129531751e-05,1793196389520579584
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,743,712,674,665,634,878,785,801.136719506,650,629.863280494,651,0.415191690596,-0.00555941469578,0.0499409362812,0.999999994437,-4.52938355706e-05,-9.31920309755e-05,1.97165237768e-05,1793196389537246464
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.56234275,743.43765725,712,674.43765725,664.56234275,633.56234275,877.56234275,785,801.43765725,650,630,651,0.415959049075,-0.00555600524688,0.0499248939551,0.999999991834,-4.15087226936e-05,-0.000119205777963,1.99986371638e-05,1793196389553913088
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743.988778913,712,674.988778913,664,633.011221087,877,785,801.988778913,650,630,651,0.416736104535,-0.005552686939,0.0499115253292,0.999999989013,-4.29505458399e-05,-0.000140558635708,1.92859490276e-05,1793196389570579712
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,743.398767986,712,674.398767986,664,633.601232014,877,785,801.398767986,650,630,651,0.417607551831,-0.00555605789017,0.0499428836324,0.999999994737,-5.072506092e-05,-8.68344228649e-05,2.03371912389e-05,1793196389587246336
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,712,674.188585715,664.188585715,634,877.188585715,785,801.188585715,650,630,651,0.418466654695,-0.00555876466409,0.0499645440632,0.999999996926,-5.39619318476e-05,-5.24471598406e-05,2.20180129676e-05,1793196389603912704
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743,712,674.770398702,664.770398702,634,877.770398702,785,801.770398702,650,630,651,0.419300017656,-0.0055600865365,0.0499659830883,0.999999996844,-4.77371876128e-05,-5.83801123416e-05,2.50115950103e-05,1793196389620579328
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,743,711.6526082,674.6526082,665,633.6526082,878,785,801.6526082,650,630,651,0.420145204693,-0.00556197260577,0.0499585695737,0.999999996767,-4.00162408253e-05,-6.47526705616e-05,2.5908190669e-05,1793196389637246208
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743,711.078757132,674.078757132,665,633.078757132,878,785,801.078757132,650,630,651,0.420998099626,-0.00556422646607,0.0499453852272,0.999999996636,-3.13199432987e-05,-7.14118006201e-05,2.54377936712e-05,1793196389653912832
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743,711.496279221,674.496279221,665,633,878.496279221,785,801.496279221,649.503720779,630,651,0.421903045249,-0.00556610655338,0.0499653833637,0.999999998798,-2.84825212422e-05,-2.98556530486e-05,2.64841751016e-05,1793196389670579200
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743,712,674.926230045,665,633.073769955,879,785,801.926230045,649.073769955,630,651,0.422811161129,-0.00556764937745,0.0499852371618,0.999999999217,-2.70098108526e-05,8.63071020399e-06,2.75938504879e-05,1793196389687245824
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743,712,674.332777636,665,633.667222364,879,785,801.332777636,649.667222364,630,651,0.423683280497,-0.00556723516384,0.0499668889711,0.999999998807,-2.85853881204e-05,-2.85397731209e-05,2.74496666185e-05,1793196389703912448
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.253004492,743,712,674,665,633.746995508,878.746995508,785,801,650,630,651,0.424568101276,-0.00556885941506,0.0499592219734,0.99999999808,-3.30499525369e-05,-4.43734500281e-05,2.79135963223e-05,1793196389720579328
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.828994813,743,712,674,665,633.171005187,878.171005187,785,801,650,630,651,0.425469136809,-0.0055730859728,0.0499651905967,0.999999998183,-4.12026015551e-05,-3.29685401849e-05,2.91538445346e-05,1793196389737246208
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,743,712,674,665,633,878.405514021,785,801,650,630,651,0.426373015655,-0.005574278385,0.0499818157577,0.999999998448,-4.33006600289e-05,-1.51621128557e-05,3.15967691819e-05,1793196389753912576
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,743,712,674,665,633,878.982256516,785,801,650,630,651,0.427278095036,-0.00557418962764,0.0500029406461,0.999999998471,-4.28421644578e-05,5.34735739089e-06,3.45475244029e-05,1793196389770579200
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,743,712,674.556720625,665,633.556720625,879,785,801,650,630,651,0.428094071667,-0.00557243179727,0.0499660415985,0.999999996397,-4.64772824637e-05,-6.28135309828e-05,3.31684429432e-05,1793196389787245824
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,743,712,675,665,633.864335769,879,785,801,650,630,651,0.428933721731,-0.00557106783319,0.0499366435247,0.999999991791,-5.00210077786e-05,-0.000113584525428,3.1859404908e-05,1793196389803912448
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,743,712,675,665,633.270002909,879,785,801,650,630,651,0.429862971601,-0.00557121461289,0.0499388324287,0.999999993504,-5.28164358064e-05,-9.60461575178e-05,3.12518355926e-05,1793196389820579072
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.687149312,743,712,675,665,633,879,785,801.312850688,650,630.312850688,651,0.430748227374,-0.00557167127312,0.0499380896259,0.999999993569,-5.66777179838e-05,-9.31674303734e-05,3.11387252047e-05,1793196389837245952
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.113852167,743,712,675,665,633,879,785,801.886147833,650,630.886147833,651,0.431596858262,-0.00557238590717,0.0499349061934,0.999999992367,-6.14263176758e-05,-0.000102492773482,3.14372491564e-05,1793196389853912832
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633,879,785,801.536998053,650,630.536998053,651,0.43243943854,-0.00557349664761,0.0499237432617,0.99999999049,-6.77457653401e-05,-0.000116234113857,3.03178772168e-05,1793196389870579712
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633,878.958596811,785,801,650,630,651,0.433281353279,-0.00557466381516,0.0499138524208,0.999999988869,-7.42254574807e-05,-0.000126116110968,2.91239704943e-05,1793196389887246336
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633,878.371420964,785,801,650,630,651,0.434134258573,-0.00557528090705,0.0499467953873,0.999999993985,-7.76862579294e-05,-7.06996619635e-05,3.15791453766e-05,1793196389903912704
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633,878.213317511,785,801,650,630,651,0.434971245793,-0.00557448386951,0.0499673160678,0.999999995419,-7.91424060308e-05,-4.20110962836e-05,3.36614167345e-05,1793196389920579328
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633,878.793860156,785,801,650,630,651,0.435780830261,-0.00557125241464,0.0499664518444,0.999999994648,-7.71475550393e-05,-5.93344524973e-05,3.51017368876e-05,1793196389937246208
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.36972278,743,712,675,665,633.36972278,878.63027722,785,801,649.63027722,630,651,0.436549802637,-0.00556776024359,0.0499509237806,0.999999992336,-7.45316669877e-05,-9.2373372744e-05,3.52182552847e-05,1793196389953912832
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.943008631,743,712,675,665,633.943008631,878.056991369,785,801,649.056991369,630,651,0.437296414638,-0.00556412452684,0.0499273220561,0.999999987853,-7.15738465213e-05,-0.000134065013917,3.46059108324e-05,1793196389970579712
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.480219442,743,712,675,666.039561115,633.480219442,878.519780558,785,801,649.519780558,630,651,0.438096081649,-0.00557052798795,0.0499491310047,0.999999992285,-8.57654214506e-05,-8.30324042194e-05,3.4345423829e-05,1793196389987246336
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,743.099622543,712.099622543,675,666.800754914,633.099622543,878.900377457,785,801,650,630.099622543,651,0.438882306662,-0.00557686215882,0.049969970186,0.99999999377,-0.000100335199877,-3.51637091154e-05,3.40069754421e-05,1793196390003913216
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,743.692767005,712.692767005,675,665.61446599,633.692767005,878.307232995,785,801,650,630.692767005,651,0.439572928476,-0.00557736324533,0.0499611728366,0.999999992245,-0.000107400589707,-5.36741382644e-05,3.30899035212e-05,1793196390020579584
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,743.722704544,712.722704544,675,665,633.722704544,878,785,801,650,630.722704544,651,0.440257048741,-0.00557740829958,0.0499481333589,0.999999990566,-0.000108835953844,-7.71125280904e-05,3.27941261871e-05,1793196390037245952
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,743.14743467,712.14743467,675,665,633.14743467,878,785,801,650,630.14743467,651,0.440934182567,-0.00557696331352,0.0499305354021,0.999999988417,-0.000104221439689,-0.000105846373865,3.31659757542e-05,1793196390053912576
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,743,712.427832954,675,665,633,878.427832954,785,801,649.572167046,630,650.572167046,0.441606004684,-0.0055759359969,0.0499413855097,0.999999990843,-0.000100084057943,-8.41447519779e-05,3.48966647589e-05,1793196390070579200
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,743,712.996834468,675,665,633,879,784.996834468,801,649.003165532,630,650.003165532,0.442275676602,-0.00557472534979,0.0499620372489,0.999999993674,-9.61331115629e-05,-4.51063819803e-05,3.70994197366e-05,1793196390087245824
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,743,712.409378122,675,665,633,879,784.409378122,801,649.590621878,630,650.590621878,0.4428863191,-0.0055767161034,0.0499823660031,0.999999994469,-9.62453049407e-05,-1.41213403389e-05,4.00038186319e-05,1793196390103912448
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.175537913,743,712,675.175537913,665,633,879,784,801.175537913,650,630,651,0.443472622289,-0.00557743828792,0.0499897225132,0.999999994555,-9.54690606198e-05,-4.20391774744e-06,4.19325626355e-05,1793196390120579328
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.754614228,743,712,675.754614228,665,633,879,784,801.754614228,650,630,651,0.444002972753,-0.00557524420058,0.0499672575569,0.999999993929,-9.26504158645e-05,-4.27181536337e-05,4.16184059342e-05,1793196390137246464
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.666876017,743.333123983,712,675.666876017,665,633,879,784.333123983,801.666876017,650,630,651,0.444517676369,-0.00557383093187,0.0499406113263,0.999999991748,-8.86680462298e-05,-8.32247779608e-05,4.14090753008e-05,1793196390153913344
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.088782928,743.911217072,712,675.088782928,665,633,879,784.911217072,801.088782928,650,630,651,0.445020873743,-0.00557299185323,0.0499108903169,0.999999987797,-8.38299093102e-05,-0.000125196540949,4.12768305192e-05,1793196390170579968
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,743.513307505,712,675.486692495,665,633,878.513307505,785,801.486692495,650,630,651,0.445515937569,-0.00557295801288,0.0499146360347,0.999999990171,-8.09701345828e-05,-0.000106346766683,4.23415373411e-05,1793196390187246336
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,743,712,675.936481186,665,633,878,784.936481186,802,650,630,651,0.446003775724,-0.00557335140854,0.049924138436,0.999999992903,-7.88686578778e-05,-7.79210657382e-05,4.36052694038e-05,1793196390203913216
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,743,712,675.344463038,665,633,878,784.344463038,802,650,630,651,0.446443772823,-0.00557608390236,0.0499310141846,0.999999993893,-8.00897830044e-05,-6.16417801511e-05,4.47179393267e-05,1793196390220579584
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,743,712,675,664.75876387,632.75876387,878,784,801.75876387,650,629.75876387,651,0.446846902352,-0.00557762075227,0.0499248437979,0.999999993155,-8.26096749496e-05,-6.99016911027e-05,4.44943183769e-05,1793196390237245952
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,743,712,675,664.181857359,632.181857359,878,784,801.181857359,650,629.181857359,651,0.447198732102,-0.0055774939115,0.0499005202374,0.999999989015,-8.69367485547e-05,-0.00011230690935,4.24113022321e-05,1793196390253912576
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,743,712,675,664,632.392832293,878,784,801,650,629.392832293,651,0.447518502235,-0.00558114881218,0.049867404853,0.999999977479,-0.000129472119893,-0.000165557796053,2.94731327263e-05,1793196390270579456
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,743,712,675,664,632.966501483,878,784,801,650,629.966501483,651,0.447823514036,-0.00558654460434,0.0498302422276,0.999999956917,-0.000189596345357,-0.000223801393814,1.15378883074e-05,1793196390287246592
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,743,712,675,664,632.442979171,878.557020829,784,801,650,629.442979171,651,0.448116295039,-0.00558661868189,0.0498206030938,0.999999970925,-4.54945539842e-05,-0.000236515249414,1.18486114147e-05,1793196390303913216
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,743,712,675,664,632,878.854486211,784,801,650,629,651,0.448406092393,-0.00558499386213,0.0498173252616,0.999999968581,7.27519292508e-05,-0.000239513037309,1.33968394917e-05,1793196390320579584
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,743,712,675,664,632,878.275149751,784,801,650,629,651,0.448689255906,-0.00557928799907,0.0498279237887,0.99999997235,7.61571757774e-05,-0.000221961954088,1.5261049306e-05,1793196390337245952
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.69788112,743,712,675.30211888,664.30211888,632,878.30211888,784,801.30211888,650,629.30211888,650.69788112,0.448948544079,-0.00557416954034,0.0498384644101,0.999999975112,8.09329109287e-05,-0.000207161170473,1.75849175201e-05,1793196390353912576
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.122482962,743,712,675.877517038,664.877517038,632,878.877517038,784,801.877517038,650,629.877517038,650.122482962,0.44918623598,-0.00556958241398,0.0498489526527,0.999999977031,8.69483106866e-05,-0.000194848150004,2.03245660472e-05,1793196390370579200
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.905598101,743.45279905,712,675.54720095,664.54720095,632,878.54720095,784,802.45279905,650,630,650.45279905,0.449384577692,-0.00556700476986,0.0498479622476,0.999999975667,9.25211365931e-05,-0.000199080907172,2.17590103476e-05,1793196390387246080
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.97116796,743.97116796,712,675.02883204,664,631.97116796,878,784.02883204,802.97116796,650,630,651,0.449570232559,-0.00556527226185,0.0498435127964,0.999999973296,9.75112806986e-05,-0.000208278122662,2.28095331811e-05,1793196390403912960
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.379871785,743.379871785,712,675.620128215,664,631.379871785,878,784.620128215,802.379871785,650,630,651,0.44971598758,-0.00556942554311,0.049832140876,0.999999969589,9.34691709773e-05,-0.000227033301689,2.32562373043e-05,1793196390420579584
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,743,712,676,664,631.206994109,878,784.793005891,802,650,630,651,0.449857377629,-0.0055726487081,0.0498248197117,0.999999967057,9.01534885614e-05,-0.000239168171419,2.35893504505e-05,1793196390437246464
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,743,712,676,664,631.785899938,878,784.214100062,802,650,630,651,0.449990925003,-0.00557420070847,0.049824776648,0.999999967176,8.81429975449e-05,-0.000239408156621,2.37183716859e-05,1793196390453912832
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,743.360910773,712,675.639089227,664,631.639089227,878,784,802,650,630,651,0.450109794448,-0.00557713658563,0.0498293499781,0.999999968708,8.62813966564e-05,-0.000233521468317,2.46417238944e-05,1793196390470579456
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,743.933635737,712,675.066364263,664,631.066364263,878,784,802,650,630,651,0.450220049607,-0.00558088464359,0.0498366326142,0.999999970994,8.45071773953e-05,-0.00022403910904,2.60312594058e-05,1793196390487246080
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,743.494703229,712,675,663.494703229,631,878,784,802,650,630,651,0.450303108796,-0.00558055363486,0.0498375628651,0.999999970605,8.51771622561e-05,-0.000225480339883,2.6333468847e-05,1793196390503912448
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,743.08046679,712,675,663.08046679,630.91953321,878.08046679,784.08046679,802,650,629.91953321,651,0.450379245152,-0.00557957693803,0.0498371320144,0.99999996976,8.61476854561e-05,-0.000228829626104,2.63811922446e-05,1793196390520579328
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,743.679132601,712,675,663.679132601,630.320867399,878.679132601,784.679132601,802,650,629.320867399,651,0.450433753125,-0.00557788489191,0.0498332973485,0.999999968215,8.69906853617e-05,-0.000235246862227,2.57077760998e-05,1793196390537245952
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,744,712,675.266849465,664,630.266849465,879,784.733150535,802,650,629.266849465,651,0.450482198892,-0.00557700505883,0.0498306965569,0.999999967396,8.69242908475e-05,-0.000238781705738,2.52065908259e-05,1793196390553912832
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,744,712,675.841919859,664,630.841919859,879,784.158080141,802,650,629.841919859,651,0.450523642584,-0.00557706336173,0.0498295209356,0.999999967451,8.58075123478e-05,-0.000238987279598,2.49043385716e-05,1793196390570579712
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,743.581752891,712.418247109,675.581752891,663.581752891,631,878.581752891,784,801.581752891,650,630,651,0.450555579028,-0.00557787289253,0.0498295711093,0.999999967155,8.41592767044e-05,-0.000240776388461,2.51689322773e-05,1793196390587246336
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,743.004949183,712.995050817,675.004949183,663.004949183,631,878.004949183,784,801.004949183,650,630,651,0.450583911294,-0.00557896721224,0.0498300859792,0.999999966719,8.23095668007e-05,-0.000243165812106,2.56484161007e-05,1793196390603912960
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,743,712.418812781,675,663,631,878.581187219,784,801.581187219,650,629.418812781,651,0.450598753371,-0.00557972209163,0.0498283148274,0.999999965873,8.17853674545e-05,-0.000246788909776,2.57135191398e-05,1793196390620579584
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,743,712,675,663,631,879,784,802,650,629.1662141,651,0.450612704572,-0.00557980615408,0.0498269913002,0.999999965381,8.18940569592e-05,-0.000248746495018,2.56130593926e-05,1793196390637245952
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,743,712,675,663,631,879,784,802,650,629.748263021,651,0.450624719068,-0.00557821931467,0.0498268371387,0.99999996581,8.35574091813e-05,-0.000246510585189,2.51073665096e-05,1793196390653912320
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,743,712,675,663,631,879,784,802,650,630,651,0.450633138048,-0.00557764775691,0.049827193666,0.999999965985,8.44046920084e-05,-0.000245514561184,2.50638888069e-05,1793196390670579200
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,743,712,675,663,631,879,784,802,650,630,651,0.450638816816,-0.00557784996453,0.0498279393989,0.999999965971,8.46300329341e-05,-0.000245463477619,2.53726740712e-05,1793196390687246080
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,743.476357569,712,675.476357569,663,631,878.523642431,784,802,650,630,651,0.450640163252,-0.00557696621945,0.0498275153741,0.999999965531,8.35045460546e-05,-0.000247632388015,2.53415766227e-05,1793196390703912960
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,743.947370713,712,675.947370713,663,631,878.052629287,784,802,650,630,651,0.450640677898,-0.00557584493429,0.0498268168428,0.999999965017,8.23502288657e-05,-0.000250096302194,2.52124949046e-05,1793196390720579584
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,743.358752854,712,675.358752854,663,631,878.641247146,784,802,650,630,651,0.450641863434,-0.00557459604741,0.0498257910798,0.999999964715,8.37527928098e-05,-0.000250880005663,2.4802734516e-05,1793196390737246208
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,743,712,675.226766879,663,631,878.773233121,784,802,650,629.773233121,651,0.450642831004,-0.00557384347247,0.049824852623,0.999999964392,8.44647881694e-05,-0.000251951196633,2.45557468063e-05,1793196390753913088
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,743,712,675.807451299,663,631,878.192548701,784,802,650,629.192548701,651,0.450643458391,-0.00557386549706,0.0498240504259,0.999999964038,8.40990055287e-05,-0.000253471072435,2.45628002149e-05,1793196390770579456
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.383498644,743,712,676,663.383498644,631,878.383498644,784,802,650,629,651,0.450643223808,-0.00557317516368,0.0498233196773,0.999999963662,8.61144018529e-05,-0.000254300019886,2.4338429121e-05,1793196390787245824
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.957245584,743,712,676,663.957245584,631,878.957245584,784,802,650,629,651,0.450642561615,-0.00557213143949,0.0498226243732,0.999999963266,8.93110676635e-05,-0.000254786207431,2.3999251578e-05,1793196390803912448
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.456764348,743.543235652,712.543235652,675.456764348,664,631,878.456764348,784,802,650,629.543235652,651,0.450643019661,-0.00557397167857,0.0498223773415,0.999999963433,8.52655610821e-05,-0.000255459567982,2.45957152705e-05,1793196390820579328
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,743.870939135,712.870939135,675,664,631,878.129060865,784,802,650,630,651,0.450643313742,-0.00557489707401,0.0498220588902,0.999999963489,8.23218672013e-05,-0.000256173385342,2.49031995863e-05,1793196390837245696
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,743.289150363,712.289150363,675,664,631,878.710849637,784,802,650,630,651,0.450642716245,-0.00557179875871,0.0498213632957,0.999999963058,8.52887048701e-05,-0.000256976253282,2.39327154982e-05,1793196390853912576
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,743.289177793,712,675,664,631,878.710822207,784,802,650,630,651,0.450642610841,-0.00557056608918,0.0498212395588,0.999999962888,8.70437892665e-05,-0.000257080960958,2.35840674838e-05,1793196390870579456
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,743.864086651,712,675,664,631,878.135913349,784,802,650,630,651,0.450642991664,-0.00557117682831,0.0498216808634,0.999999962984,8.76015637072e-05,-0.000256495829884,2.3849843725e-05,1793196390887246336
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,744,712,675.4400948,663.5599052,631,878.4400948,784,802,650,629.5599052,651,0.450642950915,-0.00557137359497,0.0498214584666,0.999999963068,8.57662623153e-05,-0.00025677225034,2.39907975459e-05,1793196390903912960
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,744,712,676,663.01687767,631,879,784,802,650,629.01687767,651,0.450642783319,-0.00557141144814,0.0498210525872,0.999999963134,8.3317302278e-05,-0.000257313205873,2.40825912598e-05,1793196390920579328
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,744,712,676,663.608452682,631,879,784,802,650,629.608452682,651,0.450642740814,-0.00557040233271,0.049821395822,0.999999962862,8.52009368738e-05,-0.000257779184712,2.38163419233e-05,1793196390937245952
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,744,712,675.804873995,663.804873995,631,878.804873995,784,802,650,630,651,0.450642873062,-0.00557005696316,0.0498216600219,0.999999962711,8.62195869931e-05,-0.000258040578638,2.36404446454e-05,1793196390953912320
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,744,712,675.227795592,663.227795592,631,878.227795592,784,802,650,630,651,0.450643347384,-0.00557101085323,0.0498217695135,0.999999962805,8.55450598359e-05,-0.000257901504654,2.36414084101e-05,1793196390970578944
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,743.650923026,712,675,663,631,878.349076974,784,802,650,629.650923026,651,0.450643724384,-0.00557029785722,0.0498217854195,0.99999996276,8.60778743967e-05,-0.000257885519228,2.37677411796e-05,1793196390987245824
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,743.074184727,712,675,663,631,878.925815273,784,802,650,629.074184727,651,0.450644037913,-0.00556849774996,0.0498217402906,0.999999962624,8.73980941601e-05,-0.00025794980981,2.39758372162e-05,1793196391003912704
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,743,712,675,663,631,878.488380046,784,802,650,629.511619954,651,0.450645292856,-0.00556784009358,0.049822478355,0.99999996291,8.86021963739e-05,-0.000256448904115,2.37424469697e-05,1793196391020579584
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,743,712,675,663,631,878.097566441,784,802,650,630,651,0.450646154444,-0.00556753254949,0.0498228883378,0.999999963091,8.94976122922e-05,-0.000255449247331,2.35149524141e-05,1793196391037246464
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,743,712,675,663,631,878.677595906,784,802,650,630,651,0.45064438371,-0.00556812236299,0.0498211042713,0.999999962464,8.89513441669e-05,-0.000258070773314,2.36388768082e-05,1793196391053912832
+247,4.116666667,HOLD_POSE2,765,743,712,675,663,631,879,784,802,650,630,650,0.450644039004,-0.00556813864093,0.0498202460227,0.999999962365,8.80953194914e-05,-0.000258730664451,2.38218202768e-05,1793196391092147200
+248,4.133333333,HOLD_POSE2,765,743.576885904,712,675,663.576885904,631,878.423114096,784,801.423114096,650,630,650.576885904,0.450644299602,-0.00556736374256,0.0498205024481,0.999999962423,8.70706052241e-05,-0.000258901410811,2.33147842331e-05,1793196391108814080
+249,4.150000000,HOLD_POSE2,765,743.843054324,712,675,663.843054324,631,878.156945676,784,801.156945676,650,630,651,0.45064443108,-0.00556700594231,0.0498206221415,0.99999996241,8.61965043179e-05,-0.000259269184983,2.29976486562e-05,1793196391125480960
+250,4.166666667,HOLD_POSE2,765,743.254261292,712,675,663.254261292,631,878.745738708,784,801.745738708,650,630,651,0.450644207276,-0.00556779581749,0.0498203656068,0.999999962209,8.57368267142e-05,-0.000260179095439,2.32030378056e-05,1793196391142147840
+251,4.183333333,HOLD_POSE2,765,743,712,675,663,631,879,784.329305957,802,650,630,651,0.450644905753,-0.00556805365883,0.0498209898648,0.999999962352,8.61231920037e-05,-0.000259467858113,2.35603894435e-05,1793196391158814464
+252,4.200000000,HOLD_POSE2,765,743,712,675,663,631,879,784.908901309,802,650,630,651,0.450646305209,-0.00556790712716,0.0498222835704,0.999999962754,8.71525932552e-05,-0.000257524465379,2.40332403443e-05,1793196391175481344
+253,4.216666667,HOLD_POSE2,765.484818503,743.484818503,712,675,663,631,879,784.515181497,802,650,630,651,0.450646240958,-0.00556825376781,0.0498219119406,0.999999962608,8.76196045548e-05,-0.000257934701831,2.40129123553e-05,1793196391192148224
+254,4.233333333,HOLD_POSE2,765.938699212,743.938699212,712,675,663,631,878.938699212,784,802,650,630,651,0.45064582805,-0.00556864718016,0.0498212123431,0.999999962364,8.78974247801e-05,-0.000258797369773,2.38931818143e-05,1793196391208814592
+255,4.250000000,HOLD_POSE2,765.351484072,743.351484072,712,675,663,631,878.351484072,784,802,650,630,651,0.450644765745,-0.00556865281984,0.0498203634423,0.999999962153,8.74519103328e-05,-0.000259775928287,2.37097016451e-05,1793196391225481216
+256,4.266666667,HOLD_POSE2,765,743,712,675,663,631,878.232432367,784,802,650,629.767567633,651,0.450644927415,-0.00556869160616,0.049820402392,0.999999962257,8.6873187221e-05,-0.000259596299219,2.34127511237e-05,1793196391242147584
+257,4.283333333,HOLD_POSE2,765,743,712,675,663,631,878.811430266,784,802,650,629.188569734,651,0.45064691408,-0.00556877981539,0.0498217651609,0.999999962828,8.60958449457e-05,-0.000257689768176,2.29466119932e-05,1793196391258814208
+258,4.300000000,HOLD_POSE2,765,743,712,675,663,631,879,784,801.611125632,650,629.388874368,651,0.450646761002,-0.00556862052327,0.0498215309838,0.999999962749,8.58005132854e-05,-0.000258101374141,2.28835518524e-05,1793196391275480832
+259,4.316666667,HOLD_POSE2,765,743,712,675,663,631,879,784,801.034431935,650,629.965568065,651,0.450645574466,-0.00556834169246,0.0498205255106,0.999999962355,8.5737984019e-05,-0.000259632598444,2.30151715772e-05,1793196391292147712
+260,4.333333333,HOLD_POSE2,765,743,712.540622687,675,663,631,878.459377313,784,801,650,630,651,0.450646783577,-0.00556740504471,0.0498209427029,0.999999962341,8.94538587371e-05,-0.000258403772754,2.33101334498e-05,1793196391308814336
+261,4.350000000,HOLD_POSE2,764.881401312,743,712.881401312,675.118598688,663,631,878.237197377,784,801.118598688,650,630,651,0.450648004308,-0.00556671485747,0.0498214110058,0.999999962401,9.2252725795e-05,-0.000257167169244,2.35162247967e-05,1793196391325481216
+262,4.366666667,HOLD_POSE2,764.291399638,743,712.291399638,675.708600362,663,631,879.417200724,784,801.708600362,650,630,651,0.450648666597,-0.00556717031836,0.0498217234016,0.999999962716,9.04530803688e-05,-0.000256596247632,2.3327850744e-05,1793196391342147840
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,664,631,878,784,802,650,630,651,0.450645417696,-0.00556654260829,0.0498195985704,0.999999962106,8.84846970269e-05,-0.000259705322185,2.26126887358e-05,1793196391379151616
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,663.424017701,631,878.575982299,784,802,650,630,651,0.450647550984,-0.00556540690454,0.0498209810045,0.99999996243,8.98925149904e-05,-0.000257950418664,2.28304550057e-05,1793196391395818240
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,663,631,879,784,802,650,629.848174375,651,0.45064926053,-0.0055645933077,0.0498220622082,0.999999962696,9.10287899774e-05,-0.000256504428622,2.29581409432e-05,1793196391412484864
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,663,631,879,784,802,650,629.272718688,651,0.450649787736,-0.00556467846646,0.0498223029071,0.999999962814,9.14073949741e-05,-0.000255920381198,2.28344811054e-05,1793196391429151744
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,663,631,879,784,802,650,629.310539396,651,0.450649351547,-0.00556584712368,0.049822478179,0.999999962934,8.9982520817e-05,-0.000255943129069,2.29915701941e-05,1793196391445818368
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,663,631,879,784,802,650,629.900826184,651,0.450648047491,-0.00556799184342,0.0498225945114,0.999999963048,8.69329941921e-05,-0.000256512504558,2.34015701316e-05,1793196391462484736
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,743.482177339,712,675,663,631,879,784,801.517822661,650,630,651,0.450646601091,-0.00556602900869,0.04982113728,0.99999996231,8.94622004748e-05,-0.000258533985185,2.31834806367e-05,1793196391479151360
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,743.93887733,712,675,663,631,879,784,801.06112267,650,630,651,0.450645438713,-0.00556345905456,0.0498197671422,0.999999961546,9.27531004895e-05,-0.000260349613238,2.28782104343e-05,1793196391495817984
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,743.364977233,712,675,663,631,879,784,801.635022767,650,630,651,0.450646900233,-0.00556275444207,0.0498217934539,0.999999962138,9.29830903833e-05,-0.000257978249805,2.29056077101e-05,1793196391512484864
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.214118232,663,631.214118232,879,784,802,650.214118232,630,651.214118232,0.450645565004,-0.00556283317578,0.0498213640244,0.999999962008,9.26680464045e-05,-0.000258608279765,2.27778880252e-05,1793196391529151488
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.802289669,663,631.802289669,879,784,802,650.802289669,630,651.802289669,0.450639344002,-0.00556428037386,0.0498166445446,0.999999960597,9.1400857103e-05,-0.000264481585196,2.23791872252e-05,1793196391545818112
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,743,712,676,663,631.615464765,879,784,802,651,630,651.615464765,0.450626613014,-0.00556424271821,0.0498107883396,0.999999957914,9.05551039033e-05,-0.000274764192302,2.18461176936e-05,1793196391562484736
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,743,712,676,663,631.036219717,879,784,802,651,630,651.036219717,0.450610585688,-0.00556345320546,0.0498043565522,0.999999954467,8.99227451836e-05,-0.000287279454359,2.12450103774e-05,1793196391579151360
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.459629301,743.540370699,712,675.459629301,663,631,879,784,802,650.459629301,630,651,0.45056973264,-0.00556108955414,0.0497869703688,0.999999944798,9.064680071e-05,-0.0003190199612,2.03091523207e-05,1793196391595817984
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.115746673,743.884253327,712,675,663,631,879,784.115746673,802,650,630,650.884253327,0.450523899515,-0.00555879970329,0.0497686934327,0.999999933464,9.16910606851e-05,-0.000352545285852,1.94117782283e-05,1793196391612485120
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.68703998,743.31296002,712,675,663,631,879,784.68703998,802,650,630,650.31296002,0.450464983236,-0.00555721354016,0.0497497863987,0.999999920149,9.36394814851e-05,-0.000388048307537,1.87537421803e-05,1793196391629151744
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,743.268771136,712,675,663,631,879,784.731228864,802.268771136,650,629.731228864,650.268771136,0.450407298743,-0.00555472250966,0.0497362267381,0.999999911895,9.5201066565e-05,-0.000408460637769,1.7501783909e-05,1793196391645818112
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,743.863147277,712,675,663,631,879,784.136852723,802.863147277,650,629.136852723,650.863147277,0.450351106511,-0.00555113527022,0.0497291451983,0.999999910951,9.62940163226e-05,-0.000410591223995,1.55303137347e-05,1793196391662484480
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,743.554511901,712,675.445488099,663,631,879,784.445488099,802.554511901,650,629.445488099,651,0.450284649955,-0.00554848483662,0.0497276094807,0.999999909868,9.86247851305e-05,-0.00041269170072,1.4937321373e-05,1793196391679151360
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.976140433,743.023859567,712,676,663,631,879,784.976140433,802,650.023859567,629.976140433,651,0.450214378237,-0.00554599828611,0.0497276890336,0.999999908767,0.000101354759447,-0.00041470030603,1.47224635026e-05,1793196391695818240
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.406222823,743.593777177,712,676,663,631,879,784.406222823,802,650.593777177,629.406222823,651,0.450127057616,-0.00554084934868,0.0497267713038,0.999999908385,0.0001047473771,-0.000414812432018,1.37251052447e-05,1793196391712484608
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.340773255,743.829613372,712,676,663,631,878.829613372,784,802,650.829613372,629.170386628,651,0.450032867379,-0.00553627190426,0.0497259654245,0.999999908039,0.000107748988858,-0.000414905664022,1.28822307459e-05,1793196391729151488
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.651627344,743,712,675.651627344,663.348372656,631,878.696745313,784,802,650,630,651,0.449797676791,-0.00552824877703,0.0497243165929,0.999999907551,0.000113849687539,-0.00041448595424,1.17017036697e-05,1793196391762484992
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.504364934,663.495635066,631,879.495635066,784,801.495635066,650,629.495635066,651,0.449506547787,-0.00551578070124,0.0497193546649,0.999999903747,0.000122699584257,-0.000421143020326,9.50460254507e-06,1793196391795818240
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.919609445,663.080390555,631.080390555,879,784,801.080390555,650,629,651,0.449340749927,-0.00550912363823,0.0497158939223,0.999999899919,0.000126359049782,-0.000429102553452,8.19416037328e-06,1793196391812484608
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.346369621,663.653630379,631.653630379,879,784,801.653630379,650,629,651,0.449154877787,-0.0055017714217,0.0497140587986,0.999999897423,0.000133167889634,-0.00043286101618,7.19518671336e-06,1793196391829151232
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,743,712.234106042,675.234106042,664,631.765893958,878.765893958,784,801.765893958,650,629.234106042,651,0.448961005078,-0.00549409036369,0.0497153296483,0.999999897217,0.000139150925165,-0.000431469342279,6.04767512114e-06,1793196391845818112
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,743,712.825628843,675.825628843,664,631.174371157,878.174371157,784,801.174371157,650,629.825628843,651,0.448754917673,-0.00548590725392,0.0497213424814,0.999999900507,0.000143873179911,-0.000422214799138,4.67338624499e-06,1793196391862484736
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,664,632,878,784,802,650,630,650.311472726,0.447105491624,-0.0054409270909,0.0497183826934,0.99999989991,0.000169337893774,-0.000414086010707,-6.15873808883e-06,1793196391962484992
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.787370497,664.787370497,633,878.787370497,785,801.787370497,650,630.787370497,651,0.444873894271,-0.00543645558848,0.0498076616618,0.999999947466,0.000136991552779,-0.000293383981697,-1.50563079324e-05,1793196392062485248
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,664.91576686,633,878.08423314,785,801.91576686,650,630,651,0.436757302391,-0.00540909800798,0.0497892268885,0.999999941557,4.09649533332e-05,-0.000333660998698,-6.22830398237e-05,1793196392295818496
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,664,633,878,785,801.068505714,650,630,650.068505714,0.435387886521,-0.00541408132839,0.0498339852437,0.99999996164,1.86531767357e-05,-0.000268795956371,-6.41915610778e-05,1793196392329152000
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,664,633,878,785,801.549197456,650,630,651,0.433904341507,-0.00541010087129,0.0497885450269,0.999999937013,4.30765141371e-05,-0.000346744570542,-6.23476585624e-05,1793196392362485248
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.579764856,743,712,675,664.579764856,634,877.420235144,785,800.840470287,650,630,651,0.41778948821,-0.00538165804752,0.0498003944058,0.999999939142,5.34750453777e-05,-0.000340182703952,-5.59612515057e-05,1793196392712484864
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.001589208,743,712,675,664.001589208,634,877.998410792,785,801.996821584,650,630,651,0.417061387348,-0.0053809814088,0.0497865119344,0.999999935325,5.77161408009e-05,-0.000350168219738,-5.83105873862e-05,1793196392729151488
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.273096284,743.726903716,712,675,665,633.726903716,877,785,801,650,630,651,0.414973285557,-0.00538559373978,0.0498242101089,0.999999956435,6.10937713851e-05,-0.000282986276438,-5.75829528758e-05,1793196392779151872
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,665,634,876.634352853,785,801,650,630,651,0.411696814319,-0.00538533990041,0.0498098917042,0.999999946363,8.01508422849e-05,-0.000312143892479,-5.84400067617e-05,1793196392862484992
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.965270306,743,712,674,664,633.965270306,877,785,801.034729694,650,630,651,0.409354152085,-0.00538641555031,0.0497878307554,0.999999929262,8.34202821144e-05,-0.000361442514123,-6.22665271632e-05,1793196392929152000
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,743,711.117785441,674,664.882214559,633.117785441,876,785,801.882214559,650,629.117785441,651,0.408352534254,-0.00538969697766,0.0498158583958,0.99999994886,9.23833972546e-05,-0.000300224570161,-6.00863668348e-05,1793196392962485248
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,743,711.703553437,674,664.296446563,633.703553437,876,785,801.296446563,650,629.703553437,651,0.407872852312,-0.00539053516016,0.0498312287323,0.999999953176,0.000105184541802,-0.000281807071479,-5.62894214916e-05,1793196392979151616
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.132427861,743,712,674,664.867572139,634,876.867572139,785,801,650,630,651,0.406906177843,-0.00538865837384,0.0498234505576,0.999999944101,0.000115992487939,-0.000308658480666,-5.54450728203e-05,1793196393012484864
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,743,711.766174753,674,664.233825247,633,876.233825247,785,801,650,630,651.233825247,0.403105604977,-0.0054076582039,0.0498401466487,0.999999949891,8.68630006699e-05,-0.0002979609422,-6.23793647079e-05,1793196393195818496
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,743,712,673,664.04637853,634,877.95362147,785.95362147,801.95362147,650,630,651,0.40147793165,-0.00540447235384,0.0498392972928,0.999999940454,0.000181377418946,-0.000290021552929,-4.56164584275e-05,1793196393362485248
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,742.37522535,712,674,664.62477465,633,877,785,801,650,630,651,0.401200295055,-0.00541989949415,0.0498387518989,0.99999994596,0.000154049215578,-0.000286302506613,-4.87785601786e-05,1793196393429153024
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,743,712,673.476301507,664,633.523698493,877,785,801,650,630,651,0.401114656184,-0.00541911987823,0.0498391480929,0.999999946766,0.000151401337543,-0.000284727740845,-4.97509139345e-05,1793196393462485504
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..686ffafe14c57c64d8dedca78d8f4fb6d0d5aa44
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,423 @@
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+418,6.966666667,pose2_to_pose3_retreat,0.578252422752,1.15709571394e-06,1.040011568,0.548823659236,0.00867482857125,1.03966110417
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+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
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a08e6a28d6f19992042091e21bb07bf42a91c1fa
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6e7b64cd3f63e0a4d2212202c4eaf62ba953f99c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_04/franka_data.csv
@@ -0,0 +1,425 @@
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+53,0.883333333,BASELINE,765,743,711.736246761,673,664,633.736246761,876.263753239,785,801.263753239,650,630,651,0.40098352724,-0.00542547901173,0.0498556062451,0.999999957505,0.000141008634471,-0.000250343519779,-4.93490192948e-05,1793196395048339712
+54,0.900000000,BASELINE,765,743,712,673.320764622,664,634,876.320764622,785,801,650,630,651,0.400982255064,-0.00542552718184,0.0498549035301,0.999999957251,0.000140613739273,-0.000251581413421,-4.93278655589e-05,1793196395065006336
+55,0.916666667,BASELINE,765,743,712,673.913607137,664,634,876.913607137,785,801,650,630,651,0.400980948787,-0.00542538189308,0.0498542907274,0.99999995672,0.000141570099672,-0.000253158264959,-4.92740126764e-05,1793196395081672960
+56,0.933333333,BASELINE,764.507013051,743,711.507013051,673.507013051,664,633.507013051,877.492986949,785,801,650,630,651,0.400981690161,-0.00542548930688,0.0498541363946,0.999999956745,0.000141875924971,-0.000252897175297,-4.92409179191e-05,1793196395098339840
+57,0.950000000,BASELINE,764.06994528,743,711.06994528,673.06994528,664,633,877.93005472,785,801,650,630,651,0.400982745382,-0.00542567858288,0.0498541849228,0.999999956901,0.000141982557542,-0.000252221641027,-4.92201440958e-05,1793196395115006720
+58,0.966666667,BASELINE,764.645999267,743,711.645999267,673.645999267,664,633,877.354000733,785,801,650,630,651,0.400983544074,-0.0054261482805,0.0498551354108,0.999999957328,0.000141450842146,-0.00025081588027,-4.92628997409e-05,1793196395131673344
+59,0.983333333,BASELINE,765,743,712,674,664.226793728,633.226793728,877,785,801,650,630,651,0.400983675713,-0.00542575736933,0.0498554343239,0.999999957435,0.000141474758597,-0.000250345878005,-4.94180744617e-05,1793196395148339712
+60,1.000000000,BASELINE,765,743,712,674,664.815145618,633.815145618,877,785,801,650,630,651,0.400982743928,-0.00542399446207,0.049854694486,0.999999957033,0.000142384472073,-0.000251367676562,-4.9752469464e-05,1793196395165006336
+61,1.016666667,BASELINE,765,743,712,674,664.602734289,634,877,785,801,650,630,651,0.400981779165,-0.00542429061618,0.0498536579059,0.999999956846,0.000141427870672,-0.000252637611821,-4.98009161233e-05,1793196395181672960
+62,1.033333333,BASELINE,765,743,712,674,664.023469204,634,877,785,801,650,630,651,0.400980799295,-0.00542553008836,0.0498524853792,0.999999956754,0.000139616254225,-0.000254021225909,-4.97183612236e-05,1793196395198339840
+63,1.050000000,BASELINE,764.446380093,742.446380093,711.446380093,673.446380093,664,633.446380093,876.446380093,785,801,650,630,651.553619907,0.400981939624,-0.00542412421731,0.0498536654725,0.9999999566,0.000142164246194,-0.000253171254221,-4.99325241817e-05,1793196395215006464
+64,1.066666667,BASELINE,764,742,711.129839548,673.129839548,664,633,876.129839548,785,801,650,629.870160452,651.870160452,0.400982720472,-0.00542336646679,0.0498545807142,0.999999956543,0.000143622697043,-0.00025256967256,-4.99472395625e-05,1793196395231673088
+65,1.083333333,BASELINE,764,742,711.703401781,673.703401781,664,633,876.703401781,785,801,650,629.296598219,651.296598219,0.400981966847,-0.0054252053902,0.0498542513341,0.999999956846,0.000140728551878,-0.000253139278544,-4.9237530443e-05,1793196395248340224
+66,1.100000000,BASELINE,764.285068126,742.285068126,712,673.714931874,664,633,876.714931874,785,801,650,629.285068126,651,0.400982380604,-0.00542640769294,0.0498548004184,0.99999995726,0.000139386063862,-0.000252314789181,-4.88765490531e-05,1793196395265007104
+67,1.116666667,BASELINE,764.875413054,742.875413054,712,673.124586946,664,633,876.124586946,785,801,650,629.875413054,651,0.4009840445,-0.00542692824441,0.0498562902422,0.999999957797,0.000139705231226,-0.000249997376057,-4.88890169868e-05,1793196395281673984
+68,1.133333333,BASELINE,764.542002152,743,712,673.457997848,664,633,876.457997848,785,801,650,630,651,0.40098417216,-0.00542593644733,0.0498562576552,0.99999995756,0.000141367888143,-0.00024991289569,-4.9375421961e-05,1793196395298340352
+69,1.150000000,BASELINE,764.038061838,743,712,673.961938162,664,633.038061838,876.961938162,784.961938162,801,650,630,651,0.400983795065,-0.00542467747872,0.0498557887196,0.999999957129,0.000143174668952,-0.000250502793711,-4.99175440075e-05,1793196395315006464
+70,1.166666667,BASELINE,764.611861281,743,712,673.388138719,664,633.611861281,876.388138719,784.388138719,801,650,630,651,0.400982097368,-0.00542535207006,0.0498549099848,0.999999956905,0.000141951706276,-0.000252177694187,-4.94594958931e-05,1793196395331673088
+71,1.183333333,BASELINE,765,743,712,673,664,634,876.183634813,784.183634813,801,650,630,651,0.400981206403,-0.00542560201721,0.0498544927535,0.999999956749,0.000141558536959,-0.000253083188473,-4.91139624837e-05,1793196395348339712
+72,1.200000000,BASELINE,765,743,712,673,664,634,876.751173119,784.751173119,801,650,630,651,0.400982001977,-0.00542496421128,0.0498550403325,0.999999956741,0.000142900117833,-0.000252380176933,-4.90036501189e-05,1793196395365006336
+73,1.216666667,BASELINE,765,743,711.661218221,673,664,634,877,785,801,650,630,651,0.400983086334,-0.00542481582716,0.0498554416562,0.999999956967,0.000142933708212,-0.000251458341402,-4.90274978761e-05,1793196395381672960
+74,1.233333333,BASELINE,765,743,711.057940111,673,664,634,877,785,801,650,630,651,0.400984396154,-0.00542504954826,0.0498557287943,0.999999957376,0.000141946114057,-0.000250365663956,-4.91560881675e-05,1793196395398340096
+75,1.250000000,BASELINE,765,742.480212421,711,673,664.519787579,634,877,785,801.519787579,650,630,651,0.40098587086,-0.00542695435434,0.049857123431,0.999999958519,0.000139019996031,-0.000247472002381,-4.89172889343e-05,1793196395415006720
+76,1.266666667,BASELINE,765,742.094779629,711,673,664.905220371,634,877,785,801.905220371,650,630,651.094779629,0.400986745236,-0.00542842536873,0.0498580474309,0.999999959291,0.000137101332953,-0.000245452058333,-4.87345413847e-05,1793196395431673344
+77,1.283333333,BASELINE,765,742.66966527,711,673,664.33033473,634,877,785,801.33033473,650,630,651.66966527,0.400984489898,-0.00542679965085,0.0498559913762,0.999999957853,0.000141329225266,-0.00024882720053,-4.90334489386e-05,1793196395448339968
+78,1.300000000,BASELINE,765,743,711,673,664,633.748419488,877,785,801,650,629.748419488,651.748419488,0.400983633729,-0.00542572807179,0.0498550967845,0.999999957166,0.000143419626073,-0.000250346842739,-4.92427722119e-05,1793196395465006336
+79,1.316666667,BASELINE,765,743,711,673,664,633.157008842,877,785,801,650,629.157008842,651.157008842,0.400984667532,-0.00542540501297,0.0498557710748,0.999999957522,0.000142622743991,-0.000249360110871,-4.93310867338e-05,1793196395481672960
+80,1.333333333,BASELINE,765,743,711.424426354,673.424426354,664,633.424426354,877,785,801,650,629.424426354,651,0.400983892079,-0.00542465372524,0.0498552392369,0.999999957242,0.000142835768013,-0.000250342527724,-4.9417539281e-05,1793196395498339840
+81,1.350000000,BASELINE,764.997754688,743,712,674,664,634,877,785,801,650,629.997754688,651,0.400982462797,-0.00542375773908,0.0498542735402,0.999999956731,0.000143409750994,-0.000252032641131,-4.9502042397e-05,1793196395515006464
+82,1.366666667,BASELINE,764.422688367,743,712,674,664,634,877,785,801,650,629.422688367,651,0.400981060043,-0.0054254331873,0.0498538386237,0.999999956642,0.000142948354378,-0.00025269549435,-4.9260898812e-05,1793196395531673344
+83,1.383333333,BASELINE,764,743,712,674,664,633.848038381,877,785,801,650,629.151961619,651,0.400980668546,-0.00542636985405,0.0498539432291,0.999999956793,0.000142228628748,-0.000252532434441,-4.91093073226e-05,1793196395548340480
+84,1.400000000,BASELINE,764,743,712,674,664,633.274543158,877,785,801,650,629.725456842,651,0.400983082228,-0.00542525717989,0.0498555444399,0.999999957609,0.0001407923118,-0.000250078334734,-4.92061286217e-05,1793196395565007104
+85,1.416666667,BASELINE,764.309672432,743,711.690327568,674,664,633,877,785,801,650,630,651,0.400983872197,-0.0054251941446,0.0498560934994,0.999999957824,0.000140549835572,-0.000249332340052,-4.93145298559e-05,1793196395581673472
+86,1.433333333,BASELINE,764.903733055,743,711.096266945,674,664,633,877,785,801,650,630,651,0.400983171026,-0.00542609504697,0.0498556763138,0.999999957492,0.000141403725029,-0.000250154986586,-4.9433565537e-05,1793196395598340096
+87,1.450000000,BASELINE,765,743,711.484066231,674,664,633.484066231,877,785,801.484066231,650,630,651,0.400983636162,-0.00542665141412,0.0498558574146,0.999999957762,0.000141002881674,-0.000249315148738,-4.9351817825e-05,1793196395615006464
+88,1.466666667,BASELINE,765,743,712,674,664,634,877,785,801.93847696,650,630,651,0.400984218748,-0.00542703172983,0.0498561090164,0.999999958063,0.000140495616368,-0.000248418186427,-4.92310557156e-05,1793196395631673088
+89,1.483333333,BASELINE,765,743,712,674,664,634,877,785,801.362872251,650,630,651,0.400983898071,-0.00542649771789,0.0498559829319,0.999999957653,0.000141126656149,-0.00024973035252,-4.91087439873e-05,1793196395648339456
+90,1.500000000,BASELINE,765,743,712,674,664,633.782685602,877,785,801,650,630,651.217314398,0.400984146212,-0.00542616701921,0.0498559929202,0.999999957576,0.000141069263692,-0.000250077234548,-4.90762188541e-05,1793196395665006336
+91,1.516666667,BASELINE,765,743,712,674,664,633.194683283,877,785,801,650,630,651.805316717,0.400985364622,-0.0054261831258,0.0498562350168,0.999999958067,0.000139837565571,-0.00024877756589,-4.91968488231e-05,1793196395681673728
+92,1.533333333,BASELINE,765,743,712,674,664,633,876.612492863,785,801.775014274,650,630,651.612492863,0.400984170171,-0.00542570064904,0.0498560947552,0.999999957813,0.000141135777922,-0.000249053099177,-4.92596294254e-05,1793196395698340608
+93,1.550000000,BASELINE,765,743,712,674,664,633,876.033179139,785,802.933641723,650,630,651.033179139,0.400981781413,-0.00542497138567,0.0498557652356,0.999999957185,0.000143686234182,-0.000250108318917,-4.92937760115e-05,1793196395715007232
+94,1.566666667,BASELINE,765,743,712,674,664,633.543474628,876.543474628,785,802.456525372,650,630,651,0.400982378199,-0.00542559779105,0.0498556566694,0.999999957438,0.000142088832678,-0.000250020119089,-4.92370440635e-05,1793196395731673344
+95,1.583333333,BASELINE,765,743,712,674,664,634,877,785,801.880501549,650.119498451,630,651,0.400982855228,-0.00542633352717,0.0498555196546,0.999999957671,0.000140491210581,-0.000250017392466,-4.9111836627e-05,1793196395748339712
+96,1.600000000,BASELINE,765,743,712,674,664,634,877,785,801.306259811,650.693740189,630,651,0.400982186295,-0.00542717189689,0.0498552232982,0.999999957631,0.000139851692621,-0.000250604275721,-4.87470605544e-05,1793196395765006336
+97,1.616666667,BASELINE,765,743,712,674,664,634,877,785,801,650.724466419,630,651.275533581,0.400982305581,-0.00542725109408,0.0498554015736,0.999999957732,0.000139663232819,-0.000250321602011,-4.86788219167e-05,1793196395781672960
+98,1.633333333,BASELINE,765,743,712,674,664,634,877,785,801,650.134042746,630,651.865957254,0.400983325671,-0.00542646268042,0.0498561222759,0.999999957992,0.000139990259202,-0.000249045166013,-4.89494773825e-05,1793196395798339840
+99,1.650000000,BASELINE,764.552238696,743,711.552238696,674,664,633.552238696,877,785,801,650,629.552238696,651.552238696,0.400983908514,-0.0054261643775,0.0498564460424,0.999999958037,0.000140927614384,-0.000248323076597,-4.89994168426e-05,1793196395815006464
+100,1.666666667,BASELINE,764.026823325,743,711.026823325,674,664,633.026823325,877,785,801,650,629.026823325,651,0.400984319511,-0.00542600113698,0.0498566208293,0.999999957993,0.00014205157768,-0.000247861034439,-4.89909383459e-05,1793196395831673088
+101,1.683333333,BASELINE,764.601587992,743,711.601587992,674,664,633.601587992,877,785,801,650,629.601587992,651,0.400983843469,-0.00542565635339,0.0498561338296,0.999999957426,0.000143325678209,-0.000249385211185,-4.91133633555e-05,1793196395848339968
+102,1.700000000,BASELINE,765,743,712,674,664,634,877.180164778,785,801,650,630,651,0.400983303683,-0.00542586990591,0.0498554353569,0.999999957081,0.000143430352445,-0.000250691457148,-4.91889354447e-05,1793196395865006592
+103,1.716666667,BASELINE,765,743,712,674,664,634,877.767353741,785,801,650,630,651,0.400982619891,-0.00542734483878,0.0498542591294,0.999999957239,0.000140893085122,-0.000251505358619,-4.91586584614e-05,1793196395881673216
+104,1.733333333,BASELINE,765,743,711.648752169,674,664,634,877.648752169,785,801,650,630,651.351247831,0.400982737731,-0.00542716133986,0.0498543243505,0.999999957327,0.000140856111258,-0.000251158386665,-4.92451905761e-05,1793196395898339840
+105,1.750000000,BASELINE,765,743,711.067020074,674,664,634,877.067020074,785,801,650,630,651.932979926,0.40098338159,-0.0054258895997,0.0498552041937,0.99999995737,0.000142459797232,-0.000250049664732,-4.94083713005e-05,1793196395915006464
+106,1.766666667,BASELINE,765,742.493384678,711.506615322,673.493384678,664,634,877,785,801,650,630,651.493384678,0.400982234662,-0.00542546436865,0.0498547893064,0.99999995704,0.000142812606368,-0.000251147806456,-4.94950716642e-05,1793196395931672832
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,742,712,674,664,634,877,785,801,650,630,651,0.400981882422,-0.00542762283095,0.0498551101087,0.999999957356,0.000141631788856,-0.000250611496723,-4.92132652284e-05,1793196395974951936
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.406804646,742.593195354,712,674,664,633.406804646,877,785,801.593195354,650,630,651,0.400982555859,-0.00542781249008,0.0498554003953,0.999999957646,0.00014044000427,-0.000250158277688,-4.90410470515e-05,1793196395991618304
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.820385714,711.820385714,674,664,633,877,785,801.820385714,650,630,651,0.400982867636,-0.00542758911476,0.0498554519806,0.999999957723,0.000139899446256,-0.000250150891686,-4.90545561132e-05,1793196396008284672
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.248756466,711.248756466,674,664,633,877,785,801.248756466,650,630,651,0.400982390076,-0.00542646427622,0.0498549825912,0.999999957337,0.000140780214592,-0.000251116553022,-4.9473421854e-05,1793196396024951040
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.326747239,742.326747239,711.326747239,674,664,633.326747239,877,785,801,650,629.673252761,651,0.400982588827,-0.00542630261126,0.0498550006804,0.999999957224,0.000141626453082,-0.000251091330903,-4.94694623829e-05,1793196396041617664
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.905235975,742.905235975,711.905235975,674,664,633.905235975,877,785,801,650,629.094764025,651,0.400983308641,-0.00542688302075,0.0498553943461,0.999999957321,0.000142446088094,-0.000250302685339,-4.91397383835e-05,1793196396058284288
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,743,711.518752143,673.518752143,664,634,877,785,801,650.481247857,629.481247857,651,0.400984266567,-0.00542688602437,0.0498563214864,0.999999957845,0.000141800601844,-0.000248574261967,-4.91347700493e-05,1793196396074950912
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,743,711.058522909,673.058522909,664,634,877,785,801,650.941477091,630,651,0.400985662366,-0.00542682101342,0.0498574471596,0.999999958452,0.000141050365723,-0.000246549983932,-4.91364871507e-05,1793196396091617280
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,743,711.651773189,673.651773189,664,634,877,785,801,650.348226811,630,651,0.400990632818,-0.00542716810253,0.0498594319216,0.999999959094,0.000141965582898,-0.000243504661053,-4.86179785752e-05,1793196396108284160
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,743,712,674,664,634,877,785,801,650,629.762719365,651,0.401002411991,-0.00542691456894,0.0498641488746,0.99999996102,0.000143059286429,-0.000234888504495,-4.81836351912e-05,1793196396124951040
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664,634,877,785,801,650,629.188216067,651,0.401023867702,-0.0054258074318,0.0498727488105,0.999999964588,0.000144406654234,-0.000218355092838,-4.78689072089e-05,1793196396141617664
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,743,712,674,664,634,877.387835326,785,801,650,629.387835326,651,0.401062417688,-0.00542723805586,0.049885200401,0.999999970191,0.000143352227935,-0.000191945087011,-4.71621176327e-05,1793196396158284288
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,743,712,674,664,634,877.96464107,785,801,650,629.96464107,651,0.401109296758,-0.00542990518861,0.0498995286876,0.999999976055,0.000141127541996,-0.000160722768778,-4.6264298353e-05,1793196396174950912
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664.555629865,634,877.444370135,785,801.555629865,650,630,651.555629865,0.401175665158,-0.00543400285034,0.0499147317928,0.999999980829,0.000138428045926,-0.000131105336877,-4.4622372431e-05,1793196396191617536
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,743,712,674,664.855807037,634,877,785,801.855807037,650,630,651.855807037,0.401244567069,-0.00543777657048,0.0499271470518,0.999999983849,0.00013621342731,-0.000109099723629,-4.29536778926e-05,1793196396208284160
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,743,712,674,664.277338967,634,877,785,801.277338967,650,630,651.277338967,0.401317266136,-0.00544029329712,0.0499309939199,0.99999998394,0.000135552531078,-0.000109703449466,-4.13507145355e-05,1793196396224950784
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,743,711.70165141,674,664.29834859,634,877,785,801,650,630,651,0.40140182335,-0.00544343076639,0.0499340268561,0.999999984294,0.000134763832443,-0.000107857519365,-4.02068749217e-05,1793196396241617408
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,743,711.128524729,674,664.871475271,634,877,785,801,650,630,651,0.401497301877,-0.00544713993749,0.0499363101633,0.999999984879,0.000133857428244,-0.000103755464003,-3.94858868909e-05,1793196396258284288
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743,711.446254232,674,664.553745768,633.553745768,877.446254232,785,801.446254232,650,630,651,0.401607450811,-0.00545197926939,0.049936880759,0.999999985058,0.000131180823234,-0.000105947958802,-3.80757603012e-05,1793196396274951168
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,743,711.977806889,674,664,633.022193111,877.977806889,785,801.977806889,650.022193111,630,651,0.401723256648,-0.00545717642193,0.049937048684,0.999999985141,0.000127972840829,-0.000109596423614,-3.64730007086e-05,1793196396291617536
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,743,711.384304113,674,664,633.615695887,877.384304113,785,801.384304113,650.615695887,630,651,0.401875514296,-0.00546317457997,0.0499395961794,0.99999998627,0.000124258989792,-0.000103883645159,-3.50396768171e-05,1793196396308284160
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,711.20278148,674,664,633.79721852,877.20278148,785,801,650.79721852,630,651,0.402036341768,-0.00546952462225,0.049939874486,0.999999986752,0.000121007748136,-0.000103547075309,-3.36325229347e-05,1793196396324951040
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,711.778078459,674,664,633.221921541,877.778078459,785,801,650.221921541,630,651,0.402212912239,-0.0054765210855,0.0499359842263,0.999999986051,0.000118606333826,-0.000113086758214,-3.22734442811e-05,1793196396341617408
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,712,674,664,633.353980481,877.646019519,785.353980481,801,650,630,651.353980481,0.402412217219,-0.0054844214213,0.0499342165499,0.999999986382,0.00011327984604,-0.000115983511677,-3.08572995158e-05,1793196396358284032
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,743,712,674,664,633.930262532,877.069737468,785.930262532,801,650,630,651.930262532,0.402625799605,-0.00549288939441,0.0499337818663,0.999999987358,0.000106116396786,-0.000114708472112,-2.94053168052e-05,1793196396374950656
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664,634,877.517755873,785.482244127,801,650,630,651.482244127,0.402876569821,-0.00550328275599,0.049939131207,0.999999988968,0.00010159200201,-0.000105081767444,-2.6465486343e-05,1793196396391617536
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,743,712,674,664,634,877.895010098,785,801.104989902,650,630,651,0.403142364896,-0.00551355237878,0.04994576673,0.999999990598,9.8096380109e-05,-9.2927391534e-05,-2.33748977318e-05,1793196396408284416
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,743,712,674,664,634,877.315916802,785,801.684083198,650,630,651,0.40345288858,-0.00552206624213,0.0499546144037,0.999999992247,9.76057170052e-05,-7.45509437368e-05,-2.05285092085e-05,1793196396424951040
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664.261561375,634,877.261561375,785,801.738438625,650.261561375,630,651,0.403782879659,-0.00553302133255,0.0499626383175,0.999999993737,9.37332021204e-05,-5.87620568156e-05,-1.69594944876e-05,1793196396441617920
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,743,712,674,664.837100728,634,877.837100728,785,801.162899272,650.837100728,630,651,0.404136239361,-0.00554690686869,0.0499696733904,0.999999995179,8.58011162206e-05,-4.60792761622e-05,-1.25230402689e-05,1793196396458284544
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,743,711.587591308,674,664.587591308,634,877.587591308,785,801,650.587591308,630,651,0.404514544501,-0.00555296850704,0.0499762315738,0.999999995421,9.00171548788e-05,-3.13445598452e-05,-8.48089007567e-06,1793196396474950912
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,743,711.012374704,674,664.012374704,634,877.012374704,785,801,650.012374704,630,651,0.404902697424,-0.00555594147965,0.0499826014938,0.999999994961,9.90289481041e-05,-1.57997945472e-05,-4.59440066044e-06,1793196396491617536
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,743,711.578355033,674,664.578355033,634,877,785,801,650,629.421644967,651,0.405300557992,-0.00554124281781,0.0499700345634,0.999999991439,0.00012492351637,-3.88267459067e-05,-2.82675208955e-06,1793196396508284160
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743,711.834147741,674,664.834147741,634,877,785,801,650,629.165852259,651,0.405707696199,-0.00552779925765,0.0499542828248,0.999999986267,0.000150926261387,-6.8458454744e-05,-1.07863029958e-06,1793196396524951040
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,743,711.255544076,674,664.255544076,634,877,785,801,650,629.744455924,651,0.406137392155,-0.0055184461565,0.0499316413055,0.999999978145,0.000176274458144,-0.000112416720432,7.36830345045e-07,1793196396541618176
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,743,711.320920964,674,664,634,877,785,801.320920964,650,630,651,0.406607299599,-0.00552079343563,0.049915040959,0.999999972738,0.00018547553304,-0.00014180444467,3.84853450736e-06,1793196396558284800
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743,711.895694386,674,664,634,877,785,801.895694386,650,630,651,0.407109014876,-0.00553239585956,0.0499032192526,0.999999970677,0.000181904037392,-0.000159666694935,7.98558355124e-06,1793196396574951424
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664,634,877.472706441,785,802,650,630,651,0.407674975789,-0.00553657998458,0.0499163463134,0.999999973483,0.000190552915952,-0.000128689486581,1.27369211268e-05,1793196396591617792
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,743,712,673.948428197,664.051571803,633.948428197,877.948428197,785,801.948428197,650.051571803,629.948428197,651,0.408258066882,-0.005538901577,0.0499355305975,0.999999975595,0.000202267910831,-8.70715152578e-05,1.77980029835e-05,1793196396608284672
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,743,712,673.355313019,664.644686981,633.355313019,877.355313019,785,801.355313019,650.644686981,629.355313019,651,0.408871469111,-0.00553893557964,0.0499602375394,0.999999974868,0.00021772942162,-4.74197446215e-05,2.46815247924e-05,1793196396624951040
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,743,712,673.230528302,665,633,877.230528302,785,800.769471698,650.769471698,629.230528302,651,0.409491534574,-0.00553836552558,0.0499771060272,0.999999972337,0.000232037605603,-2.32759021492e-05,3.07092628739e-05,1793196396641617664
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,743,712,673.805501326,665,633,877.805501326,785,800.194498674,650.194498674,629.805501326,651,0.410121555893,-0.00553689291798,0.049982262658,0.999999969203,0.000244622541567,-2.23032908363e-05,3.54583281478e-05,1793196396658284288
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,743,712,674,665,633,877.619595025,785,800.380404975,650,629.619595025,651,0.410749556828,-0.00553464157243,0.0499647535324,0.999999964358,0.000256102109871,-6.45889710567e-05,3.90497307639e-05,1793196396674950912
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,743,712,674,665,633,877.044726858,785,800.955273142,650,629.044726858,651,0.411376524922,-0.00553199213574,0.0499356576619,0.999999955148,0.000267016612459,-0.000128988308901,4.20493354351e-05,1793196396691618048
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743,712,674,664.455356911,633,877,784.455356911,801,650,629.544643089,651,0.41206901381,-0.00554078978055,0.0499277126949,0.999999978321,0.000160779039569,-0.000130992793911,1.86895289807e-05,1793196396708285184
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.132740251,743,712,674,664.132740251,633.132740251,877.132740251,784.132740251,801,650,630,651,0.41278740728,-0.00555083534336,0.0499286480607,0.999999990319,7.33762848906e-05,-0.000118220471909,1.00264037752e-06,1793196396724951808
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.712432059,743,712,674,664.712432059,633.712432059,877.712432059,784.712432059,801,650,630,651,0.413574411391,-0.00556183094489,0.049953476057,0.999999993838,8.26726367818e-05,-7.34178428356e-05,9.90519572416e-06,1793196396741617920
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.709348677,743,712,674,664.709348677,633.709348677,878,785,801,650,630,651,0.414341477664,-0.00556324587213,0.0499578798897,0.999999993096,9.71202680159e-05,-6.42863187084e-05,1.55794958232e-05,1793196396758284288
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.132578923,743,712,674,664.132578923,633.132578923,878,785,801,650,630,651,0.415088917135,-0.00555522954305,0.0499421780897,0.99999998896,0.000116638842304,-9.02695808194e-05,1.80758884226e-05,1793196396774950656
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664,633.442493933,878,785,801,650,630,651,0.415873857357,-0.00555265758616,0.0499232085439,0.999999985178,0.00012075506998,-0.000121257942716,1.89653631012e-05,1793196396791617280
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743,712,674.01751045,664,634,878,785,801,650,630,651,0.416671393454,-0.00555192045087,0.0499046900012,0.999999981212,0.000119707195167,-0.000151232751158,1.93604774437e-05,1793196396808284160
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,743,712,674.607238016,664,634,878,785,801,650,630,651,0.417514776544,-0.00555804007197,0.0499327821096,0.999999989874,0.00010013318202,-9.92679789521e-05,1.92739465406e-05,1793196396824950784
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,712,675,664,634,877.807071154,785,801,650,630,651,0.418353528235,-0.00556148583476,0.0499532885359,0.999999993648,9.00276171488e-05,-6.46699754392e-05,2.04166320579e-05,1793196396841617664
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743,712,675,664,634,877.229429873,785,801,650,630,651,0.419183044571,-0.00555959975296,0.0499586686256,0.999999992738,9.88027443689e-05,-6.47024211639e-05,2.4010453704e-05,1793196396858284544
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,743,711.653351366,674.653351366,664,633.653351366,877.346648634,785,801.346648634,650,630,651,0.420025484908,-0.00555768634841,0.0499515119506,0.999999991958,0.000100687296264,-7.30873643907e-05,2.45650761024e-05,1793196396874950912
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743,711.078302565,674.078302565,664,633.078302565,877.921697435,785,801.921697435,650,630,651,0.420876440589,-0.00555575494149,0.0499360950406,0.999999991145,9.80317792712e-05,-8.69756087485e-05,2.31172279948e-05,1793196396891617280
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.508777273,743,711.508777273,674.508777273,664.508777273,633,878.508777273,784.491222727,801.491222727,650,629.491222727,651,0.421797304955,-0.00555876912266,0.0499556535482,0.99999999486,8.80474214189e-05,-4.40802046406e-05,2.4158570919e-05,1793196396908284160
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.903860793,743,712,674.903860793,665,633.096139207,878.903860793,784.096139207,801,650,629.096139207,651,0.422717987697,-0.00556218429756,0.0499741977454,0.999999996589,7.8361806325e-05,-5.92322356615e-06,2.54351849833e-05,1793196396924950528
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.324611437,743,712,674.324611437,665,633.675388563,878.324611437,784.675388563,801,650,629.675388563,651,0.423582381868,-0.0055636970454,0.0499599404356,0.999999996109,7.59826801622e-05,-3.65564155939e-05,2.5922342254e-05,1793196396941617408
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743.253359966,712,674,664.746640034,634,878,785,801.253359966,650,630,651,0.424464098746,-0.00556646684001,0.0499549380414,0.999999996002,7.1017910647e-05,-4.73186989989e-05,2.67029096968e-05,1793196396958284032
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743.829702319,712,674,664.170297681,634,878,785,801.829702319,650,630,651,0.425367898666,-0.00557083911361,0.0499617337789,0.999999997106,6.27569718903e-05,-3.27496227961e-05,2.78575154715e-05,1793196396974950912
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743.59488138,712,674,664.40511862,633.59488138,878.40511862,785,801.59488138,650,630,651,0.426279315822,-0.00557525921504,0.049980192553,0.999999997796,5.74553205124e-05,-1.21991040803e-05,3.09517354263e-05,1793196396991617536
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743.019853505,712,674,664.980146495,633.019853505,878.980146495,785,801.019853505,650,630,651,0.42719392764,-0.0055796993755,0.0500035428764,0.999999997908,5.33948130358e-05,1.08600677483e-05,3.48594414821e-05,1793196397008284672
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.569708424,743,712,674.569708424,664.430291576,633,878.430291576,785,801,650.569708424,630,650.430291576,0.428023922868,-0.00557426993837,0.0499648486595,0.99999999608,5.10609362446e-05,-6.43751986613e-05,3.29969491964e-05,1793196397024951296
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.84397156,743,712,674.84397156,664,633.15602844,878.15602844,785,801,650.84397156,630,650.15602844,0.428874583552,-0.00556973580253,0.0499345019276,0.999999991387,4.86548925279e-05,-0.000117885471308,3.10107666294e-05,1793196397041617664
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.267781189,743,712,674.267781189,664,633.732218811,878.732218811,785,801,650.267781189,630,650.732218811,0.429789041732,-0.0055685630134,0.049932608575,0.999999993171,4.58882421974e-05,-0.000103427854509,2.92471676474e-05,1793196397058284032
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743,712,674.310209086,664.310209086,634,879,785,801.310209086,650,630,651,0.430674941806,-0.00556927697646,0.0499292021528,0.999999993464,4.16250678821e-05,-0.000102546961131,2.86961910031e-05,1793196397074950656
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743,712,674.889762128,664.889762128,634,879,785,801.889762128,650,630,651,0.431536045803,-0.00557162914209,0.0499244819841,0.999999992488,3.60625130429e-05,-0.000113454273805,2.91980930163e-05,1793196397091617280
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743.473877463,712,675,665,634,879,785,801.526122537,650,630,650.526122537,0.432393992127,-0.00557276706501,0.0499172193105,0.999999991591,2.96780475238e-05,-0.000122870719608,2.89805703232e-05,1793196397108284160
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743.941534297,712,674.941534297,665,633.941534297,879,785,801,650,630,650.058465703,0.43325354006,-0.00557376474128,0.049913354331,0.999999991449,2.32334711887e-05,-0.000125422006784,2.88500368294e-05,1793196397124951040
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743.362279726,712,674.362279726,665,633.362279726,879,785,801,650,630,650.637720274,0.434133960743,-0.00557605373288,0.0499450743591,0.999999996912,1.79731510424e-05,-6.99405889042e-05,3.09996301683e-05,1793196397141617664
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743,712,674.216601411,665,633,878.783398589,785,801,650,630,651,0.434983085456,-0.00557561016852,0.0499652073848,0.999999998446,1.5976042244e-05,-4.20401120447e-05,3.2940777493e-05,1793196397158284288
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743,712,674.794859125,665,633,878.205140875,785,801,650,630,651,0.435779955872,-0.00557060409462,0.0499659937621,0.999999997404,1.94274703698e-05,-6.01911325266e-05,3.45338859331e-05,1793196397174950912
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633,878.371384057,785,801.371384057,650,630.371384057,651,0.4365483816,-0.00556836661726,0.0499472524792,0.999999994354,1.96102499669e-05,-9.85663090577e-05,3.45257590488e-05,1793196397191617280
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633,878.946956265,785,801.946956265,650,630.946956265,651,0.437301168299,-0.00556765132351,0.0499177748257,0.999999988311,1.79959158237e-05,-0.000148060790497,3.36372676614e-05,1793196397208283904
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,743,712,675.533197675,665,633,879,784.466802325,801.466802325,650,630.466802325,651,0.438121758138,-0.00557210990887,0.0499424026966,0.999999995158,2.24407645177e-06,-9.28917971372e-05,3.24063979021e-05,1793196397224950784
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,743,712,675.761245387,665.119377307,633,878.880622693,784.119377307,801.119377307,649.880622693,630,651,0.438926446463,-0.00557619072196,0.0499644440748,0.999999998452,-1.15733021588e-05,-4.43532095257e-05,3.15563820086e-05,1793196397241617664
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,743,712,674.597754544,665.701122728,633,878.298877272,784.701122728,801.701122728,649.298877272,630,651,0.43964288679,-0.00557677409989,0.0499551943839,0.999999997439,-1.23396234163e-05,-6.26467605019e-05,3.23160928038e-05,1793196397258284288
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,743,712,674.559151691,665.720424155,633.279575845,878,785,801.720424155,649.279575845,630,650.720424155,0.440342126225,-0.00557692289152,0.0499438559724,0.999999995994,-1.31746969705e-05,-8.23005807077e-05,3.26329615724e-05,1793196397274950912
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,743,712,675.709100585,665.145449708,633.854550292,878,785,801.145449708,649.854550292,630,650.145449708,0.441023191227,-0.00557661250116,0.0499303106287,0.999999994028,-1.40824138475e-05,-0.000103391654196,3.24819253644e-05,1793196397291617792
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,743,712,676,665,633.572641383,878.427358617,785,801.427358617,650,630,650.427358617,0.4417027231,-0.00557690851466,0.0499426998146,0.999999996366,-1.17089790849e-05,-7.71927185622e-05,3.42282788019e-05,1793196397308284928
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,743,712,676,665,633.000566526,878.999433474,785,801.999433474,650,630,650.999433474,0.442381735865,-0.00557740987438,0.0499638711966,0.999999998684,-8.22444959343e-06,-3.49799917144e-05,3.66171443096e-05,1793196397324952064
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,743,712.591581819,675.408418181,665,633.591581819,879,785,801.408418181,650,630,651,0.443028140567,-0.00557712222979,0.0499839981325,0.999999999169,-5.91685790992e-06,-7.06684975089e-06,3.9706900058e-05,1793196397341617920
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,743,712.820821461,675,665,634,878.820821461,785,801.179178539,650,630,651,0.443637374915,-0.00557615465525,0.0499875467785,0.999999999107,-2.46768773968e-06,-5.59637969681e-06,4.18208382129e-05,1793196397358284288
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,743,712.243385678,675,665,634,878.243385678,785,801.756614322,650,630,651,0.444164063284,-0.00557367754975,0.0499542494329,0.999999997145,3.52144408629e-06,-6.28680974671e-05,4.17642986635e-05,1793196397374950656
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,743,712,675.333757481,665,634,878.333757481,785,801.666242519,650,630.333757481,651,0.44468506292,-0.00557191029236,0.049927677729,0.99999999405,6.32194555885e-06,-0.000100848125744,4.1097969423e-05,1793196397391617536
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,743,712,675.910687402,665,634,878.910687402,785,801.089312598,650,630.910687402,651,0.44520191777,-0.00557066022353,0.0499060062638,0.999999991393,6.79924174423e-06,-0.000124772414123,3.99873534255e-05,1793196397408284416
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,743,712,675.51327996,665,633.51327996,879,784.51327996,801.48672004,650,630.51327996,651,0.445710508914,-0.00557185991365,0.0499122032183,0.999999993633,7.54389229582e-06,-0.00010493855796,4.07944828474e-05,1793196397424951808
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,743,712,675.064550646,665,633,879,784.064550646,801.935449354,650,630,651,0.446212963406,-0.00557373829615,0.0499225647163,0.999999995976,7.87341105976e-06,-7.89310257249e-05,4.19139402139e-05,1793196397441619456
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,743,712,675.658474004,665,633,879,784.658474004,801.341525996,650,630,651,0.446677504692,-0.0055775028133,0.0499252184368,0.999999996765,4.3968909558e-06,-6.80223173339e-05,4.27141478482e-05,1793196397458285824
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,743.244510361,712,675.755489639,664.755489639,633,878.755489639,785,801,650,630,651,0.44709303879,-0.00558012280828,0.0499119358784,0.999999995383,-5.36662651023e-06,-8.68392084372e-05,4.07975788922e-05,1793196397474952704
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,743.819874547,712,675.180125453,664.180125453,633,878.180125453,785,801,650,630,651,0.447442259851,-0.00558119411792,0.0498770894938,0.999999988461,-2.3637256076e-05,-0.000145878642257,3.52048631932e-05,1793196397491619584
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,743.605058784,712,675.394941216,664,632.605058784,878,785,801,650,630,651,0.447773641986,-0.00558230069326,0.0498453141731,0.999999978658,-6.01531845107e-05,-0.000196251526035,2.34768211286e-05,1793196397508285696
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,743.030127655,712,675.969872345,664,632.030127655,878,785,801,650,630,651,0.448096894266,-0.00558342334063,0.0498149384514,0.999999965004,-0.000104984199328,-0.000242674734017,8.95267414759e-06,1793196397524951808
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.856835418,743,712,675,664.856835418,632,878,785,802,650,630,651,0.448720438631,-0.00557893429622,0.0498179135564,0.999999967313,-9.18760622407e-05,-0.000238274001886,1.25435662692e-05,1793196397558285056
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.275235375,743,712,675,664.275235375,632,878,785,802,650,630,651,0.44903170355,-0.00557304028915,0.0498350685534,0.999999973936,-7.91576467977e-05,-0.000213601076354,1.53713258649e-05,1793196397574951680
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.30365517,743.30365517,712.30365517,675.30365517,664,631.69634483,878.30365517,784.69634483,802,650,630,651,0.449303512655,-0.00556938888246,0.0498440533473,0.999999976983,-7.04604526362e-05,-0.000201883495272,1.76581824721e-05,1793196397591618048
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.880111492,743.880111492,712.880111492,675.880111492,664,631.119888508,878.880111492,784.119888508,802,650,630,651,0.449539874983,-0.00556775220871,0.0498456981014,0.999999977311,-6.53758893347e-05,-0.000201804884014,1.94590963994e-05,1793196397608284928
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.545350383,744,713,675.090700767,664,631.454649617,879,784,802,650,630.454649617,651,0.449743809022,-0.00556937361534,0.0498401011581,0.99999997503,-6.32641271178e-05,-0.000213329086314,2.06945548936e-05,1793196397624951296
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,743.970580615,712.970580615,674.058838769,664,632,879,784,802,650,630.970580615,651,0.449937789624,-0.00557184163458,0.0498329070874,0.999999971989,-6.20635208001e-05,-0.000227367212648,2.1786811442e-05,1793196397641617408
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,743.381830278,712.381830278,675.236339443,664,632,879,784,802,650,630.381830278,651,0.450104426593,-0.00557414015865,0.049831501203,0.999999970986,-6.33447588193e-05,-0.000231275247409,2.29794338826e-05,1793196397658284032
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,743.204216015,712,676,664,631.795783985,879,784,802,650.204216015,630,651,0.450265227341,-0.00557645723974,0.0498313961011,0.999999970458,-6.47446259245e-05,-0.000233060671991,2.39777268546e-05,1793196397674950656
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,743.785272465,712,676,664,631.214727535,879,784,802,650.785272465,630,651,0.450415258474,-0.0055788085639,0.0498336913376,0.999999970831,-6.63633995026e-05,-0.000230929237135,2.46174229366e-05,1793196397691617280
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.361774489,743.638225511,712,675.638225511,664,631,879,784,802,650.638225511,630,651,0.450538040735,-0.00558094051384,0.0498347941875,0.999999970188,-6.88775078582e-05,-0.000232878148057,2.54565811461e-05,1793196397708284416
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.935606945,743.064393055,712,675.064393055,664,631,879,784,802,650.064393055,630,651,0.450644850795,-0.00558294387548,0.0498351981075,0.999999968929,-7.19164263735e-05,-0.000237218796866,2.64126562645e-05,1793196397724951296
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.479581354,743.520418646,712.520418646,675,663.479581354,631,879,784,802,650,630,651,0.450727236923,-0.00558321239164,0.0498311420851,0.999999966919,-7.07944476653e-05,-0.000245848875621,2.66306665161e-05,1793196397741617920
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,744,713,675,663.10594607,631,879,784,802.10594607,650,630,651,0.450803996101,-0.00558308551683,0.0498266995281,0.999999964971,-6.94629314829e-05,-0.000254019583736,2.65715431078e-05,1793196397758284288
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,744,713,675,663.688450709,631,879,784,802.688450709,650,630,651,0.450869331104,-0.00558216649181,0.0498230540438,0.99999996405,-6.95546178313e-05,-0.000257685181373,2.56854738945e-05,1793196397774950656
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,743.731702787,712.731702787,675.268297213,663.731702787,631,878.731702787,784.268297213,802.731702787,650,630,651,0.450924315081,-0.00558070964737,0.0498195430687,0.999999962736,-6.81262287187e-05,-0.000263154625999,2.5214270017e-05,1793196397791617536
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,743.154912688,712.154912688,675.845087312,663.154912688,631,878.154912688,784.845087312,802.154912688,650,630,651,0.450967397262,-0.00557863440871,0.0498161867546,0.999999960934,-6.49500299184e-05,-0.000270698165607,2.52200857004e-05,1793196397808284672
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.571994571,743,712,676,663,631,878.428005429,784.571994571,802,650.428005429,630,651,0.450997844885,-0.00557805186027,0.0498114401738,0.999999958771,-6.56173535348e-05,-0.000278428552113,2.50858845148e-05,1793196397824951296
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,743.170022812,712.170022812,675,663.170022812,631,878.170022812,784,802,650,629.829977188,651,0.45106376006,-0.0055745241412,0.0498049854422,0.999999956056,-6.52544980145e-05,-0.000288106979768,2.49862024894e-05,1793196397874951424
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,743.749318757,712.749318757,675,663.749318757,631,878.749318757,784,802,650,629.250681243,651,0.451078071866,-0.00556931015555,0.0498045348403,0.999999956646,-5.97418567082e-05,-0.000287342926022,2.394918739e-05,1793196397891617792
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+224,3.733333333,POSE1_TO_POSE2_PRESS,765,743.097726934,712.097726934,675.902273066,664,631,879,784,802,650,629.902273066,651,0.451096336393,-0.00556383584618,0.0498064610018,0.999999957692,-5.32673136845e-05,-0.000284979317048,2.37728052791e-05,1793196397924951040
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+232,3.866666667,POSE1_TO_POSE2_PRESS,764.451519617,743,712.451519617,675.451519617,663,630.451519617,878.451519617,784,802.451519617,650,629,651,0.451101749008,-0.00555743726986,0.0498005030063,0.999999955207,-4.85100474132e-05,-0.00029444953372,2.30547319411e-05,1793196398058284544
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.137747991,743,712,675,663,630.137747991,878,784.137747991,801.862252009,650,629.137747991,651,0.451101674352,-0.00555677672448,0.0498001173224,0.999999954976,-4.82571698196e-05,-0.000295285109666,2.29336330037e-05,1793196398074950656
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.715716583,743,712,675,663,630.715716583,878,784.715716583,801.284283417,650,629.715716583,651,0.451100970402,-0.00555748931149,0.0497993736278,0.99999995449,-4.8724340231e-05,-0.000296841413336,2.30651426804e-05,1793196398091617536
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,743,712,675.292606762,663,631,878.292606762,784.707393238,801.292606762,650,630,651,0.451100461521,-0.00555776794061,0.0497988932124,0.999999954161,-4.97713365546e-05,-0.000297800968188,2.27089608561e-05,1793196398108284160
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,743,712,675.868453119,663,631,878.868453119,784.131546881,801.868453119,650,630,651,0.451100141466,-0.00555762650414,0.0497986676479,0.999999953984,-5.13795969867e-05,-0.000298182878012,2.18806999235e-05,1793196398124950784
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,743,712,675.546924004,663,631,878.546924004,784,802,650,629.546924004,651,0.451100150978,-0.00555596247785,0.0497981198867,0.99999995373,-5.01636173944e-05,-0.000299237625058,2.19183733408e-05,1793196398141617408
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,743,712,675.039739122,663.039739122,631,878,784,802,650,629,651,0.451100231529,-0.00555410483778,0.0497974994761,0.999999953456,-4.82946102926e-05,-0.00030043657747,2.21951041987e-05,1793196398158284032
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,743,712,675.618825718,663.618825718,631,878,784,802,650,629,651,0.451099951893,-0.00555573783292,0.0497971877739,0.99999995329,-4.89115563235e-05,-0.000300888974339,2.22366853251e-05,1793196398174950400
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,743,712,675.802811224,664,631,878.197188776,784,802,650,629.197188776,651,0.451100471443,-0.00555688371205,0.04979748836,0.999999953419,-4.92476993772e-05,-0.000300379486535,2.25491069288e-05,1793196398191617024
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,743,712,675.225841717,664,631,878.774158283,784,802,650,629.774158283,651,0.451102530203,-0.00555709141766,0.0497989681982,0.999999954117,-4.90430227689e-05,-0.000298017432484,2.33831606249e-05,1793196398208283904
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,743,712,675.349540595,663.650459405,631,878.650459405,784,802,650,629.650459405,651,0.451102486432,-0.00555551041338,0.0497990321045,0.999999954204,-4.73129301535e-05,-0.000298034786226,2.29931046389e-05,1793196398224950784
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,743,712,675.923902018,663.076097982,631,878.076097982,784,802,650,629.076097982,651,0.451101090335,-0.00555277892975,0.0497981852981,0.999999953893,-4.46017060382e-05,-0.000299582550084,2.18157141675e-05,1793196398241618432
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.511687561,743,712,676,663,631,878.511687561,784,802,650,629.511687561,651,0.45110121702,-0.00555393627646,0.0497978663002,0.99999995373,-4.54521485706e-05,-0.00029998552264,2.19573017433e-05,1793196398258284544
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.900305535,743,712,676,663,631,878.900305535,784,802,650,630,651,0.451101652545,-0.00555515176805,0.0497977293763,0.999999953659,-4.66566507125e-05,-0.000300017232811,2.22398801271e-05,1793196398274950912
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.321095352,743,712,676,663,631,878.321095352,784,802,650,630,651,0.451102454925,-0.00555379022549,0.0497980804779,0.999999953919,-4.69477569018e-05,-0.000299104179422,2.22316933514e-05,1793196398291617536
+247,4.116666667,HOLD_POSE2,765,743,712,675,663,631,878,784,803,651,629,651,0.451101592335,-0.00555198533207,0.0497981451907,0.999999953441,-4.72253645938e-05,-0.000300656345771,2.22173732765e-05,1793196398329927424
+248,4.133333333,HOLD_POSE2,765,743,712,675,663.57716411,631,878,784,802.42283589,650.42283589,629.57716411,650.42283589,0.45110143673,-0.00555194784161,0.0497973439297,0.999999953397,-4.56239779344e-05,-0.000301062406025,2.20422803121e-05,1793196398346593792
+249,4.150000000,HOLD_POSE2,765,743.158042886,712,675.158042886,663.841957114,631,878,784,801.841957114,650,629.841957114,650.158042886,0.451101811617,-0.005551801222,0.0497969890272,0.99999995345,-4.44329571116e-05,-0.000301081581397,2.18215304852e-05,1793196398363260160
+250,4.166666667,HOLD_POSE2,765,743.749099416,712,675.749099416,663.250900584,631,878,784,801.250900584,650,629.250900584,650.749099416,0.451103639976,-0.00555135560496,0.0497978570791,0.999999953773,-4.43662763579e-05,-0.000300040750708,2.14756877096e-05,1793196398379926528
+251,4.183333333,HOLD_POSE2,765,744,712,675.667111732,663,631,878.332888268,784,801,650,629,651,0.451103856767,-0.00555092854621,0.0497981552133,0.999999953838,-4.39815992197e-05,-0.000299878413935,2.14917169883e-05,1793196398396593152
+252,4.200000000,HOLD_POSE2,765,744,712,675.088683589,663,631,878.911316411,784,801,650,629,651,0.451102884858,-0.00555051517618,0.0497980329735,0.999999953713,-4.33623665286e-05,-0.000300364058271,2.17746647351e-05,1793196398413259776
+253,4.216666667,HOLD_POSE2,765,743.514041601,712,675,663,631,879,784,801.485958399,650,629.485958399,651,0.451102003574,-0.00555204944831,0.0497971037253,0.999999953295,-4.39842464927e-05,-0.000301643055452,2.2075218479e-05,1793196398429926400
+254,4.233333333,HOLD_POSE2,764.938561204,743,712,675.061438796,663,631,879,784,802,650,629.938561204,651,0.451101322571,-0.00555369109407,0.0497962550729,0.999999952911,-4.47589656306e-05,-0.000302779328271,2.23330442637e-05,1793196398446593024
+255,4.250000000,HOLD_POSE2,764.350005447,743,712,675.649994553,663,631,879,784,802,650,629.350005447,651,0.451102219083,-0.00555322810889,0.0497973516606,0.999999953306,-4.49167885313e-05,-0.00030145854161,2.2196930986e-05,1793196398463259904
+256,4.266666667,HOLD_POSE2,764,743,712.234874707,675.765125293,663,631,878.765125293,784,802,650,629.234874707,651,0.451102590485,-0.00555293119592,0.0497976531323,0.999999953391,-4.55165905943e-05,-0.000301092403446,2.21315219839e-05,1793196398479926528
+257,4.283333333,HOLD_POSE2,764,743,712.814361897,675.185638103,663,631,878.185638103,784,802,650,629.814361897,651,0.451102191436,-0.0055528779472,0.0497967879953,0.99999995302,-4.67648725879e-05,-0.000302126943209,2.21698516056e-05,1793196398496593152
+258,4.300000000,HOLD_POSE2,764.392295083,743.392295083,713,675,663.392295083,631,878,784,802,650,630,651,0.451101969513,-0.00555113319512,0.0497964833465,0.999999952951,-4.43537995757e-05,-0.000302744804339,2.18237930611e-05,1793196398513259520
+259,4.316666667,HOLD_POSE2,764.969495852,743.969495852,713,675,663.969495852,631,878,784,802,650,630,651,0.451101831076,-0.00554859116415,0.0497964428801,0.99999995301,-4.02179139642e-05,-0.000303166266848,2.12965557073e-05,1793196398529926400
+260,4.333333333,HOLD_POSE2,765,743.455188005,712.455188005,675.544811995,663.455188005,631,878,784,802,650,630,651,0.451102426625,-0.00554944771918,0.0497969857559,0.999999953225,-4.33110960621e-05,-0.000302026928388,2.1325633412e-05,1793196398546593024
+261,4.350000000,HOLD_POSE2,765,743.122927536,712.122927536,676,663,631,878.122927536,784,802,650,630,651,0.451103022898,-0.00555007480797,0.0497974953875,0.99999995342,-4.56658754369e-05,-0.000301029834984,2.13312726949e-05,1793196398563259648
+262,4.366666667,HOLD_POSE2,765,743.712058793,712.712058793,676,663,631,878.712058793,784,802,650,630,651,0.451103466598,-0.00554911246483,0.0497977554981,0.999999953551,-4.36905040914e-05,-0.000300902490101,2.11302989726e-05,1793196398579926272
+263,4.383333333,HOLD_POSE2,765,743.703770964,712.703770964,675.407541927,663,631,879,784,802,650,629.703770964,651,0.451103794541,-0.00554904722235,0.0497978814045,0.999999953673,-4.3269740506e-05,-0.000300566920163,2.10031132071e-05,1793196398596592896
+264,4.400000000,HOLD_POSE2,765,743.124343542,712.124343542,674.248687084,663,631,879,784,802,650,629.124343542,651,0.451104011821,-0.00554983961853,0.0497978790102,0.999999953788,-4.43352000403e-05,-0.000300032284676,2.09464695937e-05,1793196398613259776
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,744,712,675,663,631,878,784,802,650,629,651,0.451103608697,-0.00555070011036,0.0497975840187,0.999999953321,-4.72925489585e-05,-0.000301101112321,2.14555960671e-05,1793196398645819648
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.425919052,743.425919052,712,675,663,631,878.574080948,784,802,650,629,651,0.451101211701,-0.0055505888633,0.0497953167873,0.999999952376,-4.71736124749e-05,-0.000304264668796,2.11105975343e-05,1793196398662486016
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,712,675.15295738,663,631,878.84704262,784,802,650,629.15295738,651,0.451099973239,-0.00555054143596,0.0497940967584,0.999999951842,-4.68671441196e-05,-0.000306070113594,2.09709446519e-05,1793196398679152384
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,712,675.74561946,663,631,878.25438054,784,802,650,629.74561946,651,0.451102065201,-0.00555067747037,0.0497958871092,0.999999952512,-4.60215801693e-05,-0.000303971412177,2.14215963097e-05,1793196398695819008
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.328123354,743.328123354,712,675.671876646,663,631,878,784,802,650,630,651,0.45110299473,-0.00555083456164,0.0497964606815,0.99999995279,-4.62872083146e-05,-0.000303009022202,2.15341506716e-05,1793196398712485376
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.902988472,743.902988472,712,675.097011528,663,631,878,784,802,650,630,651,0.451103050135,-0.00555100748722,0.0497961192622,0.999999952774,-4.7388429272e-05,-0.00030290111433,2.13924630496e-05,1793196398729152256
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,744,712,675.481066108,663,630.518933892,878,784.481066108,802,650,630,651,0.451104152885,-0.00555071353225,0.0497970232246,0.99999995331,-4.71248522917e-05,-0.000301184950276,2.11464936835e-05,1793196398745819136
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,743.939251906,712.060748094,676,663.060748094,630.060748094,878.060748094,784.939251906,802,650,630,651,0.45110481809,-0.00555015790613,0.0497977712093,0.999999953747,-4.6348929349e-05,-0.000299868399169,2.09142087058e-05,1793196398762486016
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,743.351306644,712.648693356,676,663.648693356,630.648693356,878.648693356,784.351306644,802,650,630,651,0.451099840829,-0.00554815396261,0.0497949713799,0.999999952365,-4.35312246216e-05,-0.000304853360877,2.09844112962e-05,1793196398779152384
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,743,712.765874459,675.765874459,663.765874459,631,878.765874459,784,801.765874459,650,629.765874459,651,0.451093282131,-0.00554761872221,0.0497917049881,0.999999950809,-4.22709752741e-05,-0.000310090423973,2.09534571954e-05,1793196398795818752
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,743,712.184173165,675.184173165,663.184173165,631,878.184173165,784,801.184173165,650,629.184173165,651,0.451084375679,-0.00554926387458,0.0497877459523,0.999999949012,-4.33228777124e-05,-0.000315701748792,2.07723288996e-05,1793196398812485376
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,743,712.392728236,675,663,631,878.392728236,784,801.392728236,650,629,651,0.451061124664,-0.00554821946231,0.0497774940205,0.999999943165,-4.34088459116e-05,-0.000333750834408,1.99221403992e-05,1793196398829152256
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,743,712.967405915,675,663,631,878.967405915,784,801.967405915,650,629,651,0.451031227867,-0.00554592898549,0.0497643266146,0.999999934972,-4.30473006577e-05,-0.000357562285909,1.87619789182e-05,1793196398845818880
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,743,713,675,663,631,879,784,801.460364953,650,629,651,0.450980901825,-0.00554438959864,0.0497453678579,0.999999921725,-4.16166666299e-05,-0.000393060389029,1.79164530856e-05,1793196398862485504
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,743.116277966,712.883722034,675,663,631,879,784,801.116277966,650,629,651,0.450928470119,-0.00554268181309,0.0497276242188,0.999999908676,-4.03282929685e-05,-0.00042512682146,1.69978840637e-05,1793196398879152384
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,743.711716162,712.288283838,675,663,631,879,784,801.711716162,650,629,651,0.450872423174,-0.0055400939862,0.0497163227979,0.999999902212,-3.9891040468e-05,-0.000440156330291,1.57003586895e-05,1793196398895819008
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,744,712,675,663,631,879,784,802,650,629.297586706,651,0.450812686121,-0.00553815656188,0.0497095114964,0.999999898484,-3.91048597103e-05,-0.000448643810693,1.48680812904e-05,1793196398912485888
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,744,712,675,663,631,879,784,802,650,629.874477367,651,0.450749485672,-0.00553682958169,0.0497069144568,0.999999897477,-3.79911877343e-05,-0.000450991182582,1.4472468638e-05,1793196398929152512
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.550342767,744,712.449657233,675,663.449657233,631,879,784,802,650,630,651,0.450677712686,-0.00553331164124,0.0497092986525,0.999999899587,-3.57874859761e-05,-0.000446490467184,1.38219412487e-05,1793196398945819136
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.024739681,743.975260319,712.975260319,675,663.975260319,631,878.975260319,784,802,650,630,651,0.45060294485,-0.00552917121636,0.0497131384752,0.999999902604,-3.32353559686e-05,-0.000439904197707,1.31195520088e-05,1793196398962485760
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.60836944,743.39163056,712.39163056,675,663.39163056,631,878.39163056,784,802,650,630,651,0.450514376655,-0.00552473277063,0.0497185681632,0.99999990736,-2.96599107668e-05,-0.000429225738313,1.28470288227e-05,1793196398979152128
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.807575939,743,712.192424061,675,663,631,878.192424061,784,802,650,630,651,0.45041567704,-0.00552026889623,0.0497226635064,0.999999910858,-2.61653855015e-05,-0.000421240086774,1.24958048719e-05,1793196398995819008
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.222654775,743,712.777345225,675,663,631,878.777345225,784,802,650,630,651,0.450296311865,-0.00551575315421,0.0497240371182,0.999999911993,-2.28359171716e-05,-0.000418747093166,1.19840510218e-05,1793196399012485888
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.356826742,743,713,675,663.356826742,631,879,784,802.356826742,650,629.643173258,651,0.450160177042,-0.00551117959652,0.0497253885095,0.999999913179,-1.94371172812e-05,-0.000416095903415,1.13573098536e-05,1793196399029152512
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.932965022,743,713,675,663.932965022,631,879,784,802.932965022,650,629.067034978,651,0.450013735308,-0.00550657050394,0.049726726244,0.999999914387,-1.59957047601e-05,-0.000413347483486,1.06598955539e-05,1793196399045819392
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,743.507047871,712.492952129,675,663.492952129,631,879,784,802.492952129,650,629.507047871,651,0.449844390492,-0.00549656449008,0.0497247766454,0.999999913082,-6.61261488198e-06,-0.000416790963777,8.82835754838e-06,1793196399062486016
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,743.916626435,712,675,663.083373565,631,879,784,802,650,629.916626435,651,0.449668417243,-0.00548646018414,0.0497225069554,0.999999911388,2.75966938828e-06,-0.000420912662804,7.00493575696e-06,1793196399079152384
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,743.324977355,712,675,663.675022645,631,879,784,802,650,629.324977355,651,0.44947041944,-0.00548008888895,0.0497209246932,0.999999909982,7.29655470192e-06,-0.000424198643146,6.14138109179e-06,1793196399095819008
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.260667476,743.260667476,712,675,664,631.260667476,879,784.260667476,802,650,629.260667476,651,0.449256351415,-0.0054733597615,0.0497190988884,0.999999908263,1.13479550415e-05,-0.000428157795363,5.10790803461e-06,1793196399112485888
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.838995243,743.838995243,712,675,664,631.838995243,879,784.838995243,802,650,629.838995243,651,0.449022699556,-0.00546619456505,0.0497169762926,0.999999906166,1.48077228082e-05,-0.000432937302795,3.8673653679e-06,1793196399129152256
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.586537093,744,712.413462907,675,664,632,878.586537093,785,802,650,630,651,0.448773026383,-0.00545651077605,0.0497185499908,0.999999908072,2.10325966883e-05,-0.000428263248741,1.83914033753e-06,1793196399145819136
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.013558686,744,712.986441314,675,664,632,878.013558686,785,802,650,630,651,0.448517172135,-0.005445855305,0.0497215497328,0.999999911423,2.83242585335e-05,-0.000419941975951,-4.92975399819e-07,1793196399162485760
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,743.424194513,713,675.575805487,664,632,878.575805487,784.424194513,802.575805487,650,630,651,0.448237503214,-0.00544118954503,0.0497239537936,0.999999914771,2.82904420184e-05,-0.000411888786062,-2.40090514436e-06,1793196399179152640
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,743.162630112,712.837369888,676,664,632,878.837369888,784.162630112,802.837369888,650,630,651,0.447943808875,-0.00543820148613,0.049723550871,0.999999916138,2.62943851505e-05,-0.000408670695642,-4.58080593524e-06,1793196399195819520
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,743.741930628,712.258069372,676,664,632,878.258069372,784.741930628,802.258069372,650,630,651,0.447615659243,-0.00543913987863,0.0497159932382,0.999999912489,1.97258142436e-05,-0.000417823842587,-7.4838571404e-06,1793196399212485888
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,744,712,675.102096983,664,632,878,785,802,650,630,651,0.446924225667,-0.00544968135135,0.0497169433785,0.999999913806,-5.06688474096e-06,-0.00041501113422,-1.12937555534e-05,1793196399245818880
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,743.529735844,712,675,664,632,878.470264156,785,802,650,630,651,0.446548869559,-0.00544332869797,0.0497229601745,0.999999918089,-1.78199567521e-06,-0.000404517563584,-1.36014695007e-05,1793196399262485504
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,743.043098227,712.043098227,675,664,632.043098227,879,784.956901773,802,650,630,651,0.446167874993,-0.00543442417287,0.0497309484119,0.99999992345,4.77932900805e-06,-0.000390923184381,-1.59890922173e-05,1793196399279152384
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,743.636354815,712.636354815,675,664,632.636354815,879,784.363645185,802,650,630,651,0.445782341664,-0.00542820478427,0.0497552229702,0.999999937046,5.60834856992e-06,-0.000354358716133,-1.75089120039e-05,1793196399295819264
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,743.776028822,712.776028822,675.223971178,664.223971178,633,879,784.223971178,802,650,629.776028822,651,0.44537710303,-0.00542534022677,0.0497790600164,0.999999947912,2.63707988649e-06,-0.000322217388495,-1.85682550113e-05,1793196399312486144
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,743.197345154,712.197345154,675.802654846,664.802654846,633,879,784.802654846,802,650,629.197345154,651,0.444940656306,-0.00542778885549,0.0498022041549,0.999999955673,-6.35286373294e-06,-0.000297081175633,-1.88983216801e-05,1793196399329153280
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.62088266,664.62088266,633,879,784.62088266,802,650,629.37911734,651,0.444462233053,-0.00543316599471,0.0498089189503,0.999999956795,-1.89866919698e-05,-0.000292594424388,-2.09330140171e-05,1793196399345820416
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.045569656,664.045569656,633,879,784.045569656,802,650,629.954430344,651,0.44396208669,-0.00544005865689,0.0498071314541,0.999999954515,-3.35062536806e-05,-0.000298793903291,-2.38498611044e-05,1793196399362487552
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,664,633,878.474308035,784.525691965,802,650,630,651,0.443421392734,-0.00543958644743,0.0497840779751,0.999999941792,-4.43636870651e-05,-0.000337119839039,-2.82572341052e-05,1793196399379153664
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,664,633,878,785,802,650,630,650.899186008,0.442874937935,-0.00543719741681,0.0497637011328,0.999999929853,-5.250745886e-05,-0.000369411523005,-3.27448762062e-05,1793196399395820032
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,664,633,878,785,802,650,630,650.303399394,0.442317324142,-0.00542850779248,0.0497654475931,0.999999933857,-4.88744905532e-05,-0.000358507911646,-3.69970983091e-05,1793196399412486912
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.862903487,743,712,675,664,633,878,785,802.862903487,650,630,650.862903487,0.441226516127,-0.00542111022273,0.0498165909505,0.999999961062,-5.34826741138e-05,-0.000270876783478,-4.05026098806e-05,1793196399445819904
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,743.438249014,712,675.438249014,664.438249014,633,878.438249014,785,802.561750986,650,630.438249014,651,0.440630107742,-0.00542137765417,0.0498295938649,0.999999965935,-6.1500184468e-05,-0.000250075634085,-4.25500543274e-05,1793196399462486528
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.987189609,744,712,676,665,633.012810391,878.987189609,785,801.987189609,650,630.987189609,651,0.440014996977,-0.00542228624938,0.0498353127011,0.999999967356,-7.06694868147e-05,-0.000241385293755,-4.50165710542e-05,1793196399479153408
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+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,743.813182467,712,675.813182467,665,633.813182467,878,785,801,650,630,651,0.438638146801,-0.00541762190803,0.049772618963,0.999999933273,-8.76132750506e-05,-0.000350280452957,-5.55134379553e-05,1793196399512486144
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,743.23130767,712,675.23130767,665,633.23130767,878,785,801,650,630,651,0.437936940099,-0.00541258537903,0.049748751208,0.999999918921,-9.05532262089e-05,-0.000387665691724,-6.06052065276e-05,1793196399529152768
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,665,633,878.347674283,785,801.347674283,650,630,651,0.437264968887,-0.00540892808803,0.0497589693555,0.99999992269,-9.46225693423e-05,-0.000376335576351,-6.35461996593e-05,1793196399545819392
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,665,633,878.924747486,785,801.924747486,650,630,651,0.436612287568,-0.00540618083206,0.0497916777184,0.99999993754,-9.94370962359e-05,-0.000332862588203,-6.50680896921e-05,1793196399562485760
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.497521279,743,712,675,665,633.497521279,878.502478721,785,802,650,630,651,0.435917943549,-0.00540742288035,0.049813226473,0.999999946994,-0.000108937794018,-0.000299427402514,-6.69924473357e-05,1793196399579152384
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.928294834,743,712,675,664.928294834,634,878,785,801.928294834,650,630,651,0.435209757471,-0.00540878492796,0.0498269223449,0.999999952126,-0.000117746356481,-0.000277699007827,-6.90445391228e-05,1793196399595819264
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.339287082,743,712,675,664.339287082,634,878,785,801.339287082,650,630,651,0.434446783731,-0.00540669686091,0.049796038167,0.999999936345,-0.000116491913103,-0.000329567546965,-7.15827334736e-05,1793196399612485888
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,664.246582392,633.753417608,878,785,801.246582392,650,630,651,0.433696681952,-0.00540415332291,0.0497820200826,0.999999933702,-7.50494908907e-05,-0.000350807229117,-6.24275696161e-05,1793196399629152512
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,664.828188077,633.171811923,878,785,801.828188077,650,630,651,0.432964068771,-0.00540099095137,0.049790917394,0.999999944488,2.09950018842e-05,-0.000330432507868,-3.7385029004e-05,1793196399645819392
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,665,633,878,785,801.594692829,650,630,651,0.432228520719,-0.00539629895871,0.0498039200772,0.999999949577,4.41997633252e-05,-0.000312748497872,-3.28730675528e-05,1793196399662486272
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,665,633,878,785,801.019454837,650,630,651,0.431491742226,-0.00539096565074,0.0498186439956,0.999999954772,3.68654214805e-05,-0.000296192609026,-3.69688462065e-05,1793196399679152640
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,665,633,878,785,801,650,630,651,0.430683016374,-0.00538896722459,0.0497896001376,0.999999940203,2.38293123734e-05,-0.000342140572847,-4.43444339634e-05,1793196399695819264
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,665,633,878,785,800.869118032,650,630,651,0.429874774592,-0.00538863161486,0.0497636258678,0.999999925712,1.08432655508e-05,-0.000381928505302,-5.08792702827e-05,1793196399712485888
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,665,633,878,785,800.274711536,650,630,651,0.429077166491,-0.00539377152242,0.0497539485608,0.999999921648,-1.25863680803e-06,-0.00039215182608,-5.40299499697e-05,1793196399729152512
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,743.310056349,712,675,665,633,878,785,800.310056349,650,630,651,0.428296398211,-0.0053960132581,0.0497653707226,0.999999927421,-3.74814179625e-06,-0.00037712363991,-5.4045344686e-05,1793196399745819392
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,743.886541817,712,675,665,633,878,785,800.886541817,650,630,651,0.427530100303,-0.00539576461594,0.0497949235014,0.999999940744,2.02221549579e-06,-0.000340397020537,-5.13666121065e-05,1793196399762486784
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,744,712,675,665,633,878,785,801.462859466,650,630.462859466,651,0.42673665013,-0.00539162338312,0.0497893737377,0.999999937652,1.29321033686e-05,-0.000349140784724,-5.12750306797e-05,1793196399779153408
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,743.960075131,712,675,664.960075131,633.039924869,877.960075131,785,801.960075131,650,631,651,0.425939490469,-0.00538684497982,0.0497772760636,0.999999931901,2.41655129333e-05,-0.000364578924644,-5.19190760852e-05,1793196399795819520
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,743.37218303,712,675,664.37218303,633.62781697,877.37218303,785,801.37218303,650,631,651,0.425182734947,-0.00538641263065,0.0497933621062,0.999999947417,2.25544550789e-05,-0.000318975443478,-5.39587108921e-05,1793196399812486144
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,743.212592965,712,675,664.212592965,633.787407035,877.212592965,785,801.212592965,650,630.787407035,651,0.424423412839,-0.00538721516401,0.0498130177717,0.999999960127,2.1212589595e-05,-0.000276227497146,-5.47198278581e-05,1793196399829152768
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,743.791992543,712,675,664.791992543,633.208007457,877.791992543,785,801.791992543,650,630.208007457,651,0.423659662236,-0.00539014835615,0.0498388324458,0.999999969955,2.03351867785e-05,-0.000238406466514,-5.32749983213e-05,1793196399845819392
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,743.631246471,712,675,665,633,878,785.368753529,801.631246471,650,630.368753529,650.631246471,0.422864341811,-0.00538816664444,0.0498300053593,0.999999965885,2.63060660285e-05,-0.000254172128356,-5.41632410277e-05,1793196399862486016
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,743.055963328,712,675,665,633,878,785.944036672,801.055963328,650,630.944036672,650.055963328,0.422051339966,-0.00538343221805,0.0498017762891,0.999999952775,3.61124965135e-05,-0.0002999503561,-5.63581790659e-05,1793196399879152640
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,743,711.482870263,674.482870263,665,633.517129737,878,785.482870263,801,650,630.482870263,650.517129737,0.421266981171,-0.00538204942678,0.0497838717654,0.999999943081,4.11212387278e-05,-0.000329878498804,-5.76859815515e-05,1793196399895819520
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+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.33286873,743,712,674.33286873,664.66713127,633.66713127,877,785,801,650,630.33286873,651,0.413987238596,-0.00538189054806,0.0497889707938,0.999999938428,7.00621272069e-05,-0.000338693601133,-5.93496910731e-05,1793196400062486784
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.50799947,743,712,675,664,633.49200053,877,785,801.49200053,650,630.50799947,651.49200053,0.412679204513,-0.00538185014423,0.0497701678629,0.99999992697,7.67357135929e-05,-0.000369391263848,-6.1012022909e-05,1793196400095820288
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.081872403,743,712,675,664.081872403,633.918127597,877,785.081872403,802,650,630,651.918127597,0.412080062101,-0.00538422263084,0.0497885732153,0.999999939479,7.82048854274e-05,-0.000333652018287,-6.00184374354e-05,1793196400112486656
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,664.547289955,633.905420089,877.547289955,785,802,650,630,651,0.406237528598,-0.00538940248867,0.0497893873139,0.999999924124,0.000115660594339,-0.000367320423876,-5.87448212875e-05,1793196400295818752
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.026537296,743,711.973462704,674,664,634.946925407,877,785,801.973462704,650,630,651,0.405785060933,-0.00539134018827,0.0497628937248,0.999999906078,0.000113029877356,-0.000413903896139,-6.12573903057e-05,1793196400312485376
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,743,712,673.096847284,664,633.096847284,877.096847284,785,801,650,630,651,0.401628603626,-0.00539024368684,0.0498281638816,0.999999928189,0.000211220153553,-0.000311591490592,-4.38117832984e-05,1793196400595819008
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bdace64d088d4823ec0b4cf2f8e9218e49aa383a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,425 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8e275ce40045d8ee6fd26ee8b4337613fd5752a6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e1f6ba6c8415ae75b8c2bfd064e45cb1595dd08e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_05/franka_data.csv
@@ -0,0 +1,427 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,743,712,674,664,633,877,785,801,650,629,651,0.400987904699,-0.00542152111913,0.0498546421507,0.999999955715,0.000152448611331,-0.000250848935692,-4.9042573488e-05,1793196401402584576
+1,0.016666667,BASELINE,765,743,712,673.429529169,664.570470831,633.570470831,877,785,801.570470831,650,629.570470831,651.570470831,0.400986059999,-0.00542282654392,0.0498535681451,0.999999955457,0.000150557118376,-0.0002530456825,-4.88583331988e-05,1793196401419251456
+2,0.033333333,BASELINE,765,743,712,673.146178995,664.853821005,634,877,785,801.853821005,650.146178995,630,651.853821005,0.400984989598,-0.00542368746764,0.0498531723167,0.999999955337,0.000149625194034,-0.000254103257853,-4.86890780007e-05,1793196401435918080
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+27,0.450000000,BASELINE,765,743,712,673.347149507,664,634,877,785,801,651,630,651,0.400986035805,-0.00542383434467,0.0498545126241,0.999999955936,0.000151510162379,-0.00025065856246,-4.83947232733e-05,1793196401852584448
+28,0.466666667,BASELINE,765,743,712,673.232289888,664,634,877,785,801.232289888,650.767710112,630,651,0.40098672061,-0.00542307583658,0.0498544713862,0.999999955922,0.000151951528514,-0.000250391161632,-4.86946024118e-05,1793196401869251072
+29,0.483333333,BASELINE,765,743,712,673.823031885,664,634,877,785,801.823031885,650.176968115,630,651,0.400986276402,-0.00542278123286,0.0498541072478,0.999999955919,0.000150504855791,-0.000251251535747,-4.8817004172e-05,1793196401885917696
+30,0.500000000,BASELINE,765,743,712,674,664,634,877,785,802,650,630,651,0.400986558365,-0.00542314821264,0.0498546023686,0.999999956053,0.000150544934174,-0.000250752984117,-4.85064106844e-05,1793196401902584064
+31,0.516666667,BASELINE,765,743,712,674,664,634,877,785,802,650,630,651,0.400987150906,-0.00542379814692,0.0498554649882,0.999999956245,0.000151220885299,-0.000249673229744,-4.80106282552e-05,1793196401919250944
+32,0.533333333,BASELINE,765,743,712,674,664,634,877,785,801.438086253,650,630,651,0.400987200962,-0.00542425235433,0.0498555303291,0.99999995643,0.000150085570843,-0.000249586655777,-4.81792229582e-05,1793196401935917824
+33,0.550000000,BASELINE,765,743,711.86009296,673.86009296,664,634,877,785,801,650,630,651.13990704,0.400987055887,-0.00542453801716,0.0498554713424,0.9999999565,0.000149419886946,-0.000249675568907,-4.83280297738e-05,1793196401952584192
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+37,0.616666667,BASELINE,765,743,712,674,664,633,876.469218917,785,801,650,630,651,0.400985734526,-0.00542529133246,0.0498539537312,0.999999956404,0.000147597908426,-0.000251124751865,-4.84067875076e-05,1793196402019250944
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+41,0.683333333,BASELINE,765,743,712,674,664.79031998,634,877.20968002,785,801,650,630,651,0.40098761738,-0.00542384714652,0.0498556935822,0.999999956798,0.000149239668164,-0.000248529030857,-4.86373082985e-05,1793196402085917440
+42,0.700000000,BASELINE,765,743,712,674,664.626208385,634,877,785.373791615,801,650.373791615,630,651,0.400987445439,-0.00542444212794,0.0498557778495,0.999999956774,0.000149532813417,-0.000248495576415,-4.83890546868e-05,1793196402102584320
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+53,0.883333333,BASELINE,765,742.24748317,712,673,664,634,877,785,801.24748317,650,630,651,0.400985555818,-0.00542437108908,0.0498543993816,0.999999956017,0.000152065668151,-0.000249974813732,-4.85176168498e-05,1793196402285917696
+54,0.900000000,BASELINE,765,742.336339807,712,673,664,634,877,785,801,650.336339807,630,651,0.400986311075,-0.00542455121398,0.0498544993702,0.999999956215,0.000151589585211,-0.000249448536313,-4.86342343383e-05,1793196402302584320
+55,0.916666667,BASELINE,765,742.917116795,712,673,664,634,877,785,801,650.917116795,630,651,0.400986957433,-0.00542428122187,0.0498545182771,0.99999995646,0.000151124386176,-0.000248697261553,-4.89088894399e-05,1793196402319251200
+56,0.933333333,BASELINE,765,743,712,673.493357918,664.493357918,634,877,785.493357918,801,650.506642082,630,651,0.400986881905,-0.00542442359832,0.0498549557428,0.9999999566,0.0001502871118,-0.000248684009029,-4.8686000909e-05,1793196402335917568
+57,0.950000000,BASELINE,764.931192173,743,712,674,664.931192173,634,877,785.931192173,801,650,630,651,0.400986553186,-0.00542477261817,0.0498553020057,0.999999956678,0.000149491202119,-0.000248907998603,-4.83803838509e-05,1793196402352584192
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+59,0.983333333,BASELINE,764.224191388,743,712,673.775808612,664,633.775808612,876.775808612,784.775808612,801,650,630,651,0.400985066912,-0.00542692604405,0.049854218477,0.999999956486,0.000148995468232,-0.000250047296084,-4.80166973947e-05,1793196402385917440
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+62,1.033333333,BASELINE,765,743,711.024425936,673.975574064,664,633.975574064,877.951148128,784.975574064,801,650,630,651,0.400985818383,-0.00542424529025,0.0498550181928,0.99999995616,0.000150692571171,-0.000250297888382,-4.81958142221e-05,1793196402435917824
+63,1.050000000,BASELINE,765,743,711.551292381,674,664,634,877.448707619,785.551292381,801,650.551292381,630,651,0.400986878031,-0.0054229380614,0.0498554919925,0.999999956335,0.000151060652623,-0.000249262595361,-4.87658059856e-05,1793196402452584448
+64,1.066666667,BASELINE,765.125594314,743,712,674,664,633.874405686,877,785.874405686,801,650.874405686,630,651,0.400987259734,-0.0054227113118,0.0498555297722,0.999999956483,0.00015053861545,-0.000248921878344,-4.90862513662e-05,1793196402469250816
+65,1.083333333,BASELINE,765.695585033,743,712,674,664,633.304414967,877,785.304414967,801,650.304414967,630,651,0.400984945484,-0.0054262808667,0.0498539377858,0.999999956404,0.000147106919831,-0.000251410570668,-4.84100584641e-05,1793196402485917696
+66,1.100000000,BASELINE,766,743,712,674,664.278670075,633.278670075,877,785,801.278670075,650,630,651.278670075,0.400984732924,-0.00542717373299,0.0498539452811,0.999999956592,0.000146477647736,-0.000251094463489,-4.80817456553e-05,1793196402502584320
+67,1.116666667,BASELINE,766,743,712,674,664.876764381,633.876764381,877,785,801.876764381,650,630,651.876764381,0.400986929416,-0.00542499845761,0.0498557861748,0.999999957087,0.000149060640351,-0.000247563368207,-4.81521887758e-05,1793196402519250944
+68,1.133333333,BASELINE,765.542990829,743,711.542990829,674,664.542990829,634,877,785,801.542990829,650,630,651.542990829,0.400986249206,-0.0054248128265,0.0498554677064,0.999999956748,0.00014965738136,-0.000248569913276,-4.8164882681e-05,1793196402535917824
+69,1.150000000,BASELINE,765,743,711.032497025,674,664,634,877,785,801,650,630,651,0.400984938641,-0.00542508830566,0.0498546690708,0.999999956225,0.000149831127373,-0.00025055755027,-4.81731705253e-05,1793196402552584448
+70,1.166666667,BASELINE,765,743,711.605909852,674,664,634,877,785,801,650,630,651,0.400985562353,-0.00542444425255,0.0498552058995,0.999999956279,0.000151544181721,-0.000249274103814,-4.83575808887e-05,1793196402569251072
+71,1.183333333,BASELINE,765,743,712,674,664,634,877,785,801,650,630,651.185720269,0.40098612663,-0.00542363835182,0.0498555422404,0.999999956376,0.000152835528475,-0.000248060265849,-4.85224620262e-05,1793196402585917952
+72,1.200000000,BASELINE,765,743,712,674,664,634,877,785,801,650,630,651.779590523,0.400986560289,-0.00542247676494,0.0498554379777,0.999999956577,0.000153200105697,-0.000246999403432,-4.86444246038e-05,1793196402602584320
+73,1.216666667,BASELINE,765,743,712,674,664.363067757,633.636932243,877,785,801,650,630,651.636932243,0.40098669292,-0.0054227859916,0.0498553239579,0.999999956705,0.000152049676881,-0.000247173665013,-4.87364823223e-05,1793196402619250944
+74,1.233333333,BASELINE,765,743,712,674,664.940411192,633.059588808,877,785,801,650,630,651.059588808,0.400986647891,-0.00542396326447,0.0498552041796,0.999999956787,0.000150005120322,-0.000248076873327,-4.8810890755e-05,1793196402635917824
+75,1.250000000,BASELINE,765,743,712,674,664.487152993,633,877,785,801.512847007,650,630,651,0.400986695117,-0.00542501767651,0.0498559490615,0.999999957046,0.000149175896079,-0.000247595384965,-4.84882681526e-05,1793196402652584448
+76,1.266666667,BASELINE,764.912272215,743,711.912272215,674,664,633,877,785,802,650,630,651,0.400986723102,-0.00542585194194,0.0498565497485,0.999999957249,0.00014859589093,-0.000247183252429,-4.81901552829e-05,1793196402669251328
+77,1.283333333,BASELINE,764.320084313,743,711.320084313,674,664,633,877,785,802,650,630,651,0.400986579381,-0.00542550161066,0.0498557490362,0.999999957013,0.000148644653981,-0.00024808633584,-4.82957377922e-05,1793196402685917952
+78,1.300000000,BASELINE,764.26584093,743,711.26584093,674,664,633.26584093,877,785,802,650,630,651.26584093,0.400987291256,-0.00542470841325,0.0498555357296,0.999999956822,0.000150095726672,-0.000247935644263,-4.85216076536e-05,1793196402702584320
+79,1.316666667,BASELINE,764.844399162,743,711.844399162,674,664,633.844399162,877,785,802,650,630,651.844399162,0.400989009596,-0.00542339425809,0.0498560134073,0.999999956678,0.000153196381638,-0.000246545362945,-4.88889754178e-05,1793196402719250944
+80,1.333333333,BASELINE,765,743,711.579725274,674,664,634,877,785,802,650,630,651.579725274,0.400988957951,-0.00542356959558,0.0498559141125,0.999999956597,0.000153482408981,-0.000246726443895,-4.87441432257e-05,1793196402735917824
+81,1.350000000,BASELINE,765,743,711.004836584,674,664,634,877,785,802,650,630,651.004836584,0.400988255151,-0.00542429289922,0.0498556025564,0.99999995654,0.000152732969278,-0.000247485609814,-4.8410878924e-05,1793196402752584960
+82,1.366666667,BASELINE,765,743,711.566172092,674,664,634,877,785,802,650.566172092,629.433827908,651,0.400988004611,-0.00542651106881,0.0498558608805,0.999999957109,0.000149511084466,-0.000247239912815,-4.79685683766e-05,1793196402769251328
+83,1.383333333,BASELINE,765,743,712,674,664,634,876.856786387,785,801.856786387,650.856786387,629.143213613,651,0.400987973061,-0.00542763822234,0.049856101601,0.999999957492,0.000147531467612,-0.000246930445113,-4.77033285199e-05,1793196402785917952
+84,1.400000000,BASELINE,765,743,712,674,664,634,876.260557411,785,801.260557411,650.260557411,629.739442589,651,0.400988622084,-0.00542527413926,0.0498562713436,0.999999957298,0.000149547765738,-0.000246446225627,-4.8001127715e-05,1793196402802584576
+85,1.416666667,BASELINE,765,743,712,673.674085015,664,634,876,785,801,650,630,651,0.400988716016,-0.00542463474123,0.0498565239037,0.999999957052,0.000151489504241,-0.000246250356331,-4.8040447876e-05,1793196402819251200
+86,1.433333333,BASELINE,765,743,712,673.095185976,664,634,876,785,801,650,630,651,0.400988379072,-0.00542533409065,0.0498568407489,0.999999956766,0.000153373367421,-0.000246278312305,-4.78791295798e-05,1793196402835917824
+87,1.450000000,BASELINE,765,743,712,673.483096321,664,634,876.483096321,785,801,650,630,651,0.400987263188,-0.00542598966527,0.0498558199499,0.999999956682,0.000151688884325,-0.000247653980879,-4.78983717287e-05,1793196402852584192
+88,1.466666667,BASELINE,765,743,712,674,664,634,877,785,801,650.061898021,630,651,0.40098608406,-0.00542649401082,0.0498546823706,0.999999956638,0.000149509152666,-0.0002491396267,-4.79591031103e-05,1793196402869250816
+89,1.483333333,BASELINE,765,743,712,674,664,634,877,785,801,650.646106692,630,651,0.400985664687,-0.00542579493617,0.0498547805211,0.999999956654,0.000149075609379,-0.000249315419034,-4.80701112878e-05,1793196402885917440
+90,1.500000000,BASELINE,765,743,712,674,664,633.771635988,876.771635988,785,801.228364012,650.771635988,630,651,0.400985740019,-0.00542469511166,0.0498547463041,0.999999956529,0.000149894990933,-0.000249274109079,-4.8326415638e-05,1793196402902584320
+91,1.516666667,BASELINE,765,743,712,674,664,633.19237709,876.19237709,785,801.80762291,650.19237709,630,651,0.400986575495,-0.0054229795112,0.0498545086967,0.999999956184,0.000152639566068,-0.000248899208528,-4.88059761899e-05,1793196402919250944
+92,1.533333333,BASELINE,765,743,712,673.613507963,664,633.386492037,876.386492037,785,801.613507963,650.386492037,630,651,0.400986516996,-0.00542366756372,0.0498545264718,0.999999956488,0.000151382844283,-0.000248417350148,-4.89584676867e-05,1793196402935917312
+93,1.550000000,BASELINE,765,743,712,673.034832599,664,633.965167401,876.965167401,785,801.034832599,650.965167401,630,651,0.400986013969,-0.00542555083353,0.0498546712359,0.999999957107,0.00014813647617,-0.000247882306907,-4.89483240015e-05,1793196402952584192
+94,1.566666667,BASELINE,765,743,712,673.541108441,664,634,877,785,801.541108441,650.458891559,630,651,0.400985861707,-0.00542518475571,0.0498549221501,0.999999956937,0.000148681898598,-0.000248310324328,-4.8588522284e-05,1793196402969250816
+95,1.583333333,BASELINE,765,743,712,674,664,633.880922631,876.880922631,785,801.880922631,650,629.880922631,651,0.400985848246,-0.00542497038343,0.0498552061732,0.999999956811,0.000149111172668,-0.000248637677917,-4.82087109766e-05,1793196402985917440
+96,1.600000000,BASELINE,765,743,712,674,664,633.294303674,876.294303674,785,801.294303674,650,629.294303674,651,0.400986291555,-0.00542591732882,0.0498555934997,0.999999957051,0.000148130846076,-0.000248327597845,-4.78382665597e-05,1793196403002584320
+97,1.616666667,BASELINE,765,743,711.710164672,674,664,633.289835328,876,785,801.289835328,650.289835328,629.289835328,651,0.400987360138,-0.00542599864568,0.0498563267262,0.999999957358,0.000148328741234,-0.000246978180341,-4.78013066106e-05,1793196403019250944
+98,1.633333333,BASELINE,765,743,711.128522527,674,664,633.871477473,876,785,801.871477473,650.871477473,629.871477473,651,0.400989058246,-0.00542520844584,0.0498574082056,0.999999957726,0.000149712872578,-0.00024458235575,-4.81000995449e-05,1793196403035917568
+99,1.650000000,BASELINE,765,743,711,673.551821439,664,633.551821439,876,785,801.551821439,650.551821439,630,651,0.400987254089,-0.00542417177069,0.0498562328877,0.999999957035,0.000150644314646,-0.000246758904292,-4.84435883001e-05,1793196403052584192
+100,1.666666667,BASELINE,765,743,711,673,664,633.023405709,876.023405709,784.976594291,801,650,630,651,0.400984624803,-0.00542312617334,0.0498544955676,0.999999956088,0.000151381274204,-0.000250055198122,-4.8783075881e-05,1793196403069250816
+101,1.683333333,BASELINE,765,743,711,673,664,633.596929968,876.596929968,784.403070032,801,650,630,651,0.400985950018,-0.00542351401106,0.0498545942124,0.999999956431,0.000150565067719,-0.000249187609046,-4.87305548339e-05,1793196403085917440
+102,1.700000000,BASELINE,765,743,711.175373528,673,664,633.824626472,877,784,801,650,630,651,0.40098653495,-0.00542400059246,0.0498548780719,0.999999956645,0.000149792590254,-0.000248806568322,-4.86546878882e-05,1793196403102584064
+103,1.716666667,BASELINE,765,743,711.765449586,673,664,633.234550414,877,784,801,650,630,651,0.400985369347,-0.00542472067114,0.0498555999051,0.99999995656,0.000149123518106,-0.000249576059591,-4.85236153362e-05,1793196403119250688
+104,1.733333333,BASELINE,765,743,712,673.349353999,664.349353999,633.349353999,877,784.349353999,801,650,630,651,0.400985395434,-0.00542541704973,0.0498556603852,0.999999956729,0.00014900143376,-0.000248970096793,-4.85306120077e-05,1793196403135917568
+105,1.750000000,BASELINE,765,743,712,673.929186858,664.929186858,633.929186858,877,784.929186858,801,650,630,651,0.400986207712,-0.00542609779276,0.0498552845517,0.999999957064,0.000149240212898,-0.000247456707547,-4.86286968958e-05,1793196403152584192
+106,1.766666667,BASELINE,765,743,712,674,664.493817389,634,877,785,801.506182611,650,630,651,0.400985964892,-0.00542492808467,0.0498551345592,0.999999956532,0.000151784546777,-0.000248052061679,-4.86525907358e-05,1793196403169250816
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,712,674,664,634,877,785,801,650,630,651,0.400986730999,-0.00542547492328,0.0498558862904,0.999999957355,0.000147014024854,-0.000247724386951,-4.80661416083e-05,1793196403212962560
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664,634,877.598892636,785,801,650,630,651,0.400987545577,-0.00542391342308,0.0498563593411,0.999999957288,0.000149709182945,-0.000246312293095,-4.83868030806e-05,1793196403229629440
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,743,712,674,664,633.808909637,877.808909637,785,801,650,630,651.191090363,0.400988030564,-0.00542352421347,0.0498566349825,0.999999957315,0.000150838311637,-0.000245477521561,-4.85596225558e-05,1793196403246296064
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,743,712,674,664,633.230289038,877.230289038,785,801,650,630,651.769710962,0.400987847145,-0.00542551240262,0.0498565102792,0.999999957546,0.000148791541569,-0.000245813556364,-4.84326193096e-05,1793196403262962432
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,743,712,673.65327862,664,633.34672138,877.34672138,785,801.34672138,650,630,651.65327862,0.400987223464,-0.00542668714286,0.0498560278915,0.999999957431,0.000148016355801,-0.000246783446452,-4.82462728911e-05,1793196403279629312
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,743,712,673.077332761,664,633.922667239,877.922667239,785,801.922667239,650,630,651.077332761,0.400986308717,-0.00542732409553,0.0498553090314,0.999999957088,0.000148081840124,-0.000248172391004,-4.8020693515e-05,1793196403296295936
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,743,712,673.50808259,664.50808259,634,877.49191741,784.49191741,801.49191741,650,630,651,0.400986536643,-0.00542633200226,0.0498556351031,0.999999957083,0.000148038015487,-0.000248185497647,-4.81995729882e-05,1793196403312962560
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664.905812075,634,877,784.094187925,801.094187925,650,629.905812075,651.094187925,0.400987104797,-0.00542529434285,0.0498560908621,0.999999957113,0.000148244312756,-0.000247913620733,-4.83321256319e-05,1793196403329629184
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,743,712,674,664.323740301,634,877,784.676259699,801.676259699,650,629.323740301,651.676259699,0.400988517304,-0.00542532939856,0.0498563789106,0.999999957056,0.000149834032638,-0.000247270878777,-4.78997758465e-05,1793196403346295808
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,743,712,674,664,634,877,785,801.74514939,650,629.25485061,651.74514939,0.400994964345,-0.00542573265586,0.0498592446403,0.999999958198,0.000150658378745,-0.000242183450845,-4.74730216562e-05,1793196403362962432
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664,634,877,785,801.170920731,650,629.829079269,651.170920731,0.401007720651,-0.00542659734234,0.0498653407128,0.999999960762,0.000150523560512,-0.000231525955285,-4.70532798785e-05,1793196403379629312
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,743,712,673.586816102,664,634,877,785.413183898,801,650,629.586816102,651,0.401038430452,-0.00542752960809,0.0498770882958,0.999999965793,0.000150460168,-0.000208922206753,-4.6118799977e-05,1793196403396295936
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.998548477,743,711.998548477,673.001451523,664,634,877,785.998548477,801,650,629.001451523,651,0.401076805033,-0.00542849246124,0.0498912355231,0.999999971252,0.000150426124388,-0.000181235877324,-4.49672962225e-05,1793196403412962560
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.419223235,743,711.419223235,673.580776765,664,634,877,785.419223235,801,650,629.580776765,651,0.401137529668,-0.00543023061365,0.0499071939773,0.999999977157,0.000150025408394,-0.000145670424493,-4.42619994667e-05,1793196403429629184
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,743,711,674,664,634,877,785,801,650,629.840468189,651,0.401200350522,-0.00543285119533,0.0499209217466,0.999999980981,0.00014862663023,-0.000118687334797,-4.31505851174e-05,1793196403446295808
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,743,711,674,664,634,877,785,801,650,629.263206066,651,0.401268660287,-0.00543778239775,0.0499288085234,0.999999982186,0.000144614449978,-0.000114176954766,-4.09757613278e-05,1793196403462962432
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,743,711,674,664,634,877,784.687563235,801,650,629.312436765,651,0.401345735917,-0.00544122320005,0.0499335763413,0.999999983188,0.000142640540083,-0.00010817058915,-3.97177390658e-05,1793196403479629312
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,743,711,674,664,634,877,784.113277547,801,650,629.886722453,651,0.401430158091,-0.00544341491836,0.0499357302024,0.999999984004,0.000142374876575,-0.000100910459008,-3.92280755929e-05,1793196403496295936
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,743,711.473291235,674,664,634,877.473291235,784.473291235,801,650,630,651,0.401532093953,-0.00544690114973,0.0499355385243,0.999999983973,0.000141179070753,-0.000103205463066,-3.83512197422e-05,1793196403512962560
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.06174899,743,712,674,664,634,877.93825101,785,801,650,630,651.06174899,0.401641524992,-0.00545098417961,0.0499350643577,0.999999983827,0.000139467364055,-0.000107261183789,-3.72916319082e-05,1793196403529629184
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.64074794,743,712,674,664,634,877.35925206,785,801,650,630,651.64074794,0.401777692362,-0.00545740190571,0.0499370516751,0.99999998455,0.000135348633297,-0.000106398615488,-3.54983141886e-05,1793196403546296064
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,712,674,664,633.781635429,877,785.218364571,801,650.218364571,630,652,0.401924210433,-0.00546401658231,0.0499381830712,0.999999985014,0.000131420933853,-0.000107544700193,-3.36787706637e-05,1793196403562962688
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664,633.206278732,877,785.793721268,801,650.793721268,630,652,0.402087650279,-0.00547095324175,0.0499379151689,0.999999985058,0.000127805541312,-0.000111974620389,-3.18163521999e-05,1793196403579629056
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743.376569162,712,674,664,633.376569162,877.376569162,785.623430838,801,651,630,651.623430838,0.402270010263,-0.00547766938528,0.0499369736614,0.9999999852,0.000124908404194,-0.000114367071715,-3.03156286543e-05,1793196403596295680
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,743.963603961,712,674,664,633.963603961,877.963603961,785.036396039,801,651,630,651.036396039,0.402462944784,-0.00548426228246,0.0499356556739,0.999999985402,0.000122412701854,-0.000115620775975,-2.90170573129e-05,1793196403612962304
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,743.456658284,712,673.456658284,664,633.456658284,877.456658284,785,801.543341716,651,630,651,0.402706905504,-0.00549390145872,0.0499398959065,0.99999998695,0.000116426606035,-0.000108789813798,-2.66293918295e-05,1793196403629629184
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,743,712,673,664,633.122277282,877,785,802,650.877722718,630,651,0.402962011612,-0.00550394351385,0.0499443434887,0.999999988463,0.000110856636309,-0.000101023519615,-2.40509202277e-05,1793196403646296064
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,743,712,673,664,633.700021541,877,785,802,650.299978459,630,651,0.403246069962,-0.00551473623134,0.0499481949558,0.999999989769,0.000107696035919,-9.17637258781e-05,-2.10298613626e-05,1793196403662963712
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,743,711.723102362,673.276897638,664.276897638,634,877,785,802,650,630,651,0.403554362125,-0.0055252093271,0.0499548977317,0.999999991473,0.000104334935345,-7.64831301048e-05,-1.78543475536e-05,1793196403679630336
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,743,711.147163886,673.852836114,664.852836114,634,877,785,802,650,630,651,0.403888826035,-0.00553533724068,0.0499646798322,0.999999993323,0.000100757300967,-5.47002559103e-05,-1.45120273851e-05,1793196403696296448
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,743,711,674,664.562635826,633.562635826,877,785,802,650,630,651,0.404243572588,-0.00554375491089,0.0499736482931,0.999999994037,0.000101669901563,-3.83720219515e-05,-1.07778098191e-05,1793196403712963328
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,743,711.024491595,674,664,633.024491595,877,785,801.975508405,650,630,651,0.404607741959,-0.00555093762488,0.0499820013147,0.999999994176,0.000104902194341,-2.44176960059e-05,-6.89772458216e-06,1793196403729630464
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,743,711.60371996,674,664,633.60371996,877,785,801.39628004,650,630,651,0.405027662738,-0.00554344383269,0.0499827397825,0.999999991849,0.000125768829048,-2.18284540427e-05,-2.76031548564e-06,1793196403746296576
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743,712,674,664,633.817501071,877,785,801,650.182498929,630,651,0.405443928003,-0.00553354392883,0.049976161106,0.999999988401,0.000148474809655,-3.39505969845e-05,2.11519487322e-07,1793196403762962688
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664,633.239695602,877,785,801,650.760304398,630,651,0.405852275092,-0.00551843220533,0.0499537329391,0.999999981621,0.000175164950314,-7.79387171443e-05,6.5863185479e-07,1793196403779629312
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,743,712,674,664,633.335073043,877.335073043,785,801,650.664926957,629.664926957,651.335073043,0.406291406722,-0.00551766704529,0.0499329025406,0.999999976084,0.000187042970779,-0.000113312563906,2.7299339513e-06,1793196403796295936
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743,712,674,664,633.907688858,877.907688858,785,801,650.092311142,629.092311142,651.907688858,0.406752362426,-0.00552707256892,0.049913204843,0.999999972067,0.00018842026251,-0.000142579512801,5.95267019992e-06,1793196403812962560
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664,634,877.504488453,785,801,650.495511547,629.495511547,651.504488453,0.407262709619,-0.00553386091176,0.0499110604948,0.999999970827,0.000192856790778,-0.000145064177822,1.04210674718e-05,1793196403829629952
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,743,712,674,664,634,877.084519133,785,801,650.915480867,630,651.084519133,0.407799706461,-0.00553927809932,0.0499166664357,0.999999971121,0.000198908692589,-0.00013400811758,1.53286084825e-05,1793196403846297088
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,743,712,674,664,634,877.663363399,785,801,650.336636601,630,651.663363399,0.40843704902,-0.00553961775,0.0499478700506,0.999999974789,0.000210969585739,-7.38619974418e-05,2.14043460197e-05,1793196403862963968
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,743,712,674.241656077,664,634,878,785,801.241656077,650,630,651.758343923,0.409072217932,-0.00553880235824,0.0499727465269,0.999999973733,0.00022556448495,-2.99275604438e-05,2.75422311617e-05,1793196403879630848
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,743,712,674.819182086,664,634,878,785,801.819182086,650,630,651.180817914,0.409704365725,-0.00553638161048,0.0499888291169,0.999999969703,0.000243681316908,-8.52521907853e-06,3.37664929543e-05,1793196403896297728
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,743,712,674.607995561,664.392004439,634,878,785,801.607995561,650,630,651,0.410302281623,-0.00553437913916,0.0499840735883,0.999999965791,0.000257565806416,-2.46099975445e-05,3.83608394674e-05,1793196403912964864
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,743,712,674.03731713,664.96268287,634,878,785,801.03731713,650,630,651,0.410884594748,-0.00553256731655,0.0499698201316,0.999999961119,0.000269521211146,-5.77812497532e-05,4.22122771787e-05,1793196403929631744
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743,712,674,664.445006475,634,878,785,801,650,630,651,0.411547424805,-0.00553011559834,0.0499377767276,0.999999977212,0.000179385269421,-0.000114389171144,1.765863214e-05,1793196403946297344
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,743,712,674,664,633.85500776,878,785,801,650,630,651.14499224,0.412248871262,-0.00553338860088,0.0499187553951,0.999999984326,0.000102000092862,-0.000144720660968,-8.60628657265e-07,1793196403962963200
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664,633.276448343,878,785,801,650,630,651.723551657,0.413048945813,-0.00555391399071,0.0499423956606,0.99999999226,8.41025935408e-05,-9.1574929806e-05,4.60745092907e-06,1793196403979629824
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,743,712,674,664.301051279,633.301051279,878,785,801.301051279,650,630,651.698948721,0.413828241289,-0.00556179079731,0.0499576751569,0.999999994148,8.69561157908e-05,-6.34831266342e-05,1.06201895985e-05,1793196403996295936
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,743,712,674,664.877581196,633.877581196,878,785,801.877581196,650,630,651.122418804,0.414588522849,-0.00555809345021,0.0499653040877,0.999999992234,0.000108797973173,-5.83170528647e-05,1.71313222112e-05,1793196404012962304
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.462269749,743,712,674,664.537730251,634,878,785,802,650,630,651,0.415321083117,-0.00555276598291,0.0499400125494,0.999999987267,0.000122964432998,-9.99599967443e-05,1.87940896814e-05,1793196404029628928
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.951312092,743,712,674.048687908,664,634,878,785,802,650,630,651,0.416055933514,-0.00554781229662,0.0499097352486,0.999999980143,0.000132479478234,-0.000147654605225,1.90122806363e-05,1793196404046295808
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.370032501,743,712,674.629967499,664,634,878,785,802,650,630,651,0.416897583083,-0.00555175440845,0.0499219982116,0.999999985746,0.000113747160819,-0.000123512885731,1.77257266636e-05,1793196404062962432
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,712,675,664.20870662,634,878,785.20870662,801.79129338,650,630,651,0.417754548401,-0.00555619240024,0.0499396100937,0.99999999075,9.9501115892e-05,-9.09118020319e-05,1.8271314817e-05,1793196404079629312
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743,712,675,664.782995673,634,878,785.782995673,801.217004327,650,630,651,0.418638341607,-0.00556149900343,0.049966591447,0.999999994477,9.31134831496e-05,-4.34928143762e-05,2.2026187814e-05,1793196404096297216
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.35856787,743,712,674.64143213,665,634,878,785.64143213,801,650,630,651,0.419479754879,-0.00556135033129,0.0499642209009,0.999999993954,9.36262051764e-05,-5.24160448066e-05,2.40500628353e-05,1793196404112963840
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.93491939,743,712,674.06508061,665,634,878,785.06508061,801,650,630,651,0.420295427787,-0.00555788828406,0.0499440228674,0.999999990287,9.83300013189e-05,-9.55598945115e-05,2.50225800951e-05,1793196404129629696
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.475481975,743,712,674,664.475481975,634,878,785,801,650,630,651,0.421188596986,-0.00555919768508,0.0499565075598,0.999999993605,9.40220627738e-05,-5.77316402891e-05,2.48391066632e-05,1793196404146296320
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743,712,674.1129452,664.1129452,634,878.1129452,785,801,650,630,651,0.42208944626,-0.00556097949717,0.0499705324712,0.999999995629,8.83834032231e-05,-1.78934543175e-05,2.46819842176e-05,1793196404162963456
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743,712,674.689638578,664.689638578,634,878.689638578,785,801,650,630,651,0.422981325533,-0.00556220718794,0.0499737996668,0.999999996247,8.19908887841e-05,-1.21230490464e-05,2.52372421949e-05,1793196404179630080
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633.734254247,878.734254247,785,801,650,630,651,0.423877997165,-0.00556369777158,0.0499690859511,0.999999996589,7.61876151598e-05,-1.88738921279e-05,2.57006128106e-05,1793196404196296448
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633.158830109,878.158830109,785,801,650,630,651,0.424780253537,-0.00556549470923,0.0499550719341,0.999999996326,7.10709937758e-05,-4.0215974046e-05,2.60569054691e-05,1793196404212962816
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743.426567867,712,675,665,633.426567867,878.426567867,785,801,650,630,651,0.425689529784,-0.00557006800492,0.0499700957958,0.999999997339,6.3155249428e-05,-2.31539759599e-05,2.82308041759e-05,1793196404229629440
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.015460856,743.984539144,712,674.984539144,665,634,878.984539144,785,801,650,630,651,0.426599832652,-0.00557549628069,0.0499951635257,0.999999998019,5.43503922158e-05,6.57601225323e-06,3.10508923465e-05,1793196404246296064
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.593168987,743.406831013,712,674.406831013,665,634,878.406831013,785,801,650,630,651,0.427450142382,-0.00557352300258,0.0499828807905,0.9999999975,5.2021446598e-05,-3.54765158638e-05,3.21694763237e-05,1793196404262962944
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.829484385,743,712,674.170515615,665,633.829484385,878.170515615,785,801,650,630,650.829484385,0.428309228739,-0.0055706659728,0.04996532175,0.999999995345,5.03758512825e-05,-7.57754297911e-05,3.21092521911e-05,1793196404279629824
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.252998473,743,712,674.747001527,665,633.252998473,878.747001527,785,801,650,630,650.252998473,0.429189210787,-0.00556570487234,0.0499352006746,0.999999992044,5.03572035771e-05,-0.000111899267515,2.92424752833e-05,1793196404296296448
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633.322943477,879,785,801.322943477,650.322943477,630,650.322943477,0.430096601333,-0.00556557205984,0.0499275529247,0.99999999208,4.56937400377e-05,-0.000113740503308,2.85556054404e-05,1793196404312962816
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633.89845997,879,785,801.89845997,650.89845997,630,650.89845997,0.431025427933,-0.00556921543549,0.0499374814892,0.999999994923,3.73975815367e-05,-8.87694287882e-05,2.95736337835e-05,1793196404329629696
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.48629993,743,712,675,665,633.51370007,878.51370007,785.48629993,801.51370007,650.51370007,630,651,0.43187396859,-0.00557097473432,0.0499251907174,0.999999993003,3.13611984249e-05,-0.000110347204526,2.8879077128e-05,1793196404346296320
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.924812463,743,712,675,665,633,878.075187537,785.924812463,801.075187537,650,629.924812463,651,0.43271177864,-0.00557252664096,0.0499129332129,0.999999990454,2.55835510144e-05,-0.000132835381406,2.81612358844e-05,1793196404362962688
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.346579245,743,712,675,665,633,878.653420755,785.346579245,801.653420755,650,629.346579245,651,0.433592869827,-0.00557539145827,0.0499327456326,0.999999994907,1.82980163754e-05,-9.46953919089e-05,2.97422849066e-05,1793196404379629568
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743,712,674.769273214,665,633.230726786,878.769273214,785,802,650,629.230726786,650.769273214,0.434463403126,-0.00557692674914,0.0499536682675,0.999999997548,1.36729388258e-05,-6.09235866737e-05,3.17076716346e-05,1793196404396296192
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743,712,674.193354266,665,633.806645734,878.193354266,785,802,650,629.806645734,650.193354266,0.435318140819,-0.00557647292548,0.0499762519071,0.999999998761,1.30281909956e-05,-3.36870506994e-05,3.42480693035e-05,1793196404412962816
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,743,712,674.390130838,665,633.609869162,878,785,802,650,630,650.390130838,0.436107785254,-0.00557347256086,0.0499633939826,0.999999996755,1.45505384807e-05,-7.10245010787e-05,3.51205726525e-05,1793196404429629440
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,743,712,674.977439964,665,633.022560036,878,785,802,650,630,650.977439964,0.436864530477,-0.00556918513425,0.0499326233305,0.999999989295,1.71681701475e-05,-0.000140998665388,3.51500955832e-05,1793196404446296064
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.556856611,743.556856611,712,675,665,633.556856611,878,785,802,650,630,651,0.437694562275,-0.00557037711427,0.0499447638672,0.999999994813,7.68651272914e-06,-9.60052353128e-05,3.31351524499e-05,1793196404462962944
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.864333032,743.864333032,712,675,665,633.864333032,878.135666968,785,801.864333032,650,630,651,0.438509198465,-0.00557230417082,0.0499570101304,0.999999997876,-2.04302635625e-06,-5.69596441166e-05,3.16165747195e-05,1793196404479630080
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.286471224,743.286471224,712,675,665,633.286471224,878.713528776,785,801.286471224,650,630,651,0.439264111752,-0.0055759137064,0.0499640137981,0.999999998062,-1.10051399557e-05,-5.22697491255e-05,3.19820550937e-05,1793196404496296448
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,743.288919096,712,675.288919096,665,633,879,785,801.288919096,650,630,650.711080904,0.43998910128,-0.00557845554141,0.0499565159693,0.999999997184,-1.64256452245e-05,-6.5818854354e-05,3.21003338854e-05,1793196404512963072
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,743.861879618,712,675.861879618,665,633,879,785,801.861879618,650,630,650.138120382,0.440684672193,-0.00557994770108,0.0499347614647,0.999999994587,-1.83643327458e-05,-9.72990405291e-05,3.19755844265e-05,1793196404529629696
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.448753514,743.551246486,712,675.551246486,665,633.448753514,879,785,802,650,630,650.448753514,0.441390747756,-0.00557821072008,0.0499395381423,0.999999995705,-1.45349463573e-05,-8.52151196009e-05,3.34094245704e-05,1793196404546296064
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.96079877,743,712,675,665,634,878.96079877,785,801.96079877,650,630,651,0.44209824132,-0.00557561959921,0.0499536264028,0.99999999764,-9.19377088032e-06,-5.81601628775e-05,3.53850273687e-05,1793196404562962688
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.381990769,743,712,675,665,634,878.381990769,785,801.381990769,650,630,651,0.442779323916,-0.00557538984389,0.0499798878361,0.999999999124,-8.26226457668e-06,-1.55017654469e-05,3.80034598207e-05,1793196404579629824
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,743,712,675,664.803827733,634,878.196172267,785,801,650,630,651,0.443420185642,-0.005575067543,0.0499901290317,0.999999999178,-6.5370195024e-06,-9.50168744449e-07,4.00038094151e-05,1793196404596296960
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,743,712,675,664.226916369,634,878.773083631,785,801,650,630,651,0.443982985189,-0.00557456562584,0.0499692775045,0.999999998324,-3.27125386221e-06,-4.09493840409e-05,4.08045592485e-05,1793196404612964352
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,743,712,675,664.346874282,633.653125718,878.653125718,785,801,650,630,650.653125718,0.444528805132,-0.00557466065921,0.0499438597545,0.999999995976,-1.61745643398e-06,-7.97738442716e-05,4.10166155541e-05,1793196404629631232
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,743,712,675,664.918641611,633.081358389,878.081358389,785,801,650,630,650.081358389,0.445063616455,-0.00557514272051,0.0499154815334,0.999999992223,-1.00876534147e-06,-0.000117836659411,4.0846997257e-05,1793196404646298112
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,743.508776273,712,675,665,633,878.508776273,785,801,650,630,650.508776273,0.445604266134,-0.00557421661629,0.0499160418287,0.999999993749,1.76419625827e-06,-0.000104112489611,4.0747701504e-05,1793196404662964480
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,743.900676846,712,675.099323154,665,632.900676846,879,785,801,650,630,650.900676846,0.446137452033,-0.00557370649089,0.0499215749847,0.999999995735,3.2880659622e-06,-8.27916886595e-05,4.07986174326e-05,1793196404679630592
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,743.322824675,712,675.677175325,665,632.322824675,879,785,801,650,630,650.322824675,0.446630011669,-0.00557632603564,0.0499279367593,0.999999996938,-2.93593341459e-06,-6.62636466797e-05,4.15170305016e-05,1793196404696296960
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,743,712,675.745822956,664.745822956,632,878.745822956,784.745822956,801,650,630,650.254177044,0.447072589546,-0.00557861778034,0.0499163494346,0.999999995813,-9.97576027478e-06,-8.14607251881e-05,4.04824567211e-05,1793196404712963584
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,743,712,675.16989782,664.16989782,632,878.16989782,784.16989782,801,650,630,650.83010218,0.447451898354,-0.00558049458163,0.0498820413777,0.999999989785,-1.80482957091e-05,-0.000136816809162,3.72288776318e-05,1793196404729630464
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,743,712,675.414416149,664,632,878,784.414416149,801.414416149,650.414416149,630,651,0.447812535682,-0.00558165907641,0.0498492986844,0.99999997986,-5.98319426487e-05,-0.000190047001741,2.41177822306e-05,1793196404746297088
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,743,712,675.997781951,664,632,878,784.997781951,801.997781951,650.997781951,630,650.997781951,0.448165360947,-0.00558252346346,0.0498173295671,0.999999963983,-0.000115481028612,-0.000242178721648,6.95632672826e-06,1793196404762963200
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,743,712,675.415818493,664,632,878,784.415818493,801.415818493,650.415818493,630,650.415818493,0.448518392698,-0.00558285184483,0.0498163515724,0.999999965371,-0.000108237196412,-0.000239703814207,9.24505759905e-06,1793196404779630080
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,743,712,675.164104322,664,632,878.164104322,784,801,650,630,650.164104322,0.448862976996,-0.00558203523252,0.0498203364149,0.999999968108,-0.000100342536057,-0.000231473871225,1.1633902991e-05,1793196404796296704
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,743,712,675.738920048,664,632,878.738920048,784,801,650,630,650.738920048,0.449186419541,-0.00557835299217,0.0498367419771,0.999999973967,-9.08190167237e-05,-0.000208840536616,1.4273310059e-05,1793196404812963072
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,743,712,675.679073316,664,632,878.679073316,784,801.320926684,650,630,651,0.449474700686,-0.00557405827097,0.0498440250977,0.999999976154,-8.24087198863e-05,-0.000201567131966,1.64578953018e-05,1793196404829629440
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,743,712,675.091082691,664,632,878.091082691,784,801.908917309,650,630,651,0.449733721728,-0.00556925386489,0.0498437168411,0.999999975586,-7.49248084026e-05,-0.00020707572426,1.8263993604e-05,1793196404846296064
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,743,712,675,663.510436471,631.510436471,878,784,802,650,630,651,0.449972221003,-0.00557264207915,0.0498409890455,0.999999973881,-7.56912119506e-05,-0.000214734863635,1.99562844076e-05,1793196404862962944
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,743,712,675,663.068729661,631,878.068729661,784,802,650,630,651,0.450201523054,-0.0055774331864,0.0498378495471,0.999999971936,-7.79360004028e-05,-0.000222686214368,2.15778406874e-05,1793196404879629824
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,743,712,675,663.646903549,631,878.646903549,784,802,650,630,651,0.450390534809,-0.00558149191836,0.0498349457307,0.999999970122,-7.99295938518e-05,-0.000229881647962,2.28297184122e-05,1793196404896296704
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,743,712,675,664,631,879,784.223435331,802,650,630,651,0.450566948417,-0.00558369660702,0.0498318287965,0.999999968284,-8.02801916231e-05,-0.000237523570333,2.38492573734e-05,1793196404912963328
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,743,712,675,664,631,879,784.797390958,802,650,630,651,0.45072359832,-0.0055829927141,0.0498283775281,0.999999966429,-7.80532947289e-05,-0.000245865933533,2.45043084168e-05,1793196404929629952
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,743,712,675,663.618494261,631,879,784.618494261,801.618494261,650,629.618494261,651,0.450860823103,-0.0055827223342,0.0498270145774,0.999999965309,-7.6521204055e-05,-0.000250791810024,2.51175411597e-05,1793196404946296576
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,743,712,675,663.028836527,631,879,784.028836527,801.028836527,650,629.028836527,651,0.45098744943,-0.00558268848175,0.049826791026,0.999999964609,-7.53682039355e-05,-0.000253853630086,2.57079576289e-05,1793196404962963200
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.450179718,743.549820282,712,675,663.549820282,631,879,784,801.549820282,650,629.549820282,651,0.451089839768,-0.00557978217767,0.0498217311414,0.999999962874,-7.12904977825e-05,-0.000261745514861,2.56528508395e-05,1793196404979629568
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.127738022,744,712,675.127738022,664,631,879,784,802,650,629.872261978,651,0.451184175629,-0.00557642989655,0.0498158815869,0.999999960638,-6.72285962306e-05,-0.000271207385961,2.55266725302e-05,1793196404996295936
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.705045576,744,712,675.705045576,664,631,879,784,802,650,629.294954424,651,0.451254549946,-0.00557202782784,0.0498081280227,0.999999956945,-6.37515874667e-05,-0.000285320697707,2.52671777385e-05,1793196405012962816
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,743.719175617,712,675.719175617,663.719175617,631,878.719175617,784,802.280824383,650,629,651,0.451318652386,-0.00556851224075,0.0498039943369,0.999999954636,-6.04781968651e-05,-0.000294009467067,2.50618366767e-05,1793196405029629696
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,743.144993818,712,675.144993818,663.144993818,631,878.144993818,784,802.855006182,650,629,651,0.451376203035,-0.00556592269873,0.049803642083,0.999999953927,-5.74175120084e-05,-0.000297031598967,2.49130662149e-05,1793196405046296576
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,743.441791429,712,675,663,631,878,784,802.558208571,650,629.441791429,651,0.451421061826,-0.00556491439555,0.0498034569653,0.999999953231,-5.65086880666e-05,-0.000299535834547,2.49455239682e-05,1793196405062963200
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,743.967827158,712,675,663,631,878.032172842,784,802,650,629.967827158,651,0.451460991608,-0.00556451473201,0.0498032540912,0.99999995253,-5.64618657799e-05,-0.000301868454495,2.50325644491e-05,1793196405079629568
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,743.388694798,712,675,663,631,878.611305202,784,802,650,629.388694798,651,0.451490019175,-0.00556538068484,0.0498017894192,0.999999951677,-5.87106807494e-05,-0.000304257972526,2.50066844621e-05,1793196405096295936
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,743,712,675,663,630.811044552,879,784,802,650,629.188955448,651,0.451514459182,-0.00556466660773,0.0497999379789,0.999999950706,-5.8711696885e-05,-0.000307447813559,2.48378013198e-05,1793196405112962560
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,743,712,675,663,630.236419457,879,784,802,650,629.763580543,651,0.451529535691,-0.00556072759261,0.0497972971208,0.999999949481,-5.41248176248e-05,-0.000312271162569,2.43770399805e-05,1793196405129629184
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,743,712,675,663,630.338981307,879,784,802,650.338981307,630,651.338981307,0.451541634735,-0.00555957090091,0.0497953159421,0.999999948477,-5.34822378409e-05,-0.000315581036079,2.4372231938e-05,1793196405146296064
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,743,712,675,663,630.914924355,879,784,802,650.914924355,630,651.914924355,0.45155165241,-0.00556035916621,0.0497937959059,0.999999947641,-5.55968835823e-05,-0.000317832929064,2.46861537753e-05,1793196405162962944
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,743.503565917,712,675,663,631,878.496434083,784,802,650.496434083,630,651.496434083,0.45155453214,-0.00555931598534,0.0497913920319,0.999999946607,-5.45351900666e-05,-0.000321281506299,2.42963415402e-05,1793196405179629824
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,743.907661703,712.092338297,675,663.092338297,631,878.092338297,784,802,650.092338297,629.907661703,650.907661703,0.451556457301,-0.00555781962052,0.0497893330102,0.999999945726,-5.28193805374e-05,-0.000324330514686,2.38096612623e-05,1793196405196296448
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,743.329774194,712.670225806,675,663.670225806,631,878.670225806,784,802,650.670225806,629.329774194,650.329774194,0.451559868262,-0.00555560936126,0.0497898928488,0.999999945898,-5.0558789497e-05,-0.000324187826,2.3454971241e-05,1793196405212962816
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,743.246812531,712.753187469,675,663.753187469,631,879,784,801.753187469,650.753187469,629.246812531,650.246812531,0.451563352595,-0.00555419757731,0.0497906082335,0.999999946291,-4.92796177737e-05,-0.000323185503427,2.32712997532e-05,1793196405229629440
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,743.821670314,712.178329686,675,663.178329686,631,879,784,801.178329686,650.178329686,629.821670314,650.821670314,0.451566934451,-0.00555384706878,0.0497915303586,0.999999946979,-4.93048773039e-05,-0.000321040618077,2.33149336727e-05,1793196405246296320
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,744,712.406142179,675,663.406142179,631,878.593857821,784,801.406142179,650,630,651,0.45156681691,-0.00555454113055,0.0497910196922,0.999999946365,-5.09654237942e-05,-0.000322690034596,2.33302436195e-05,1793196405262962944
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,744,712.994937748,675,663.994937748,631,878.005062252,784,801.994937748,650,630,651,0.451565035648,-0.00555570496455,0.0497898646598,0.999999945151,-5.33614041368e-05,-0.000326045853845,2.33328154893e-05,1793196405279629568
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+239,3.983333333,POSE1_TO_POSE2_PRESS,765,743.365480237,712.634519763,675.365480237,663.365480237,631,878.365480237,784,802,650,629.634519763,651,0.45156630484,-0.00555117459237,0.0497881233676,0.999999944511,-5.09136849717e-05,-0.000328465525304,2.2267974119e-05,1793196405412962816
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,743,712.788150867,675.211849133,663.211849133,631,878.211849133,784,802,650,630,650.788150867,0.451565421742,-0.00555125116434,0.0497878151384,0.999999944245,-5.09235618826e-05,-0.000329275676634,2.22472762665e-05,1793196405429629440
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,743,712.213089402,675.786910598,663.786910598,631,878.786910598,784,802,650,630,650.213089402,0.451568022496,-0.00555153371126,0.049788174005,0.999999944763,-5.00626253045e-05,-0.000327824835192,2.23287607498e-05,1793196405446296064
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,743.369894221,712,675.630105779,663.630105779,630.630105779,878.630105779,784,802,650,630,650.369894221,0.451568413516,-0.0055517245973,0.0497878311202,0.999999944692,-5.03584239158e-05,-0.000327998132698,2.22848189965e-05,1793196405462962944
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,743.95754152,712,675.04245848,663.04245848,630.04245848,878.04245848,784,802,650,630,650.95754152,0.451567503687,-0.00555186152347,0.0497870751214,0.999999944274,-5.13351811514e-05,-0.000329127544828,2.2167040052e-05,1793196405479630080
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,744,712,675.537021188,663,630,878.537021188,784,802,650,629.462978812,651,0.451569038185,-0.00555254177815,0.049788679896,0.999999945088,-5.10209908504e-05,-0.000326679994871,2.23669076028e-05,1793196405496296960
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,744,712.115184004,675.884815996,663,630,878.884815996,784,802,650,629,651,0.451570499213,-0.00555269239604,0.04979009756,0.99999994578,-5.07116818582e-05,-0.000324600128802,2.24482233477e-05,1793196405512963328
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,744,712.69062642,675.30937358,663,630,878.30937358,784,802,650,629,651,0.45157090602,-0.00555055758379,0.0497900329055,0.999999945622,-5.08236092593e-05,-0.000325102592924,2.1956974643e-05,1793196405529629952
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,743.734147493,712.734147493,675,663.265852507,630.265852507,878.265852507,784,802,650.265852507,629.265852507,651,0.451570489887,-0.00554943719532,0.049789262741,0.99999994521,-5.16111833264e-05,-0.000326271634716,2.15078679096e-05,1793196405546296064
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,743.159172867,712.159172867,675,663.840827133,630.840827133,878.840827133,784,802,650.840827133,629.840827133,651,0.451569116874,-0.00554949633592,0.0497876722392,0.9999999445,-5.31843709456e-05,-0.000328215745061,2.11077620248e-05,1793196405562962944
+249,4.150000000,HOLD_POSE2,765,744,712,675,663,631,879,784,803,650,629,651,0.45157079088,-0.00554996319851,0.0497888610963,0.999999944905,-5.04679311991e-05,-0.000327364459871,2.17982495953e-05,1793196405595758080
+250,4.166666667,HOLD_POSE2,765,744,712,675,663,631,879,784,802.420638307,650,629,651,0.451569552287,-0.00554904424675,0.0497882276618,0.999999944715,-5.05889487694e-05,-0.000327938437638,2.16196310319e-05,1793196405612424960
+251,4.183333333,HOLD_POSE2,764.841940008,744,712,675,663.316119984,630.841940008,879,784,802,650,629,651,0.451568693493,-0.00554904407233,0.0497876852886,0.999999944449,-5.16354359038e-05,-0.000328595507338,2.14872417116e-05,1793196405629091584
+252,4.200000000,HOLD_POSE2,764.264999667,744,712,675,664.470000666,630.264999667,879,784,802,650,629,651,0.451568841217,-0.0055514787819,0.0497873842397,0.999999943973,-5.51345425371e-05,-0.000329472782014,2.14773660964e-05,1793196405645758464
+253,4.216666667,HOLD_POSE2,764.316195186,743.683804814,712,675,664.367609628,630,878.683804814,784,802,650,629.316195186,651,0.451568742583,-0.00555164982519,0.049787194539,0.999999943834,-5.46285485747e-05,-0.000329979934368,2.1464928653e-05,1793196405662425088
+254,4.233333333,HOLD_POSE2,764.901004294,743.098995706,712,675,663.197991412,630,878.098995706,784,802,650,629.901004294,651,0.451568434663,-0.00554989784007,0.0497870994308,0.999999943977,-5.0720144034e-05,-0.000330172660604,2.14503148875e-05,1793196405679091456
+255,4.250000000,HOLD_POSE2,765,743,712,675.481224105,663,630.481224105,878.481224105,784,802,650,630,651,0.451568724508,-0.00554950084182,0.049787436194,0.999999944276,-5.02624745865e-05,-0.00032933503182,2.1435322908e-05,1793196405695758080
+256,4.266666667,HOLD_POSE2,765,743.060632986,712,675.939367014,663,630.939367014,878.939367014,784,802,650,630,651,0.451569114923,-0.00554951787285,0.0497878037285,0.999999944547,-5.06531581912e-05,-0.000328452122976,2.14150115676e-05,1793196405712424704
+257,4.283333333,HOLD_POSE2,765,743.641107113,712,675.358892887,663,630.358892887,878.358892887,784,802,650,630,651,0.451569323254,-0.00555071736542,0.049787680577,0.999999944291,-5.22886044771e-05,-0.000328981097411,2.13497550784e-05,1793196405729091328
+258,4.300000000,HOLD_POSE2,765,743.781055003,712,675,663,630,878,784,802,650,630,651,0.45156986145,-0.00555093236001,0.0497876867537,0.99999994424,-5.30013226864e-05,-0.000329036929649,2.11183984623e-05,1793196405745758208
+259,4.316666667,HOLD_POSE2,765,743.207487071,712,675,663,630,878,784,802,650,630,651,0.451570933926,-0.00554955277333,0.0497879024019,0.999999944525,-5.22195076607e-05,-0.000328326418339,2.06180112034e-05,1793196405762425088
+260,4.333333333,HOLD_POSE2,764.625221854,743,712,675,663,630.374778146,878.374778146,784,802,650,629.625221854,651,0.451570701997,-0.00554846539837,0.0497878479067,0.99999994452,-5.12452368964e-05,-0.000328497602207,2.05834565987e-05,1793196405779091968
+261,4.350000000,HOLD_POSE2,764.03802714,743,712,675,663,630.96197286,878.96197286,784,802,650,629.03802714,651,0.451569730758,-0.00554754364289,0.0497876402997,0.999999944349,-5.01618860923e-05,-0.000329168512755,2.08129263428e-05,1793196405795758592
+262,4.366666667,HOLD_POSE2,764.544261738,743.544261738,712,675.544261738,663,631,879,784,802,650,629.544261738,651,0.451568660593,-0.00555028633865,0.0497871154192,0.999999943796,-5.28571070471e-05,-0.000330384791985,2.14608551924e-05,1793196405812425216
+263,4.383333333,HOLD_POSE2,764.875444572,744,712,676,663,630.875444572,878.875444572,784,802,650,629.875444572,651,0.45156797893,-0.00555238168622,0.0497867970479,0.999999943414,-5.50835894726e-05,-0.000331145385109,2.19168012786e-05,1793196405829091328
+264,4.400000000,HOLD_POSE2,764.301128552,744,712,676,663,630.301128552,878.301128552,784,802,650,629.301128552,651,0.451568724851,-0.00555122325215,0.0497873036966,0.999999943782,-5.46727021747e-05,-0.000330124165829,2.15748807132e-05,1793196405845757952
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,712,675,663,631,878,784,802,650,630,651,0.451568184034,-0.00554874367907,0.0497865661536,0.999999943664,-5.26010464523e-05,-0.000330804071406,2.17749244152e-05,1793196405883442688
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.591186348,743.591186348,712,675,663,631,878.591186348,784,802.591186348,650.591186348,630,651,0.451569281873,-0.00554926302717,0.0497875325764,0.999999943791,-5.37686054397e-05,-0.000330245096362,2.15858378895e-05,1793196405900110080
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,744,712,675,663,631,879,784,802.821615146,650.821615146,630,651,0.45156988567,-0.00554995579095,0.0497876572914,0.999999943787,-5.45848773632e-05,-0.000330131757358,2.14442746805e-05,1793196405916776960
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,744,712,675,663,631,879,784,802.243355827,650.243355827,630,651,0.451569382005,-0.00555103729017,0.0497858952012,0.999999943493,-5.4613690696e-05,-0.000331017373418,2.14092415593e-05,1793196405933443584
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.66709436,743.66709436,712.33290564,675,663,630.66709436,879,784,802.33290564,650,630,651,0.451568719126,-0.00555006790881,0.0497852108925,0.999999943315,-5.29715719902e-05,-0.000331854589709,2.0893839866e-05,1793196405950109952
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.092284656,743.092284656,712.907715344,675,663,630.092284656,879,784,802.907715344,650,630,651,0.451567940553,-0.00554760826623,0.0497853097478,0.999999943213,-5.01152796514e-05,-0.000332656636518,2.00293809776e-05,1793196405966776320
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.494209033,743,712.505790967,675.494209033,663,630.494209033,879,784,802.505790967,650,630,651,0.451568433378,-0.00554819342617,0.04978559808,0.999999943364,-5.14806451411e-05,-0.000331976001138,2.03370500164e-05,1793196405983442944
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,743.081518546,712,676,663,630.918481454,879,784,802,650,629.918481454,650.918481454,0.451568923924,-0.00554925585073,0.0497858427867,0.999999943509,-5.35538040954e-05,-0.000331184470351,2.07711683217e-05,1793196406000109568
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,743.660175673,712,676,663,630.339824327,879,784,802,650,629.339824327,650.339824327,0.451567917669,-0.00554967754023,0.0497856004472,0.999999943346,-5.50194709767e-05,-0.000331445980482,2.06093169425e-05,1793196406016776192
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,744,712,676,663,630,879,784,802,650,629,650.237708415,0.451566707591,-0.00554987507991,0.0497853428696,0.999999943182,-5.49580934494e-05,-0.000331952495959,2.05544707096e-05,1793196406033443072
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,744,712,676,663,630,879,784,802,650,629,650.813641274,0.451565207503,-0.005549753687,0.0497850636106,0.999999943016,-5.27239540796e-05,-0.000332807618321,2.06518772239e-05,1793196406050109696
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,743.60332578,712,675.60332578,663.39667422,630.39667422,878.60332578,784,801.60332578,650,629.39667422,651,0.451556469483,-0.00554813228367,0.0497808819572,0.999999940984,-5.12026037314e-05,-0.000339115933888,2.02436150104e-05,1793196406066776064
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,743.016896345,712,675.016896345,663.983103655,630.983103655,878.016896345,784,801.016896345,650,629.983103655,651,0.451544269088,-0.00554579332726,0.0497748335334,0.999999937993,-5.00222267725e-05,-0.000348032868346,1.95934583912e-05,1793196406083442432
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,743.562352283,712.562352283,675.562352283,663.437647717,630.437647717,878.562352283,784,801.562352283,650.562352283,630,651,0.451508403219,-0.00554589434858,0.049759071324,0.999999927574,-5.13547243833e-05,-0.000376641043948,1.88900350195e-05,1793196406100109056
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,743.858343786,712.858343786,675.858343786,663,630.141656214,879,784,802,650.858343786,630,651,0.451467962041,-0.00554542941851,0.0497422776034,0.99999991552,-5.17660561409e-05,-0.000407376910316,1.801300296e-05,1793196406116775936
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,743.278209112,712.278209112,675.278209112,663,630.721790888,879,784,802,650.278209112,630,651,0.45141553179,-0.00554298859516,0.0497231829907,0.999999900581,-4.90952805004e-05,-0.0004428905211,1.66034790609e-05,1793196406133442560
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,743.298916685,712.298916685,675,663,631,878.701083315,784,801.701083315,650,630,651,0.45136131752,-0.00554055058479,0.0497079314262,0.999999890486,-4.80178769572e-05,-0.000465284753627,1.52459162388e-05,1793196406150109184
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,743.873269919,712.873269919,675,663,631,878.126730081,784,801.126730081,650,630,651,0.451305459371,-0.0055381151666,0.0496962210366,0.999999885638,-4.84086851058e-05,-0.000475590143373,1.39362330082e-05,1793196406166775808
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,744,712.552301523,675.447698477,663,631,878.447698477,784,801.447698477,650,630,651,0.45124326513,-0.00553539823869,0.0496937326233,0.999999884021,-4.5937557252e-05,-0.000479236852116,1.34389340308e-05,1793196406183443456
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,743.977061509,712,676,663,631,879,784,802,650,629.977061509,651,0.451178624898,-0.005532575763,0.0496939417806,0.999999883468,-4.26486514005e-05,-0.000480699571172,1.31685488582e-05,1793196406200111104
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,743.382118232,712,676,663,631,879,784,802,650,629.382118232,651,0.4510977228,-0.00552910874438,0.0496963120536,0.999999886475,-3.91723972317e-05,-0.000474711311564,1.28211938157e-05,1793196406216777728
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,743.206196276,712,676,663.206196276,631,878.793803724,784,802,650,629,651,0.4510107824,-0.00552500854866,0.0496980022284,0.999999888802,-3.49348480747e-05,-0.000470132225581,1.22877153139e-05,1793196406233444096
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,743.782609051,712,676,663.782609051,631,878.217390949,784,802,650,629,651,0.4509130005,-0.0055197715112,0.0496984713161,0.999999889954,-2.93304270552e-05,-0.000468083250582,1.14200602255e-05,1793196406250110208
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,744,712,675.642551974,663.642551974,631,878.357448026,784,802,650,629.357448026,651,0.450803296266,-0.0055149066181,0.049700816056,0.99999989279,-2.57065191366e-05,-0.000462220451281,1.05791996941e-05,1793196406266776576
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,744,712,675.068665893,663.068665893,631,878.931334107,784,802,650,629.931334107,651,0.450686372941,-0.00551026706131,0.0497042965207,0.999999896601,-2.32818295079e-05,-0.0004540483462,9.75456342847e-06,1793196406283443200
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,744,712,675,663,631,878.481798953,784,802,650.518201047,630,651,0.450549553257,-0.00550451903555,0.0497092218918,0.999999900332,-2.00854621724e-05,-0.000445929337544,8.892998143e-06,1793196406300109568
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,744,712,675,663.105625792,631,878.105625792,784,802,650.894374208,630,651,0.450404334458,-0.00549851768587,0.0497144961496,0.999999904183,-1.64254628725e-05,-0.0004373779075,8.09781493701e-06,1793196406316776192
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,744,712,675,663.687609755,631,878.687609755,784,802,650.312390245,630,651,0.450233432177,-0.00549205331182,0.0497204581885,0.999999908811,-1.11475431668e-05,-0.000426843766954,7.62464131975e-06,1793196406333442816
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,744,712,675,663.733854879,631,878.733854879,784,802,649.733854879,629.733854879,651,0.450047816582,-0.00548468456439,0.04972292784,0.999999910524,-6.16002509213e-06,-0.000422929002109,6.69148725925e-06,1793196406350109440
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,744,712,675,663.159315591,631,878.159315591,784,802,649.159315591,629.159315591,651,0.449845152027,-0.00547626787977,0.049721350707,0.999999908955,-1.50900859854e-06,-0.000426684402451,5.22533346599e-06,1793196406366775808
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,744,712,675,663.422785045,631,878.422785045,784,802,649.422785045,629.422785045,651,0.449625368619,-0.00546568630829,0.0497204436132,0.999999908394,7.17739228879e-06,-0.000427959000921,3.39266771114e-06,1793196406383442432
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,744,712,675.007739408,663.992260592,631,878.992260592,784,802,649.992260592,630,651,0.449398427102,-0.00545432823679,0.0497197754116,0.999999908113,1.72891930808e-05,-0.00042833706676,1.41325230277e-06,1793196406400109312
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,744,712,675.589176773,663.410823227,631,878.410823227,784,802,649.410823227,630,651,0.449127762219,-0.00544698316017,0.0497177586497,0.999999906168,1.82892428139e-05,-0.000432815591952,-1.02012519671e-06,1793196406416775936
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,744,712,676,663.169184562,631,878,784,802,649.169184562,630,651,0.448848750008,-0.00543976719217,0.0497159485563,0.999999905173,2.09477371244e-05,-0.000434976095703,-3.2120414062e-06,1793196406433442560
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,744,712,676,663.745749981,631,878,784,802,649.745749981,630,651,0.448549638236,-0.0054328621069,0.0497146361019,0.999999906488,2.75996132038e-05,-0.000431555016513,-4.82254069984e-06,1793196406450109184
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,743.10321933,712,675.10321933,664,631.89678067,878.89678067,784.89678067,802,650,630,651,0.447914276441,-0.00542836671547,0.0497148345234,0.999999911042,2.06191023974e-05,-0.00042114841343,-1.11448326387e-05,1793196406483442432
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,743,712.481934459,675,664,632,878.518065541,784.518065541,802,650,630,651,0.447570284198,-0.00543690696717,0.0497141560464,0.999999911496,6.90861353276e-06,-0.000420488540248,-1.22405957521e-05,1793196406500109312
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,743.06836409,712.93163591,675.06836409,664,632,878.06836409,784.06836409,802,650,630,651,0.447216729456,-0.00544663826887,0.0497134606105,0.999999911344,-7.99679993919e-06,-0.000420807764967,-1.29942766827e-05,1793196406516775680
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,743.648085337,712.351914663,675.648085337,664,632,878.648085337,784.648085337,802,650,630,651,0.446826095151,-0.00544978701739,0.0497145635648,0.999999911405,-1.98149291479e-05,-0.000420194063967,-1.52851031932e-05,1793196406533442560
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,744,712,676,664.80476601,632.80476601,879,785,802,650,630.80476601,651,0.446010537927,-0.00542927300954,0.0497352725303,0.999999925389,-8.66828036304e-06,-0.000385609639866,-2.12417656826e-05,1793196406566775808
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.621184132,744,712,675.621184132,665,633,879,785,802,650,630.621184132,651,0.445590048318,-0.00542241287969,0.0497610196803,0.999999938673,-7.94573013854e-06,-0.000349393431677,-2.26993942533e-05,1793196406583442432
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764.049017028,744,712,675.049017028,665,633,879,785,802,650,630.049017028,651,0.445166884357,-0.00542026842497,0.0497925655517,0.999999952444,-1.35674897777e-05,-0.000307228081739,-2.32279180225e-05,1793196406600109056
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,664,632.445234046,878,785,801.890468092,650,630,651,0.441931142008,-0.00542461468787,0.0497767927305,0.999999939457,-6.48731540087e-05,-0.000339307791054,-4.18122112348e-05,1793196406700111360
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,665.231188337,633,878,785,802.384405832,650,630,651,0.440787557879,-0.00541656992319,0.0498246043998,0.999999962159,-6.74657756051e-05,-0.000262869010702,-4.50590212481e-05,1793196406733444864
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.655974447,664.655974447,633,879,784.655974447,801.655974447,650,630,651,0.438784121042,-0.00542006306424,0.0497841041688,0.999999938866,-9.98553225518e-05,-0.000330333733436,-5.63620277196e-05,1793196406783443712
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.083295809,664.083295809,633,879,784.083295809,801.083295809,650,630,651,0.438060562233,-0.00541671315959,0.0497488091073,0.999999918606,-0.000104510296243,-0.000384721741749,-6.20940352309e-05,1793196406800110080
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,664.577090761,633.422909239,878,785,801.422909239,650,630,651,0.432310949793,-0.0053916250361,0.0498077597227,0.999999951167,4.47928098668e-05,-0.000307492698866,-3.32922036677e-05,1793196406933443072
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.843880957,664.843880957,633,878,785,801.312238086,650,630.156119043,651,0.431550492126,-0.00538820022941,0.0498172024331,0.999999954884,3.62561281546e-05,-0.00029581882615,-3.75427954872e-05,1793196406950109696
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.886344068,664,633,877.113655932,785,801.227311864,650,630.113655932,651,0.429128337897,-0.00539531034427,0.0497469564436,0.999999915531,-5.97467598413e-06,-0.000407480451925,-5.34943916962e-05,1793196407000109568
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.528501291,664,633,877.471498709,785,801.471498709,650,630,651,0.428350024195,-0.00539615986994,0.0497640383302,0.999999925689,-6.567812792e-06,-0.000381696914957,-5.3729360139e-05,1793196407016776448
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.058074527,664.058074527,633,878,785,801.941925473,650,630,651,0.427576083308,-0.00539571416038,0.0497880199424,0.99999993885,-3.05263367926e-06,-0.000345663391167,-5.29870104469e-05,1793196407033442816
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.637602681,664.637602681,633,878,785,801.362397319,650,630,651,0.42675981676,-0.00538783151912,0.0497812905966,0.99999993252,1.66215240654e-05,-0.000363326424042,-5.1738052379e-05,1793196407050109440
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,764.633168627,743.633168627,712,675.366831373,664.366831373,633,877.633168627,785,801.633168627,649.366831373,630,650.366831373,0.424459933521,-0.005385922521,0.0498094740488,0.999999957079,2.2362337662e-05,-0.000287090012566,-5.40453550673e-05,1793196407100109568
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5bc479a5912ad10b44cd2fdc44c2cda88e0481b0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,427 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3231d49b62407f9ec0a7d5cf82ab9c69c232364f
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a1bae75379e604eb51b01954852949b78bd7c481
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_01/franka_data.csv
@@ -0,0 +1,421 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,743,712,674,660,633,877,785,800,649,630,651,0.401008340103,-0.00552345895656,0.0698437422528,0.999999983703,5.02713421046e-05,-0.000171435493034,2.60086012035e-05,1793196410191369728
+1,0.016666667,BASELINE,764,743,712.590950801,674,659.409049199,633.590950801,877,785,800.590950801,649,629.409049199,651,0.401006335305,-0.00552364719074,0.0698421048054,0.999999983147,5.0666432994e-05,-0.000174557181841,2.58550015777e-05,1793196410208035840
+2,0.033333333,BASELINE,764,743,712.821594656,674,659.178405344,633.821594656,877,785,801,649,629.178405344,651,0.401004804585,-0.00552393683935,0.0698409705538,0.999999982785,5.01698987965e-05,-0.000176780991502,2.57302609012e-05,1793196410224702208
+3,0.050000000,BASELINE,764,743,712.242002172,674,659.757997828,633.242002172,877,785,801,649,629.757997828,651,0.401004339941,-0.00552445454265,0.069840967858,0.999999982872,4.76683321491e-05,-0.000176985705491,2.56704164537e-05,1793196410241368576
+4,0.066666667,BASELINE,764.334811302,743,712,674,659.665188698,633,877,785,801,649.334811302,630,651,0.401005459896,-0.00552450791744,0.069841623567,0.999999983039,4.82605851181e-05,-0.000175858920939,2.58106998137e-05,1793196410258035456
+5,0.083333333,BASELINE,764.909632604,743,712,674,659.090367396,633,877,785,801,649.909632604,630,651,0.401007715773,-0.00552422843758,0.0698427512544,0.999999983256,5.1070647606e-05,-0.000173777649588,2.6094445105e-05,1793196410274702080
+6,0.100000000,BASELINE,764.504896766,743,712,674,659,633.495103234,877,785,801,649.504896766,629.504896766,651,0.401006828702,-0.00552366908189,0.0698424125693,0.999999983153,4.98772675213e-05,-0.000174749809847,2.58646416013e-05,1793196410291368704
+7,0.116666667,BASELINE,764.081398016,743,712,673.918601984,659,634,877.081398016,785,801,649.081398016,629.081398016,651,0.401005494519,-0.00552327021934,0.069841900222,0.999999983005,4.83256837637e-05,-0.000176070969106,2.55712757102e-05,1793196410308035328
+8,0.133333333,BASELINE,764.660584674,743,712,673.339415326,659,634,877.660584674,785,801,649.660584674,629.660584674,651,0.401005011341,-0.00552417211902,0.0698419986109,0.999999982972,4.91504365432e-05,-0.000176043225745,2.54750255368e-05,1793196410324702464
+9,0.150000000,BASELINE,764.760820275,743,712.239179725,673,659.478359451,634,878,784.760820275,800.760820275,649.760820275,629.760820275,651,0.401005136143,-0.00552456325574,0.0698424381467,0.99999998307,4.90836993043e-05,-0.00017553545434,2.52502163867e-05,1793196410341369344
+10,0.166666667,BASELINE,764.183062738,743,712.816937262,673,660.633874525,634,878,784.183062738,800.183062738,649.183062738,629.183062738,651,0.401006121589,-0.00552423136705,0.0698433606031,0.999999983352,4.77549873896e-05,-0.000174348165288,2.48434218485e-05,1793196410358035712
+11,0.183333333,BASELINE,764,743,712.607403892,673.392596108,660.607403892,634,877.607403892,784.392596108,800.392596108,649,629,651,0.401006331441,-0.00552364005568,0.0698433813616,0.999999983307,4.91214651187e-05,-0.000174226848925,2.48463064729e-05,1793196410374702080
+12,0.200000000,BASELINE,764,743,712.032718385,673.967281615,660.032718385,634,877.032718385,784.967281615,800.967281615,649,629,651,0.401006181566,-0.00552292842183,0.069842983905,0.999999983106,5.17379944987e-05,-0.000174599939612,2.50392037244e-05,1793196410391368448
+13,0.216666667,BASELINE,764,743,712,674,659.444034757,634,876.444034757,785,801,649,629.555965243,651,0.401005736061,-0.00552457360376,0.0698430563139,0.99999998323,4.8817750019e-05,-0.000174673089828,2.54111042665e-05,1793196410408035328
+14,0.233333333,BASELINE,764.142581828,743,712.142581828,673.857418172,659,634,876.142581828,785,800.857418172,649,630,651,0.401005483349,-0.00552555412447,0.0698430712047,0.999999983302,4.71357185852e-05,-0.000174698248654,2.56009751775e-05,1793196410424701952
+15,0.250000000,BASELINE,764.720311067,743,712.720311067,673.279688933,659,634,876.720311067,785,800.279688933,649,630,651,0.401005873492,-0.00552407193013,0.069842823986,0.999999983172,5.0252717674e-05,-0.000174632203878,2.52023273754e-05,1793196410441368576
+16,0.266666667,BASELINE,764.702271432,743,712.702271432,673,659,633.702271432,877,785,800,649,630,651,0.401005421588,-0.00552355387475,0.0698424607075,0.999999983068,5.05235632081e-05,-0.00017518655344,2.49356947919e-05,1793196410458035456
+17,0.283333333,BASELINE,764.125146509,743,712.125146509,673,659,633.125146509,877,785,800,649,630,651,0.401004179485,-0.00552394059295,0.0698419885154,0.99999998299,4.81235028501e-05,-0.000176323097447,2.47929488021e-05,1793196410474702592
+18,0.300000000,BASELINE,764,743,712,673,659.450647874,633.450647874,877.450647874,785,800.450647874,649,629.549352126,651,0.401005075435,-0.00552482837699,0.0698427272056,0.999999983226,4.69437205622e-05,-0.000175254927734,2.50975021056e-05,1793196410491369216
+19,0.316666667,BASELINE,764,743,712,673,659.973250594,633.973250594,878,785,801,649,629.026749406,651,0.401006447845,-0.00552576507478,0.0698437243967,0.999999983521,4.62066817897e-05,-0.000173700240687,2.54987411034e-05,1793196410508035840
+20,0.333333333,BASELINE,764,743,712,673,659.382915508,633.382915508,878,785,801,649,629.617084492,651,0.401005386011,-0.00552480925489,0.0698431039983,0.999999983273,4.76790649258e-05,-0.000174756795134,2.53276334837e-05,1793196410524702464
+21,0.350000000,BASELINE,764,743,712,673.20336367,659,633,877.79663633,785,801,649,630,651,0.40100488675,-0.00552416084741,0.0698429277457,0.999999983128,4.89787797116e-05,-0.000175240718515,2.52200771921e-05,1793196410541369088
+22,0.366666667,BASELINE,764,743,712,673.782155209,659,633,877.217844791,785,801,649,630,651,0.401005426051,-0.00552407995133,0.0698435714271,0.999999983179,4.99597328229e-05,-0.000174667512641,2.5229842463e-05,1793196410558035456
+23,0.383333333,BASELINE,764,743,712,674.358185418,659,633.358185418,877,785,801,649,629.641814582,651,0.401004674299,-0.00552425379375,0.0698429947769,0.999999983041,5.01706147007e-05,-0.000175387894094,2.53089148771e-05,1793196410574702080
+24,0.400000000,BASELINE,764,743,712,674.932549118,659,633.932549118,877,785,801,649,629.067450882,651,0.401003143349,-0.00552458138034,0.069841681611,0.999999982786,4.99167299147e-05,-0.000176889003769,2.54298167421e-05,1793196410591368704
+25,0.416666667,BASELINE,764.519525467,743,712,674.480474533,659.519525467,633.480474533,877.519525467,784.480474533,801,649,629,651,0.401003133085,-0.00552364713539,0.069841581533,0.999999982852,4.99220779947e-05,-0.000176544126587,2.52031877092e-05,1793196410608035584
+26,0.433333333,BASELINE,764.893623808,743,712,674,659.893623808,633,877.893623808,784.106376192,801,649,629.106376192,651,0.401003345701,-0.00552276755871,0.069841662738,0.999999982934,4.99404959641e-05,-0.00017611805605,2.49267928131e-05,1793196410624702208
+27,0.450000000,BASELINE,764.314784749,743,712,674,659.314784749,633,877.314784749,784.685215251,801,649,629.685215251,651,0.401003649519,-0.00552287651273,0.0698418321808,0.999999982891,4.98637598624e-05,-0.000176422323781,2.46347521057e-05,1793196410641368832
+28,0.466666667,BASELINE,764,743,712,674,659.263485451,633,877,785,801,649,630,651,0.401004267799,-0.005522776031,0.069842249178,0.999999982949,5.01027021395e-05,-0.000176012226809,2.47121792209e-05,1793196410658035456
+29,0.483333333,BASELINE,764,743,712,674,659.841077468,633,877,785,801,649,630,651,0.401005260956,-0.00552242587649,0.0698429612898,0.999999983127,5.07179712761e-05,-0.000174750520589,2.52300567391e-05,1793196410674702080
+30,0.500000000,BASELINE,764.416487449,743,712.416487449,674,660,633,877,785,801,649.416487449,630,651,0.401004468514,-0.00552332551972,0.0698422817644,0.999999982994,4.99771013697e-05,-0.00017570296054,2.53680596212e-05,1793196410691368448
+31,0.516666667,BASELINE,764.991069139,743,712.991069139,674,660,633,877,785,801,649.991069139,630,651,0.401002998276,-0.00552469957299,0.0698410739881,0.999999982739,4.87214553768e-05,-0.000177495867046,2.53618660876e-05,1793196410708035072
+32,0.533333333,BASELINE,765,743,713,674,660,633.580595069,877,784.419404931,801,650,630,651,0.401004097336,-0.00552323861232,0.0698423253972,0.999999982949,4.88308637431e-05,-0.000176306810019,2.51790817352e-05,1793196410724701696
+33,0.550000000,BASELINE,765,743,713,674,659.832712134,634,877,784.167287866,801.167287866,649.832712134,630,651,0.401004750323,-0.00552244185026,0.0698432310192,0.999999983076,4.88641246406e-05,-0.000175583099189,2.51034081862e-05,1793196410741368576
+34,0.566666667,BASELINE,765,743,713,674,659.253575252,634,877,784.746424748,801.746424748,649.253575252,630,651,0.401004205249,-0.00552339048894,0.0698431897518,0.999999982987,4.86568565455e-05,-0.000176120942715,2.52982968312e-05,1793196410758035712
+35,0.583333333,BASELINE,764.676342229,743.323657771,712.676342229,674,659.323657771,633.676342229,877.323657771,784.676342229,801.676342229,649.323657771,629.676342229,651,0.401004675788,-0.00552382839702,0.0698431284419,0.999999983033,4.9031948458e-05,-0.000175750874821,2.5328900171e-05,1793196410774702592
+36,0.600000000,BASELINE,764.100592032,743.899407968,712.100592032,674,659.899407968,633.100592032,877.899407968,784.100592032,801.100592032,649.899407968,629.100592032,651,0.401005937374,-0.0055238685044,0.0698430515209,0.999999983183,4.98606322601e-05,-0.000174673647718,2.52315440484e-05,1793196410791369216
+37,0.616666667,BASELINE,764.484077968,743.515922032,712.484077968,674,660,633.484077968,877.515922032,784.484077968,801,650,629.484077968,651,0.401006297101,-0.00552387939583,0.069843253305,0.999999983265,4.98877574389e-05,-0.000174211056754,2.51391261628e-05,1793196410808035584
+38,0.633333333,BASELINE,764.930229569,743,713,673.930229569,660,633.930229569,877.069770431,785,801,650,630,651,0.401006308767,-0.00552388509613,0.0698434756717,0.999999983306,4.9874431464e-05,-0.000173990008057,2.50558311882e-05,1793196410824701952
+39,0.650000000,BASELINE,764.350861129,743,713,673.350861129,660,633.350861129,877.649138871,785,801,650,630,651,0.40100517273,-0.00552389805621,0.0698434174226,0.999999983157,5.08050689148e-05,-0.000174582780347,2.50315334424e-05,1793196410841368576
+40,0.666666667,BASELINE,764,743,713,673.228503093,660,633.228503093,877.771496907,785,801,650,629.771496907,651,0.401004516741,-0.00552385377356,0.0698433177258,0.999999983034,5.10743306412e-05,-0.000175213005499,2.49601497229e-05,1793196410858035200
+41,0.683333333,BASELINE,764,743,713,673.807860805,660,633.807860805,877.192139195,785,801,650,629.192139195,651,0.40100459784,-0.00552372159767,0.069843154388,0.999999982955,5.03280842801e-05,-0.000175900737535,2.48164679405e-05,1793196410874701824
+42,0.700000000,BASELINE,764,743,713,674,660,634,877.768082075,785,801,649.615958963,629.384041037,651,0.401003840739,-0.00552342550597,0.0698426512032,0.9999999828,5.09316394345e-05,-0.000176604329095,2.48206249936e-05,1793196410891368704
+43,0.716666667,BASELINE,764,743,713,674,660,634,878.917289155,785,801,649.041355423,629.958644577,651,0.40100266772,-0.00552304807868,0.0698419793851,0.999999982607,5.22049708319e-05,-0.000177315790185,2.48981401969e-05,1793196410908035584
+44,0.733333333,BASELINE,764.545098569,743,712.454901431,674,660,634,877.909802863,785,801,649.545098569,630,651,0.401003642259,-0.00552320565204,0.0698427688725,0.999999982943,5.05342498664e-05,-0.000175889167566,2.49532954226e-05,1793196410924702208
+45,0.750000000,BASELINE,764.869498185,743,712.130501815,674,660,634,877,784.869498185,801,650,630,651,0.40100430899,-0.00552320298874,0.0698434052487,0.999999983175,4.94597851828e-05,-0.000174874101226,2.49591467651e-05,1793196410941368832
+46,0.766666667,BASELINE,764.290859245,743,712.709140755,674,660,634,877,784.290859245,801,650,630,651,0.401003346792,-0.00552250760094,0.0698431266788,0.999999982921,5.12168857877e-05,-0.000175841706469,2.48016456908e-05,1793196410958035200
+47,0.783333333,BASELINE,764,743,712.712957668,674,660,634,877.287042332,784.287042332,801,650,630,651,0.401003862156,-0.00552196940004,0.0698432788574,0.999999982951,5.14201833545e-05,-0.000175629547145,2.46448700478e-05,1793196410974701824
+48,0.800000000,BASELINE,764,743,712.135801272,674,660,634,877.864198728,784.864198728,801,650,630,651,0.401005870892,-0.00552159006805,0.0698438663942,0.99999998327,5.00530503613e-05,-0.000174224998341,2.44888275802e-05,1793196410991368704
+49,0.816666667,BASELINE,764,743,712,674,660,634,878,785,801,649.560980556,630,651,0.401005047067,-0.0055228528711,0.0698432792939,0.999999983087,5.01807172667e-05,-0.000175171891747,2.49448878008e-05,1793196411008035328
+50,0.833333333,BASELINE,764,743,712,674,660,634,878,785,801,649,630,651,0.401003397251,-0.00552457717647,0.0698423636504,0.999999982759,5.07373122037e-05,-0.000176784274094,2.55744756563e-05,1793196411024701952
+51,0.850000000,BASELINE,764,743,712,674,660,634,878,785,801,649,630,651,0.401003695476,-0.00552443023962,0.0698428538386,0.999999982951,4.99681676855e-05,-0.00017591570402,2.55708418208e-05,1793196411041368832
+52,0.866666667,BASELINE,764.191844394,743,712.191844394,674,660,634,878,785,801,649.191844394,630,651,0.401004076172,-0.00552402520745,0.0698433412893,0.999999983128,4.95111403003e-05,-0.000175056972469,2.54517341875e-05,1793196411058035712
+53,0.883333333,BASELINE,764.773014131,743,712.773014131,674,660,634,878,785,801,649.773014131,630,651,0.401004624235,-0.00552309640159,0.0698438231843,0.999999983275,4.96875175017e-05,-0.000174218207079,2.50982862378e-05,1793196411074702336
+54,0.900000000,BASELINE,765,743,713,674,660,633.650609211,877.650609211,785,801,649.650609211,630,651,0.401004607199,-0.00552284815772,0.0698438456844,0.999999983176,5.10088442868e-05,-0.000174409906504,2.50325523545e-05,1793196411091368448
+55,0.916666667,BASELINE,765,743,713,674,660,633.077304316,877.077304316,785,801,649.077304316,630,651,0.401004228007,-0.00552303606572,0.0698435737722,0.999999982917,5.30639350067e-05,-0.000175262000038,2.51512058244e-05,1793196411108035072
+56,0.933333333,BASELINE,765,743,713,674,659.492098832,633,877.507901168,785,801,649,630,651,0.401003724319,-0.00552016983416,0.0698430542126,0.999999982598,5.50655772072e-05,-0.000176520225426,2.47305196847e-05,1793196411124701952
+57,0.950000000,BASELINE,764.906321714,743,712.906321714,673.906321714,659,633,877.906321714,785,801,649,630,651,0.401003352037,-0.00551778847613,0.0698426145303,0.999999982379,5.62053836112e-05,-0.000177456603686,2.43448586775e-05,1793196411141368832
+58,0.966666667,BASELINE,764.327194129,743,712.327194129,673.327194129,659,633,877.327194129,785,801,649,630,651,0.401003761267,-0.00552038647204,0.0698427887934,0.99999998274,5.29222467756e-05,-0.000176397125851,2.45763021834e-05,1793196411158035456
+59,0.983333333,BASELINE,764,743,712,673,659,633,877.251345967,785,801,649,629.748654033,651,0.401003757722,-0.00552176230999,0.0698428750311,0.999999982822,5.19268802048e-05,-0.000176193666838,2.48084937929e-05,1793196411174702080
+60,1.000000000,BASELINE,764,743,712,673,659,633,877.829123152,785,801,649,629.170876848,651,0.401003218094,-0.00552155089183,0.0698428469473,0.999999982551,5.39027151705e-05,-0.000177101947291,2.50416570213e-05,1793196411191368704
+61,1.016666667,BASELINE,764,743.405312594,712.405312594,673.405312594,659.405312594,633.405312594,877.594687406,785,801,649,629.405312594,651,0.401003861082,-0.00552111234598,0.0698430608133,0.99999998264,5.45525836965e-05,-0.000176411369215,2.49758039818e-05,1793196411208035584
+62,1.033333333,BASELINE,764,743.980835233,712.980835233,673.980835233,659.980835233,633.980835233,877.019164767,785,801,649,629.980835233,651,0.401005000708,-0.00552057841842,0.0698433762854,0.999999982879,5.46456157017e-05,-0.000175049354307,2.47843797691e-05,1793196411224702464
+63,1.050000000,BASELINE,764,743.431631035,712.431631035,674,660,634,877.568368965,785,801,649.568368965,630,651,0.40100416678,-0.00552272158985,0.0698433155162,0.999999982932,5.0116941629e-05,-0.000176105705472,2.47057917467e-05,1793196411241368832
+64,1.066666667,BASELINE,764,743,712,674,660,633.845592019,878,785,801,650,629.845592019,651,0.401003435854,-0.00552407369297,0.0698430996154,0.99999998291,4.72820985471e-05,-0.000177026935704,2.46273923255e-05,1793196411258035456
+65,1.083333333,BASELINE,764,743,712,674,660,633.264822796,878,785,801,650,629.264822796,651,0.401003177063,-0.0055229868102,0.069842491142,0.999999982745,4.95639726507e-05,-0.000177345034014,2.4538781069e-05,1793196411274702080
+66,1.100000000,BASELINE,764.313627378,743,712,674,659.686372622,633,877.686372622,785,801.313627378,649.686372622,629,651,0.40100270717,-0.00552353375021,0.0698422344152,0.999999982705,4.99673660306e-05,-0.000177429865325,2.47244177156e-05,1793196411291368704
+67,1.116666667,BASELINE,764.890133724,743,712,674,659.109866276,633,877.109866276,785,801.890133724,649.109866276,629,651,0.401002060334,-0.0055254501423,0.0698422725184,0.999999982772,4.87962377255e-05,-0.000177319174825,2.51399258971e-05,1793196411308035328
+68,1.133333333,BASELINE,764.535882195,743,712.464117805,674,659,633.464117805,877.464117805,785,801.535882195,649,629,651,0.401003002533,-0.0055248247683,0.0698428802791,0.999999982932,4.91502899186e-05,-0.00017633348375,2.50511588581e-05,1793196411324702208
+69,1.150000000,BASELINE,764,743,713,674,659,633.961237897,878,785,801,649.038762103,629.038762103,651,0.401004212084,-0.00552362323368,0.0698435228724,0.999999983092,4.98646034451e-05,-0.000175253150535,2.48361696832e-05,1793196411341368832
+70,1.166666667,BASELINE,764,743,713,674,659,633.368677275,878,785,801,649.631322725,629.631322725,651,0.401003896181,-0.00552273995603,0.0698427469256,0.999999982973,5.05956475231e-05,-0.000175763960062,2.45140988793e-05,1793196411358035712
+71,1.183333333,BASELINE,764,743,712.781690926,674,659.218309074,633.218309074,877.781690926,785,801,650,630,651,0.401004133782,-0.00552228576598,0.0698427104847,0.999999982933,5.0858366387e-05,-0.000175931393482,2.43872220482e-05,1793196411374702592
+72,1.200000000,BASELINE,764,743,712.203883855,674,659.796116145,633.796116145,877.203883855,785,801,650,630,651,0.401005282861,-0.00552253817096,0.0698438918167,0.999999983024,5.03498761205e-05,-0.000175533376265,2.4581778632e-05,1793196411391368960
+73,1.216666667,BASELINE,764,743,712.372153542,674,660,633.627846458,877.372153542,785,801,649.627846458,630,651,0.40100473059,-0.00552296736596,0.0698435666808,0.999999982889,5.0677556232e-05,-0.000176194096871,2.46837377219e-05,1793196411408035584
+74,1.233333333,BASELINE,764,743,712.94722598,674,660,633.05277402,877.94722598,785,801,649.05277402,630,651,0.401003250647,-0.00552349295673,0.0698424201343,0.999999982629,5.14611631622e-05,-0.00017743210049,2.47352074752e-05,1793196411424702208
+75,1.250000000,BASELINE,764,743,713,674,659.465103134,633.534896866,877.465103134,785,801.534896866,649.534896866,630,651,0.401002370834,-0.00552354119783,0.0698419315469,0.999999982511,5.00640816867e-05,-0.000178509252137,2.46184730599e-05,1793196411441368832
+76,1.266666667,BASELINE,764,743,712.87836187,674,659,633.87836187,877,785,801.75672374,649.87836187,630,651,0.401001833112,-0.00552358904904,0.0698417870988,0.999999982473,4.85747236845e-05,-0.000179145293368,2.45284095567e-05,1793196411458035456
+77,1.283333333,BASELINE,764,743,712.299892811,674,659,633.299892811,877,785,800.599785622,649.299892811,630,651,0.401002352428,-0.00552381657996,0.0698426854385,0.999999982691,4.75663313605e-05,-0.00017818571561,2.46023426943e-05,1793196411474702336
+78,1.300000000,BASELINE,764.277926854,743,712,674,659.277926854,633.277926854,877.277926854,785,800,649.277926854,629.722073146,651,0.401002386818,-0.00552369385649,0.0698426679774,0.999999982708,4.73727132553e-05,-0.000178150282793,2.45275751007e-05,1793196411491368960
+79,1.316666667,BASELINE,764.855047395,743,712,674,659.855047395,633.855047395,877.855047395,785,800,649.855047395,629.144952605,651,0.401001899174,-0.00552319407733,0.069841664639,0.99999998251,4.80562155786e-05,-0.000179109710121,2.42927282601e-05,1793196411508036096
+80,1.333333333,BASELINE,765,743,712,674,660,634,878,785,800.438685076,650,629.438685076,651,0.401002819283,-0.00552349886293,0.0698418904821,0.999999982673,4.84939050252e-05,-0.000178055718945,2.44817973981e-05,1793196411524702720
+81,1.350000000,BASELINE,765,743,712,674,659.975784702,634,877.975784702,785,801.024215298,650,630,651,0.401004111193,-0.00552396602984,0.0698424942103,0.99999998293,4.89524845289e-05,-0.000176435608441,2.47896675412e-05,1793196411541369344
+82,1.366666667,BASELINE,765,743,712,674,659.396974269,634,877.396974269,785,801.603025731,650,630,651,0.40100310431,-0.00552197170339,0.0698423102605,0.999999982637,5.17777727084e-05,-0.000177316414921,2.45619848611e-05,1793196411558035712
+83,1.383333333,BASELINE,764.817955169,743,712.182044831,674,659.182044831,634,877.182044831,785,801.817955169,649.817955169,630,651,0.401002659167,-0.00552105483104,0.0698423873866,0.999999982571,5.29395638507e-05,-0.000177369000752,2.44198220379e-05,1793196411574702080
+84,1.400000000,BASELINE,764.23848041,743,712.76151959,674,659.76151959,634,877.76151959,785,801.23848041,649.23848041,630,651,0.40100344038,-0.00552249019482,0.069843034479,0.999999983007,5.04697033605e-05,-0.000175613462511,2.44643612622e-05,1793196411591368704
+85,1.416666667,BASELINE,764,743.337443224,713,674,660,634,878,785,801,649.337443224,630,651,0.401004383995,-0.00552387569424,0.0698438173634,0.999999983295,4.82088909077e-05,-0.000174581731481,2.46274428649e-05,1793196411608035584
+86,1.433333333,BASELINE,764,743.910883283,713,674,660,634,878,785,801,649.910883283,630,651,0.401005441189,-0.00552522632006,0.0698446952162,0.999999983481,4.60942800127e-05,-0.000174056207819,2.48734291552e-05,1793196411624702464
+87,1.450000000,BASELINE,764.496947296,743.503052704,712.503052704,674,660,634,878,785,801,649.503052704,630,651,0.401005315922,-0.00552327718107,0.0698443985626,0.999999983207,4.9944085459e-05,-0.000174562199287,2.48777412662e-05,1793196411641368832
+88,1.466666667,BASELINE,765,743.084366137,712,674,660,634,878,785,801,649,629.915633863,651,0.401004858051,-0.00552132245417,0.0698439331556,0.999999982886,5.36888814202e-05,-0.00017529294994,2.48374636706e-05,1793196411658035200
+89,1.483333333,BASELINE,765,743.666078462,712,674,660,634,878,785,801,649,629.333921538,651,0.401003722074,-0.00552291408012,0.0698437469332,0.999999982897,5.03449633394e-05,-0.000176229780058,2.47964724919e-05,1793196411674701824
+90,1.500000000,BASELINE,765,743.754464211,712,674,660,634,878,784.754464211,801,649,629.245535789,651,0.401003313611,-0.00552407849881,0.0698436542627,0.999999982994,4.79221380765e-05,-0.000176351641835,2.47983691475e-05,1793196411691368448
+91,1.516666667,BASELINE,765,743.178045755,712,674,660,634,878,784.178045755,801,649,629.821954245,651,0.401003885541,-0.00552466721526,0.0698436876623,0.99999998322,4.67405726564e-05,-0.000175375256724,2.48580612144e-05,1793196411708035072
+92,1.533333333,BASELINE,765,743,712,674,660,633.602419437,877.602419437,784.397580563,801,649.397580563,630,651,0.401004549613,-0.00552402744327,0.0698440400914,0.99999998328,4.72301254468e-05,-0.000174932145739,2.4668563318e-05,1793196411724701440
+93,1.550000000,BASELINE,765,743,712,674,660,633.027147101,877.027147101,784.972852899,801,649.972852899,630,651,0.401005254868,-0.00552283861962,0.0698445351053,0.999999983264,4.84665555824e-05,-0.00017472737234,2.43676942725e-05,1793196411741368064
+94,1.566666667,BASELINE,765,743,712.559653936,673.440346064,660,633.559653936,878.119307872,785,801,649.440346064,630,651,0.401004566192,-0.00552198448753,0.0698441921106,0.999999983128,5.11662847629e-05,-0.000174724585981,2.44299560045e-05,1793196411758034688
+95,1.583333333,BASELINE,764.854224323,743,712.854224323,673.145775677,660,633.854224323,878.708448647,785,801.145775677,649,630,651,0.401003823447,-0.00552118973624,0.0698436722771,0.999999982959,5.32804619774e-05,-0.000175052718235,2.44880938405e-05,1793196411774701312
+96,1.600000000,BASELINE,764.271847061,743,712.271847061,673.728152939,660,633.271847061,877.543694123,785,801.728152939,649,630,651,0.401003125526,-0.00552052318515,0.0698427471128,0.999999982725,5.34238393261e-05,-0.000176341997765,2.44800154934e-05,1793196411791368192
+97,1.616666667,BASELINE,764.304893215,743,712.304893215,674,660,633.304893215,877.304893215,785,801.695106785,649.304893215,630,651,0.401002812359,-0.00552079768575,0.0698422082519,0.999999982621,5.2130607385e-05,-0.000177312365707,2.45109894021e-05,1793196411808035328
+98,1.633333333,BASELINE,764.876698678,743,712.876698678,674,660,633.876698678,877.876698678,785,801.123301322,649.876698678,630,651,0.401002836016,-0.00552189601,0.0698420075721,0.999999982626,4.95797265404e-05,-0.00017800354924,2.45761507742e-05,1793196411824703232
+99,1.650000000,BASELINE,764.549808392,743,713,674,660,634,878,785,801,649.549808392,630.450191608,651,0.401003547921,-0.0055232749166,0.0698432247991,0.999999982867,4.89281293017e-05,-0.00017680225129,2.47776172283e-05,1793196411841369344
+100,1.666666667,BASELINE,764,743,713,674,660,633.974931354,878,785,801,649,630.949862709,651,0.401004354606,-0.00552461995503,0.0698447056912,0.999999983142,4.87960341689e-05,-0.000175240139413,2.49976080608e-05,1793196411858035200
+101,1.683333333,BASELINE,764,743,713,674,660,633.379103264,878,785,801,649,629.758206528,651,0.401003011273,-0.00552343764805,0.0698433146191,0.999999982792,4.86037667624e-05,-0.000177308613391,2.47861894787e-05,1793196411874701824
+102,1.700000000,BASELINE,764.209982356,743,713,674,660,633.209982356,878,785.209982356,800.790017644,649.209982356,629,651,0.401002689676,-0.0055227759952,0.0698427287332,0.999999982671,4.84927339421e-05,-0.000178053575753,2.4552354121e-05,1793196411891368448
+103,1.716666667,BASELINE,764.787273732,743,713,674,660,633.787273732,878,785.787273732,800.212726268,649.787273732,629,651,0.401004155341,-0.00552302509024,0.0698435513094,0.999999982955,4.85237997299e-05,-0.000176483401693,2.42793065198e-05,1793196411908035328
+104,1.733333333,BASELINE,765,743,713,674,660,633.638119157,878,785.638119157,800.723761685,649.638119157,629.361880843,651,0.401003314413,-0.00552284216767,0.06984318294,0.999999982838,4.86466402128e-05,-0.000177106489682,2.43223522454e-05,1793196411924702464
+105,1.750000000,BASELINE,765,743,713,674,660,633.06507828,878,785.06507828,801.86984344,649.06507828,629.93492172,651,0.401001127572,-0.00552240715978,0.0698421196456,0.999999982485,4.88230318832e-05,-0.000179009361461,2.45498406402e-05,1793196411941369344
+106,1.766666667,BASELINE,764.476191052,743,712.476191052,674,660,633,877.476191052,785,802,649,630,651,0.40100336667,-0.00552285484935,0.0698434365875,0.999999982832,4.94983396253e-05,-0.0001768490545,2.47138973104e-05,1793196411958035712
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,713,674,659,634,877,785,801,649,630,651,0.401004966752,-0.00552493758864,0.0698441328997,0.999999983283,4.58969151532e-05,-0.000175276383212,2.46194162173e-05,1793196412000261120
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.426895791,743,712.426895791,674,659.573104209,633.426895791,877.573104209,785,801,649.573104209,630,651,0.401004829908,-0.00552188573599,0.0698439577328,0.99999998302,5.01542835424e-05,-0.000175652308046,2.43091567732e-05,1793196412016928000
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.150169057,743,712.150169057,674,660,633.150169057,878,785,801,649.849830943,629.849830943,651,0.401004549846,-0.0055200042756,0.0698437449017,0.999999982802,5.29890079887e-05,-0.000176080416381,2.41561415205e-05,1793196412033594624
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.738798225,743,712.738798225,674,660,633.738798225,878,785,801,649.261201775,629.261201775,651,0.401003851618,-0.00552154009852,0.0698434220993,0.999999982761,5.16699308356e-05,-0.000176660888983,2.44622441186e-05,1793196412050261504
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.677434572,743.322565428,713,674,660,634,878,785,801.322565428,649.322565428,629,651,0.40100336988,-0.00552268410111,0.0698434210263,0.999999982751,5.07231406031e-05,-0.0001769821743,2.45652815431e-05,1793196412066928128
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.097545986,743.902454014,713,674,660,634,878,785,801.902454014,649.902454014,629,651,0.401003060845,-0.0055235155331,0.0698436766097,0.999999982764,5.00733384027e-05,-0.000177096695666,2.45063258551e-05,1793196412083594752
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+114,1.900000000,POSE1_TO_POSE2_PRESS,764.942177415,743,713,674,659.057822585,634,877.057822585,785,801,649.057822585,630,651,0.401004503884,-0.00552165544886,0.0698443602044,0.999999982602,5.21344473432e-05,-0.000177469951617,2.41427148701e-05,1793196412116928256
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+116,1.933333333,POSE1_TO_POSE2_PRESS,764.212085929,743,712.787914071,674,660,633.787914071,877.787914071,785.212085929,801,649.787914071,630,651,0.401017839617,-0.0055210124447,0.0698502570932,0.999999982613,5.38166093693e-05,-0.000176787041711,2.49627269253e-05,1793196412150260992
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+118,1.966666667,POSE1_TO_POSE2_PRESS,764.617198091,743,712,674,660,633.382801909,877,785.617198091,801.382801909,649,630,651,0.401068854886,-0.00552428492923,0.0698715777264,0.999999985431,5.17361639057e-05,-0.000160465972327,2.66995734504e-05,1793196412183594496
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.038915839,743,712,674,660,633.961084161,877,785.038915839,801.961084161,649,630,651,0.401107829605,-0.00552583337557,0.0698849228847,0.999999987272,5.11520954825e-05,-0.000148591708124,2.75791786289e-05,1793196412200261120
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659.461333138,633.461333138,877.538666862,785,801.461333138,649,630,651,0.401168679479,-0.00552783442247,0.0698967110788,0.999999989616,5.01898461907e-05,-0.00013227204601,2.74533547878e-05,1793196412216927744
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,743,712.11584928,674,659.231698559,633.11584928,878,785,801,649,630,651,0.401233422735,-0.00552983442508,0.0699067512992,0.999999991464,4.84828322133e-05,-0.000118303706096,2.69393032886e-05,1793196412233594624
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,743,712.691643057,674,660.383286114,633.691643057,878,785,801,649,630,651,0.401307357283,-0.00553170063308,0.0699102977206,0.999999992112,4.39272865844e-05,-0.000114943975526,2.51719203156e-05,1793196412250260992
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,743,713,674,660.725311615,634,878,785,801,649.274688385,630,651,0.401391288847,-0.00553365271634,0.0699118755832,0.999999992264,4.18419095218e-05,-0.00011482326135,2.31631196105e-05,1793196412266927616
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,743,713,674,660.133905223,634,878,785,801,649.866094777,630,651,0.401486747052,-0.00553570381436,0.069911183681,0.999999991861,4.2604657762e-05,-0.000118437160385,2.08759623467e-05,1793196412283594240
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.44684719,743,713,674,660,633.55315281,877.55315281,785,800.55315281,650,630,651,0.401599158894,-0.00553578985972,0.0699089873987,0.999999991213,4.09846049025e-05,-0.000124903144033,1.71268883518e-05,1793196412300260608
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,743,713,674,660,633,877,785,800.024431318,650,630,651,0.401718101172,-0.00553551919362,0.0699065234434,0.999999990482,3.84706004965e-05,-0.000131860087557,1.29676183151e-05,1793196412316927232
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,743,713,674,660,633,877,785,800.600886064,650,630,651,0.401872479191,-0.00554018407853,0.0699079603016,0.999999990874,3.15159357146e-05,-0.000131048636445,9.20804702509e-06,1793196412333594112
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,712.823846731,674,660,633.176153269,877.176153269,784.823846731,801.176153269,650,629.823846731,651,0.402037772853,-0.00554359659537,0.0699104471388,0.999999991392,2.58916735047e-05,-0.000128527740819,5.05042595466e-06,1793196412350260992
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,712.251252221,674,660,633.748747779,877.748747779,784.251252221,801.748747779,650,629.251252221,651,0.402227632667,-0.00554419059814,0.0699152970031,0.999999992268,2.3261545973e-05,-0.00012215965981,-3.02441214422e-09,1793196412366928128
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.666294015,743,712,674,660,633.666294015,877.666294015,784.333705985,801.666294015,650,629,651,0.402436677415,-0.005545990097,0.0699174448751,0.999999992661,1.58327973198e-05,-0.000119982044388,-5.60990536978e-06,1793196412383595008
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.071668775,743,712,674,660,633.071668775,877.071668775,784.928331225,801.071668775,650,629,651,0.402660722571,-0.0055487321536,0.0699174801038,0.999999992591,4.65208497012e-06,-0.000121080884816,-1.16495051994e-05,1793196412400261376
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,743,712.506953394,674,660,633.506953394,877.506953394,785,801,650,629.506953394,651,0.402919147087,-0.00554992012215,0.0699198251706,0.999999992924,-8.85854592766e-06,-0.000117374326234,-1.72050730805e-05,1793196412416927744
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,743,712.916953857,674,660,634,877.916953857,785,801,649.916953857,629.916953857,651,0.403190144722,-0.00555128544571,0.0699238970041,0.999999993357,-2.41151857173e-05,-0.000110544252569,-2.19891631744e-05,1793196412433594112
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,743,712.342849277,674,660,634,877.342849277,785,801,649.342849277,629.342849277,651,0.403507628644,-0.00555495885517,0.0699363075468,0.999999994629,-4.78080469084e-05,-8.91386891459e-05,-2.26036864432e-05,1793196412450260736
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743,712,674.238004089,660,633.761995911,877.238004089,785,801,649.238004089,629,651,0.403834376998,-0.00555808014154,0.0699462680176,0.999999995336,-5.83855389191e-05,-7.34015241479e-05,-2.3070901221e-05,1793196412466927360
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,743,712,674.828862884,660,633.171137116,877.828862884,785,801,649.828862884,629,651,0.404174860386,-0.00556038287355,0.0699525961157,0.99999999632,-4.95187428756e-05,-6.60680861554e-05,-2.33197227046e-05,1793196412483594240
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.410581736,743,712,674.589418264,660.410581736,633.410581736,878,785,800.589418264,649.589418264,629.410581736,650.589418264,0.404553891746,-0.00556495062688,0.0699560836249,0.999999996102,-5.71089756531e-05,-6.28690904525e-05,-2.41373921619e-05,1793196412500261120
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.988573859,743,712,674.011426141,660.988573859,633.988573859,878,785,800.011426141,649.011426141,629.988573859,650.011426141,0.404948640629,-0.00557044191878,0.0699584129136,0.999999995251,-7.14093891263e-05,-6.13558702979e-05,-2.51870033905e-05,1793196412516928000
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.435165883,743,712.564834117,674.564834117,660.435165883,633.435165883,878,785,800.564834117,649.564834117,630,650.564834117,0.405375400842,-0.00556746549049,0.069962896062,0.999999995871,-6.93496280192e-05,-5.2710786556e-05,-2.58889288692e-05,1793196412533595136
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,743,712.859116778,674.718233556,660,633.140883222,877.859116778,784.859116778,801,650,630,651,0.405809955416,-0.00556192931242,0.0699647949146,0.999999996543,-6.20506573553e-05,-4.84636484189e-05,-2.67523079489e-05,1793196412550262016
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,743,712.283611434,673.567222867,660,633.716388566,877.283611434,784.283611434,801,650,630,651,0.406266563753,-0.00554902318156,0.0699585872575,0.999999997125,-3.96066865741e-05,-5.82278079788e-05,-2.81353998472e-05,1793196412566928384
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,743,712,673.299512175,660,633.700487825,877.299512175,784.299512175,801,649.700487825,630,651,0.406732939905,-0.00554146132237,0.0699434897585,0.999999995852,-2.94809549064e-05,-8.06666992828e-05,-3.03291162227e-05,1793196412583595008
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,743,712,673.89003795,660,633.10996205,877.89003795,784.89003795,801,649.10996205,630,651,0.407208806765,-0.00553909209107,0.0699197546636,0.999999992294,-3.13239330566e-05,-0.000115420681436,-3.33104559788e-05,1793196412600261632
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.469424565,743,712.469424565,674.469424565,660,633.469424565,878,784.530575435,801,649.469424565,630,651,0.407776981859,-0.00554230919998,0.0699202840201,0.999999992908,-3.72476986682e-05,-0.000107643189219,-3.47876643864e-05,1793196412616928256
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.953866207,743,713,674.953866207,660,633.953866207,878,784.046133793,801,649.953866207,630,651,0.408369106902,-0.00554690461868,0.0699271311248,0.999999994421,-4.41442337834e-05,-8.89954694802e-05,-3.59049342335e-05,1793196412633595136
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.378630722,743,713,674.378630722,660,633.378630722,878,784.621369278,801,649.378630722,630,651,0.408993667261,-0.00555264749615,0.069942758603,0.999999996355,-5.14881546668e-05,-5.72936192908e-05,-3.6841399428e-05,1793196412650262272
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,712.7984829,674,660.2015171,633.2015171,878,785,801,649,629.7984829,651,0.409608148126,-0.00555827535194,0.0699496987159,0.999999996696,-5.86959912277e-05,-4.17769847148e-05,-3.76588988684e-05,1793196412666929152
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,712.208874703,674,660.791125297,633.791125297,878,785,801,649,629.208874703,651,0.41020321739,-0.00556368169322,0.0699399082917,0.999999995465,-6.56417498432e-05,-5.74306007369e-05,-3.82472884695e-05,1793196412683595264
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,743.374278718,712,674,660.625721282,633.625721282,878,785,801,649.374278718,629.374278718,651,0.410848280888,-0.0055671077902,0.0699364751357,0.999999994512,-7.06657481593e-05,-6.69247612402e-05,-3.87756806783e-05,1793196412700261376
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,743.953890955,712,674,660.046109045,633.046109045,878,785,801,649.953890955,629.953890955,651,0.411520771766,-0.00556944750267,0.0699365296489,0.999999993776,-7.46354469068e-05,-7.30397745622e-05,-3.92711576253e-05,1793196412716927744
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,743.470178416,712.529821584,674,660.529821584,633.529821584,878.529821584,785,801,650,630,651,0.412281901088,-0.00556871793844,0.0699631137684,0.999999996181,-7.50442590287e-05,-2.29704043613e-05,-3.8451465819e-05,1793196412733594624
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,713,674.105328153,660.894671847,634,878.894671847,785,801,649.894671847,629.894671847,651,0.413047970661,-0.00556758151021,0.0699901362867,0.999999996196,-7.4266150559e-05,2.58339761907e-05,-3.77641495984e-05,1793196412750260992
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,743,713,674.68036243,660.31963757,634,878.31963757,785,801,649.31963757,629.31963757,651,0.41380190807,-0.00556581364215,0.0700088888554,0.999999995731,-6.95674505276e-05,4.73427600689e-05,-3.81740454064e-05,1793196412766927616
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.262507433,743.262507433,712.737492567,675,660,634,878,784.737492567,801,649.262507433,629,651,0.414530370999,-0.00556460956901,0.0700022145739,0.999999996164,-7.25741858652e-05,2.88173952906e-05,-3.96687139182e-05,1793196412783594496
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.853551827,743.853551827,712.146448173,675,660,634,878,784.146448173,801,649.853551827,629,651,0.415226951855,-0.00556411110413,0.0699637177292,0.999999994672,-8.52245342137e-05,-3.98120623724e-05,-4.25210122179e-05,1793196412800261120
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743.566408586,712.433591414,674.566408586,660,633.566408586,878,784.433591414,801,650,629.433591414,651,0.415982962273,-0.00556455510798,0.0699236826167,0.999999989906,-8.87876665145e-05,-0.000100855090884,-4.61925584437e-05,1793196412816928000
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743.010020151,712.989979849,674,660,633,878,785,801,650,630,651,0.416760331001,-0.00556526922881,0.0698843822282,0.999999982344,-8.93391214103e-05,-0.000157548819752,-5.00828470107e-05,1793196412833594624
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,743.587248387,712.412751613,674,660,633,878,785,801,650,630,651,0.417638601404,-0.00556370049546,0.0699153546119,0.999999988753,-8.88498347287e-05,-0.000109499860243,-5.10797253454e-05,1793196412850260992
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743.832437225,712,674.167562775,660,633,878,785,801,649.832437225,630,651,0.418506923927,-0.00556316936845,0.0699451930812,0.999999992746,-8.76250645106e-05,-6.51656755559e-05,-5.0835803386e-05,1793196412866927360
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743.24437822,712,674.75562178,660,633,878,785,801,649.24437822,630,651,0.419350282347,-0.00556524209885,0.069972186008,0.999999994844,-8.45546099599e-05,-3.01536650651e-05,-4.74781121398e-05,1793196412883593984
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.66226421,743,712.33773579,675,660,633,878,784.66226421,801,649,629.66226421,651,0.420220016569,-0.00556663855453,0.0699962632922,0.999999995399,-8.39538685082e-05,7.27080782493e-06,-4.5835126421e-05,1793196412900260608
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.084377482,743,712.915622518,675,660,633,878,784.084377482,801,649,629.084377482,651,0.421108505575,-0.00556755413716,0.070018267374,0.99999999427,-8.51092451896e-05,4.64106884861e-05,-4.5411402008e-05,1793196412916927488
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.494633617,743,712.505366383,674.505366383,660,633.494633617,878.494633617,784,801,649,629,651,0.421975526751,-0.0055679068314,0.0700109025565,0.999999994474,-8.88132147459e-05,3.10604571851e-05,-4.69004328674e-05,1793196412933594368
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743,712.073064987,674.073064987,660,633.926935013,879,784.073064987,801,649.073064987,629.073064987,651,0.422830202114,-0.00556726973432,0.0699895265648,0.999999994546,-9.18122266978e-05,-6.9413051174e-06,-4.92969117273e-05,1793196412950260992
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743,712.646212455,674.646212455,660,633.353787545,879,784.646212455,801,649.646212455,629.646212455,651,0.423625499837,-0.00556051685423,0.0699066209351,0.999999985389,-8.70038706304e-05,-0.00013621326182,-5.56659585753e-05,1793196412966927616
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743.226056637,712.773943363,675,660,633,878.773943363,785,801,649.773943363,629.773943363,651,0.424455244571,-0.00555818659789,0.0698564142088,0.999999972374,-8.8332398146e-05,-0.000209398737273,-6.0012841694e-05,1793196412983594496
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743.816701489,712.183298511,675,660,633,878.183298511,785,801,649.183298511,629.183298511,651,0.42534054619,-0.0055629892277,0.0698589448493,0.999999974721,-9.95586031047e-05,-0.000192126949525,-6.10983449588e-05,1793196413000261120
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744,712,675,660.399036679,633,878.399036679,784.600963321,801,649.399036679,629.399036679,651,0.426256970142,-0.00556585107515,0.0699034599364,0.999999985438,-0.000100168100149,-0.000125187874908,-5.84697458496e-05,1793196413016927744
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744,712,675,660.977632637,633,878.977632637,784.022367363,801,649.977632637,629.977632637,651,0.427187398528,-0.0055678396054,0.0699668672637,0.99999999328,-9.60002695952e-05,-3.58994210231e-05,-5.41698674922e-05,1793196413033594368
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743.444808288,712.555191712,675,661,633,879,785.110383424,801.555191712,650,630,651,0.428108019769,-0.00557064204731,0.0699998860845,0.99999999369,-9.8840765473e-05,9.86282697237e-06,-5.24791946185e-05,1793196413050260992
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743,713,675,661,633,879,785.865605354,801.865605354,650,629.865605354,651,0.429019049116,-0.0055735238068,0.0700253066286,0.999999992329,-0.000102463273028,4.69563995784e-05,-5.13702217997e-05,1793196413066927616
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,743,713,675,661,633,879,785.280752883,801.280752883,650,629.280752883,651,0.429899250574,-0.00557656171804,0.0700293554558,0.999999990997,-0.000107762291792,6.0861273342e-05,-5.1859289587e-05,1793196413083594496
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743,713,675,660.698744466,633,879,785,801.301255534,650,629.301255534,651,0.430719006066,-0.00557659519154,0.0699977204722,0.999999992586,-0.000108912105306,8.08813224202e-06,-5.38563556037e-05,1793196413100261376
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743,713,675,660.119361787,633,879,785,801.880638213,650,629.880638213,651,0.431482956183,-0.00557385488781,0.0699331412423,0.999999987075,-0.000106231260476,-0.000106243932047,-5.72456452669e-05,1793196413116928000
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743,712.541055959,675.458944041,660.458944041,633,878.541055959,785,801.541055959,649.541055959,630,651,0.432268705364,-0.00557191072947,0.0698900219526,0.999999976849,-0.000109630138347,-0.000174958363988,-6.06019885849e-05,1793196413133594624
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743.036675082,712,676,661,633,878.036675082,785,801.036675082,649.036675082,630,651,0.433067184817,-0.00557066707368,0.0698591324606,0.999999967147,-0.000114141188522,-0.000220569185833,-6.34659005405e-05,1793196413150260992
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743.610082701,712,676,661,633,878.610082701,785,801.610082701,649.610082701,630,651,0.433969190862,-0.00557665193464,0.0699257339013,0.999999986861,-0.000111842140531,-0.000101286906961,-5.92482809139e-05,1793196413166927616
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+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743.221181295,712,676,661.778818705,633,879,785,801.221181295,649.221181295,630,651,0.435667815747,-0.00558324430775,0.0700144109805,0.999999991079,-0.000114672250163,4.33057762893e-05,-5.30729953679e-05,1793196413200261120
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+182,3.033333333,POSE1_TO_POSE2_PRESS,765,743,712.517978129,676,661,633,879,785,801.517978129,650,630,651,0.43792278385,-0.00558624621319,0.0699766086589,0.999999990228,-0.000126348711323,8.0120521773e-06,-5.92979926577e-05,1793196413250261504
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765,744,712,676,660,633,879.692385359,784,801,650,630,651,0.444028117649,-0.00559598547845,0.0699282695932,0.999999985838,-0.000128294400636,-9.19624012331e-05,-5.8377131284e-05,1793196413416929280
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765,744,712,677,659,631,879.138273424,783,801.861726576,649.861726576,629.861726576,651,0.449554913239,-0.00559015091211,0.0697505734876,0.999999917762,-0.000129852270987,-0.000379113959127,-6.23516744992e-05,1793196414150260992
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,744,712,677,658.561277722,631,879.438722278,783,801.561277722,650,630,651,0.449555087778,-0.00558943268673,0.0697506304853,0.999999917693,-0.000129101004036,-0.000379644323738,-6.17748706414e-05,1793196414166927872
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,744,712,677,658,631,880,783,801.015083222,650,630,650.984916778,0.449555281321,-0.0055888075736,0.0697505686172,0.999999917477,-0.000128965144714,-0.000380367351255,-6.11110527282e-05,1793196414183594240
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,744,712,677,658,631,880,783,801.591931528,650,630,650.408068472,0.449554977758,-0.00558921695989,0.0697494083708,0.999999916853,-0.000129793507856,-0.000381635856456,-6.16550897518e-05,1793196414200260864
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,743.827818122,712.172181878,677,658.172181878,631,879.827818122,783,802,649.827818122,629.827818122,650.172181878,0.449554821575,-0.0055894974342,0.0697486143435,0.999999916417,-0.000130635545918,-0.000382439664272,-6.19669833159e-05,1793196414216927744
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,743.239342497,712.760657503,677,658.760657503,631,879.239342497,783,802,649.239342497,629.239342497,650.760657503,0.449555021724,-0.00558946623082,0.0697487057443,0.99999991644,-0.000131510646546,-0.000382119947177,-6.17176106349e-05,1793196414233594368
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,743.343116567,712.656883433,677,659,631,879.343116567,783,802,649.343116567,629,651,0.449555391818,-0.00558850232703,0.0697492097719,0.99999991684,-0.000130369455923,-0.00038146648471,-6.17042900851e-05,1793196414250260992
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,743.921451051,712.078548949,677,659,631,879.921451051,783,802,649.921451051,629,651,0.449555878417,-0.00558689902583,0.0697499966688,0.999999917493,-0.000127846029963,-0.000380584228604,-6.18527912012e-05,1793196414266927872
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,744,712,677,659,631,879.502884033,783,802,650,629,651,0.449555388753,-0.00558620224713,0.0697505162159,0.999999917659,-0.000126356541921,-0.000380636377985,-6.19058034438e-05,1793196414283595008
+245,4.083333333,HOLD_POSE2,765,744,712,677,658,631,879,783,801,650,630,651,0.449555967063,-0.00559319080617,0.069750388967,0.999999916239,-0.000133092458927,-0.000382315899474,-6.03534890138e-05,1793196414326495232
+246,4.100000000,HOLD_POSE2,765,744,712,677,658,631,879,783,801.577872442,650,629.422127558,651,0.449556361423,-0.00558956818766,0.0697501820541,0.999999916744,-0.000130405522789,-0.000381696732528,-6.17494751981e-05,1793196414343162112
+247,4.116666667,HOLD_POSE2,765,743.844170065,712,677,658,631,879,783,801.844170065,650,629,651,0.449556518404,-0.00558737631499,0.0697498465278,0.999999916961,-0.000128914636923,-0.000381496085838,-6.26038646346e-05,1793196414359828992
+248,4.133333333,HOLD_POSE2,765,743.265981921,712,677,658,631,879,783,801.265981921,650,629,651,0.449556031992,-0.00558906230524,0.0697491624107,0.999999916416,-0.000130665500188,-0.0003824297876,-6.19903218432e-05,1793196414376495360
+249,4.150000000,HOLD_POSE2,764.689765958,743,712,677,658,631,879,783,801,650,629.310234042,651,0.449555331615,-0.00558955502922,0.0697485975287,0.999999915977,-0.000131553116564,-0.000383326811984,-6.16417369532e-05,1793196414393161728
+250,4.166666667,HOLD_POSE2,764.115230215,743,712,677,658,631,879,783,801,650,629.884769785,651,0.449554448951,-0.00558903115832,0.0697481342281,0.999999915633,-0.000131705295746,-0.00038419258928,-6.15188811121e-05,1793196414409828608
+251,4.183333333,HOLD_POSE2,764.472071425,743.472071425,712,676.527928575,658,631,879,783,801,650,629.527928575,650.527928575,0.449556832363,-0.00558860113941,0.069749918714,0.999999916955,-0.000130185002356,-0.00038131859155,-6.11465825856e-05,1793196414426495488
+252,4.200000000,HOLD_POSE2,765,743.938882882,712,676.061117118,658.061117118,631,879,783,801.061117118,649.938882882,629,650,0.449559625947,-0.00558821718894,0.0697519478762,0.999999918429,-0.000128490340809,-0.000378067644311,-6.08054719494e-05,1793196414443161856
+253,4.216666667,HOLD_POSE2,765,743.3621432,712,676.6378568,658.6378568,631,879,783,801.6378568,649.3621432,629,650,0.449558967101,-0.00558802325604,0.0697512836729,0.999999917791,-0.000128864513681,-0.000379552028837,-6.12554462615e-05,1793196414459828480
+254,4.233333333,HOLD_POSE2,765,743,712,677,658.785676768,631,879,783,802,649.214323232,629,650.214323232,0.449558695811,-0.00558816345538,0.0697506834208,0.999999917297,-0.000129607941155,-0.000380551756683,-6.15441714546e-05,1793196414476495104
+255,4.250000000,HOLD_POSE2,765,743,712,677,658.209671517,631,879,783,802,649.790328483,629,650.790328483,0.449559078542,-0.00558886752094,0.06975019109,0.999999917049,-0.000130974505656,-0.000380733600079,-6.15607800126e-05,1793196414493161728
+256,4.266666667,HOLD_POSE2,765,743,712,677,658.374317055,631,878.625682945,783,801.625682945,650,629,651,0.44955833295,-0.0055889668316,0.0697498084803,0.999999916821,-0.000130364869309,-0.000381566102787,-6.13979548907e-05,1793196414509828352
+257,4.283333333,HOLD_POSE2,765,743,712,677,658.962874946,631,878.037125054,783,801.037125054,650,629,651,0.44955694156,-0.0055887200101,0.0697494886695,0.999999916602,-0.000128624152057,-0.000382771011183,-6.11324306783e-05,1793196414526494976
+258,4.300000000,HOLD_POSE2,765,743.542809132,712,677,658.457190868,631,878.542809132,782.457190868,801.542809132,650,629,651,0.449558497942,-0.00558856690263,0.0697502656854,0.999999917286,-0.000128436672747,-0.000381008899337,-6.13563292181e-05,1793196414543161856
+259,4.316666667,HOLD_POSE2,764.878545102,744,712,677,658.121454898,631,879,782.121454898,802,650,629,651,0.449559601821,-0.00558855216064,0.0697508001683,0.999999917784,-0.000128278458321,-0.000379735261106,-6.1468238632e-05,1793196414559828992
+260,4.333333333,HOLD_POSE2,764.302548212,744,712,677,658.697451788,631,879,782.697451788,802,650,629,651,0.449558269496,-0.00558903163581,0.0697501506198,0.999999917371,-0.00012783841149,-0.000381037296515,-6.10377160654e-05,1793196414576495616
+261,4.350000000,HOLD_POSE2,764.274128529,743.725871471,712,677,659,631,879,783,802,650,629,651,0.449557776975,-0.00558840891709,0.0697499115359,0.999999917233,-0.000127617748838,-0.000381486453013,-6.09613056803e-05,1793196414593162240
+262,4.366666667,HOLD_POSE2,764.851557435,743.148442565,712,677,659,631,879,783,802,650,629,651,0.449558213628,-0.00558656671266,0.0697501265969,0.999999917399,-0.000127639816529,-0.000380991969981,-6.12766909458e-05,1793196414609828864
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,743,712,677,658,631,880,783,801,650,630,651,0.449560950703,-0.00558797269079,0.0697533023684,0.999999918452,-0.000129520561722,-0.000377710793973,-6.04520823404e-05,1793196414642449664
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,743,712,677,658.579408078,631,879.420591922,782.420591922,801,650,630,651,0.449560562593,-0.00558677070206,0.0697520440945,0.999999918522,-0.000126900713002,-0.000378371141518,-6.07300147945e-05,1793196414659116288
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,743,712,677,658.841863856,631,879,782.158136144,801.158136144,649.841863856,629.841863856,651,0.449559621689,-0.00558612307949,0.0697506518983,0.999999918205,-0.000125440652133,-0.000379641354499,-6.10574911209e-05,1793196414675782912
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,743,712,677,658.264936536,631,879,782.735063464,801.735063464,649.264936536,629.264936536,651,0.449557216821,-0.00558694358184,0.069748905036,0.999999916873,-0.000127052051162,-0.000382526671271,-6.15161743022e-05,1793196414692450048
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,743.310709182,712,677,658,631,879,783,801.689290818,649.310709182,629,651,0.449557498645,-0.00558784358075,0.0697492923175,0.999999916769,-0.000128684783524,-0.000382289491762,-6.12980497312e-05,1793196414709116928
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,743.885266553,712,677,658,631,879,783,801.114733447,649.885266553,629,651,0.449560061955,-0.00558881108655,0.0697514918725,0.999999917703,-0.000130335631639,-0.000379400749022,-6.05051931642e-05,1793196414725783808
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,744,712,677,658,631,879,783,801.472595331,650,629,651,0.44955957587,-0.00558835234758,0.0697506363961,0.99999991761,-0.000127956364168,-0.000380460744066,-6.04741832061e-05,1793196414742450176
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,744,712.061904063,677,658,631,879,783,801.938095937,650,629.061904063,650.938095937,0.449558230478,-0.00558779325311,0.06974905826,0.999999917177,-0.000125108633438,-0.000382525557951,-6.05697698156e-05,1793196414759116544
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,744,712.641128542,677,658,631,879,783,801.358871458,650,629.641128542,650.358871458,0.449556062483,-0.00558936945245,0.069747811218,0.999999916141,-0.000126749471849,-0.00038475370928,-6.01347292994e-05,1793196414775782912
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,743.78138968,712.78138968,677,658.21861032,631,879,783,801.21861032,650,629.78138968,650.21861032,0.449551891051,-0.0055896635524,0.0697456568836,0.999999914733,-0.00012747378142,-0.000388169283509,-6.008067724e-05,1793196414792449536
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,743.206746161,712.206746161,677,658.793253839,631,879,783,801.793253839,650,629.206746161,650.793253839,0.449544456778,-0.00558786959912,0.0697420249145,0.999999912705,-0.000126705413378,-0.000393518718531,-6.06471107501e-05,1793196414809116160
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,743.375947147,712,677,658.624052853,631,879,783,802,650,629,651,0.449525562779,-0.00558686249761,0.0697320874569,0.999999906416,-0.000127514350326,-0.000408775853609,-6.17218152326e-05,1793196414825783296
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,743.963164226,712,677,658.036835774,631,879,783,802,650,629,651,0.449500228789,-0.00558629758074,0.0697186065219,0.999999897384,-0.000129209680681,-0.00042960079059,-6.30821513151e-05,1793196414842450432
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,743.457564495,712,677,658.542435505,631,879.542435505,783,802,650,629,651,0.449453904833,-0.00558481482515,0.0696981629474,0.999999882092,-0.000126659574122,-0.000464523638119,-6.31680031957e-05,1793196414859116800
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,743.121024144,712,677,658.878975856,631,879.878975856,783,801.878975856,650,629,651,0.449403875791,-0.00558281940923,0.0696782886836,0.99999986592,-0.000123820040099,-0.000498826651336,-6.32555463909e-05,1793196414875783680
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,743.699043348,712,677,658.300956652,631,879.300956652,783,801.300956652,650,629,651,0.449345160745,-0.0055791201134,0.0696623237912,0.999999851673,-0.000120960530398,-0.000527226268553,-6.3671568432e-05,1793196414892450048
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,743.562155615,712,676.437844385,658,631,879,783,802,650,629,651,0.449153454512,-0.00557431662254,0.0696439361167,0.999999837037,-0.000117499348158,-0.000555316410862,-6.11861196615e-05,1793196414942449408
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,743.603953036,712,677,658,631,879,783,801.396046964,650,629,651,0.44898351065,-0.00557201251445,0.0696458805064,0.999999836107,-0.000115602215102,-0.000557823405482,-5.70468261287e-05,1793196414975783168
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,743,712.353936649,675,660,633,877,785,800.353936649,649,630,651,0.410814931397,-0.00539638135339,0.0698604239152,0.99999994899,0.000225267886552,-0.000222623443286,4.13997772363e-05,1793196416125783040
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633,877,785,800,649.219375891,630.219375891,651,0.410211757741,-0.00539288620824,0.0698384920084,0.999999940069,0.000226059106436,-0.000259097625754,4.03469665989e-05,1793196416142449664
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633,877,785,800,649.79001542,630.79001542,651,0.409616334059,-0.00539032338908,0.0698037940111,0.99999992403,0.000225691239953,-0.000315557586631,3.7779039514e-05,1793196416159116800
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.623998234,660,633.376001766,877,785,800.376001766,649.623998234,630.623998234,650.623998234,0.409053156803,-0.00538843137054,0.0697784649843,0.999999909631,0.000226364092287,-0.000358044381991,3.60817202002e-05,1793196416175783936
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.029076434,660,633.970923566,877,785,800.970923566,649.029076434,630.029076434,650.029076434,0.408508754374,-0.00538692991295,0.0697585908629,0.999999896494,0.000227642883826,-0.00039239556713,3.48912958327e-05,1793196416192450816
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.54901877,660,634,877.54901877,785,800.45098123,649.54901877,630,650.54901877,0.40801760769,-0.00538965245243,0.0697730302034,0.999999908928,0.000222036423939,-0.000362895471777,3.39141110424e-05,1793196416209117952
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.125733228,743,712,674.874266772,660,633.874266772,878,785,800,650,630,651,0.407536803084,-0.00539229540382,0.0697891646099,0.99999992047,0.000216927486259,-0.000332968608644,3.36748605764e-05,1793196416225784576
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.70060427,743,712,674.29939573,660,633.29939573,878,785,800,650,630,651,0.407083166279,-0.00539387870775,0.0698050555444,0.99999992721,0.000214859612888,-0.000313237662403,3.60324794549e-05,1793196416242450176
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.716741642,743,712,674,660,633,878,785,800.283258358,649.716741642,630,651,0.406635785997,-0.00539417355259,0.0698097769973,0.999999927848,0.000214779570255,-0.000311156579803,3.68164920735e-05,1793196416259116544
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.125628715,743,712,674,660,633,878,785,800.874371285,649.125628715,630,651,0.406195205541,-0.00539306805731,0.0698023590867,0.999999921965,0.000216859968076,-0.000328257954967,3.58902571374e-05,1793196416275783168
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633,878,785,801,649.4537116,630,651,0.40577624411,-0.00539206847636,0.0697935062005,0.999999915386,0.000222057259289,-0.000344521805068,3.49695088781e-05,1793196416292450048
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.970115759,743,712,674.029884241,660,633.029884241,878,785,800.970115759,650,630,651,0.405366767026,-0.00539124206549,0.0697858005595,0.999999909432,0.00022769324379,-0.000357944039111,3.41742457494e-05,1793196416309116928
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.393767163,743,712,674.606232837,660,633.606232837,878,785,800.393767163,650,630,651,0.405024027067,-0.00539305954229,0.0698061553585,0.999999921495,0.000225968742028,-0.000323537721828,3.56465305854e-05,1793196416325783552
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.186584477,743,712,674.813415523,660,633.813415523,878.186584477,785,800.186584477,649.813415523,630,651,0.404694304512,-0.00539424209375,0.0698246425436,0.999999931782,0.000224774031367,-0.000290797786473,3.67390854617e-05,1793196416342450176
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.775569269,743,712,674.224430731,660,633.224430731,878.775569269,785,800.775569269,649.224430731,630,651,0.404392656185,-0.00539405532338,0.0698391019078,0.999999939834,0.000224721903514,-0.000261651684609,3.70126896774e-05,1793196416359116544
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633.358502979,878.641497021,784.641497021,801,649.358502979,630,651,0.404087656748,-0.00539353498951,0.0698442619374,0.999999942162,0.000225476389596,-0.000251891776787,3.7237319376e-05,1793196416375782912
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633.93771151,878.06228849,784.06228849,801,649.93771151,630,651,0.403780594235,-0.00539280930358,0.0698436970097,0.999999941322,0.00022672745231,-0.000254066608574,3.74317988825e-05,1793196416392449536
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.482750391,743,712,674,660,633.482750391,878,784.517249609,801,649.482750391,630,651,0.403486018786,-0.00538987245822,0.0698281078187,0.999999934558,0.000227846259589,-0.000278725870501,3.58058004517e-05,1793196416409116160
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.095619132,743.095619132,712,674.095619132,660,633.095619132,877.904380868,784.904380868,801,649.095619132,630,651,0.403200696893,-0.0053872356164,0.0698131607707,0.999999927398,0.000229258395402,-0.000302447754202,3.42010117326e-05,1793196416425783040
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.667964724,743.667964724,712,674.667964724,660,633.667964724,877.332035276,784.332035276,801,649.667964724,630,651,0.402954008313,-0.00538742289555,0.0698104413765,0.999999925039,0.000232212429974,-0.000307988188692,3.37956574907e-05,1793196416442450176
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,743.758861307,712,674.758861307,660,634,877,784.241138693,801,649.758861307,630,651,0.402723412625,-0.0053872728066,0.0698081909098,0.999999923567,0.000233116715515,-0.000312127476568,3.31626915661e-05,1793196416459116800
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,743.184542807,712,674.184542807,660,634,877,784.815457193,801,649.184542807,630,651,0.4025150524,-0.00538665657827,0.0698065883574,0.999999923355,0.000231188875619,-0.000314330808712,3.22152360455e-05,1793196416475783424
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,743,712.404240611,674,660,633.595759389,877.404240611,785,801,649,630,651,0.402321459992,-0.00538542356032,0.0698022258745,0.99999992061,0.000231958089158,-0.000322436882088,3.17693986566e-05,1793196416492450048
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,743,712.999872559,674,660,633.000127441,877.999872559,785,801,649,630,651,0.402134859544,-0.00538389851782,0.0697965566779,0.999999916566,0.000234004246823,-0.000333337661053,3.15610568865e-05,1793196416509116416
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,743,712.423419552,674,659.423419552,633.576580448,878,785,801,649.576580448,630,651,0.401978154436,-0.00538341350423,0.0697943977603,0.999999916548,0.000229289375183,-0.000336707022827,3.09632887355e-05,1793196416525783040
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,743,712.152725919,674,659.152725919,634,877.847274081,785,801,649.847274081,630,651,0.401828955329,-0.00538358645163,0.0697931679557,0.999999916971,0.000225123824775,-0.000338292217507,3.05932696126e-05,1793196416542449664
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,743,712.727328905,674,659.727328905,634,877.272671095,785,801,649.272671095,630,651,0.401700472518,-0.00538557627965,0.069794502579,0.999999918679,0.000222479670118,-0.000334953432706,3.08525953101e-05,1793196416559116544
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,743,712.691963593,674.308036407,660,634,877.308036407,785,801,649.308036407,630,651,0.401586300803,-0.00538515627495,0.0697956539912,0.999999918671,0.000227370342121,-0.000331697145804,3.06296126137e-05,1793196416575783424
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,743,712.105743106,674.894256894,660,634,877.894256894,785,801,649.894256894,630,651,0.401485053258,-0.0053825599787,0.0697966399476,0.999999917014,0.000239065627695,-0.000328515361375,2.99710628705e-05,1793196416592450560
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,743,712.477696361,674.522303639,659.522303639,634,877.522303639,785,801,650,630,651,0.401395325232,-0.00538139703729,0.0697963765835,0.999999915597,0.000244998643597,-0.000328531672178,2.91304194779e-05,1793196416609117184
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,743,712.940342971,674,659.059657029,633.940342971,877.059657029,784.940342971,801,649.940342971,630,651,0.401310171356,-0.00538081145509,0.0697957778132,0.999999914553,0.000248153517653,-0.000329422243266,2.81960841574e-05,1793196416625783552
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,743,712.365861812,674,659.634138188,633.365861812,877.634138188,784.365861812,801,649.365861812,630,651,0.401242612951,-0.00538248606399,0.0697946573183,0.999999916213,0.000238277622663,-0.000331783544084,2.6799048954e-05,1793196416642449664
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660.207945774,633.207945774,877.792054226,784.207945774,800.792054226,649,630,651,0.401182806726,-0.00538385102064,0.0697948782319,0.99999991839,0.000230548339663,-0.000330753688666,2.588324188e-05,1793196416659116032
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660.780572061,633.780572061,877.219427939,784.780572061,800.219427939,649,630,651,0.40113659573,-0.0053846729311,0.0697974516128,0.999999921581,0.000226583632753,-0.000323776664469,2.5811378568e-05,1793196416675782656
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660.633649578,634,877,785,800.366350422,649,630,651,0.401096087879,-0.00538396348383,0.0697994591288,0.999999922416,0.000227161470648,-0.000320766585244,2.59574565096e-05,1793196416692449280
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660.039700383,634,877,785,800.960299617,649,630,651,0.401059123165,-0.00538230266562,0.0698011150957,0.999999921806,0.00023056140896,-0.000320221009543,2.6238932584e-05,1793196416709116160
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660.539636655,633.460363345,877.539636655,785,800.460363345,649,630,651,0.401032397121,-0.00538342791034,0.0698021282421,0.999999922677,0.000229009645934,-0.000318584399807,2.65273361896e-05,1793196416725783040
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,743,712.117519003,673.882480997,660.882480997,633.117519003,877.882480997,785,800.117519003,649,630,651,0.401008931556,-0.00538454841143,0.0698033579217,0.999999923823,0.000227260991482,-0.000316212763345,2.67668119254e-05,1793196416742449920
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,743,712.693808326,673.306191674,660.306191674,633.693808326,877.306191674,785,800.693808326,649,630,651,0.400995331248,-0.00538487133913,0.0698056126512,0.999999925627,0.000226128336504,-0.000311276813442,2.68133460054e-05,1793196416759116544
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,743,712.724360519,673.551278962,660,634,877.275639481,785,801.275639481,649,630,651,0.400983086663,-0.00538544163432,0.0698072457868,0.999999926874,0.000224778157595,-0.00030823153923,2.68434707781e-05,1793196416775783168
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,743,712.136246884,674.727506233,660,634,877.863753116,785,801.863753116,649,630,651,0.400972378967,-0.00538629235363,0.0698081742629,0.999999927509,0.000223181386123,-0.000307329597727,2.68549934162e-05,1793196416792449792
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.555350596,660,633.555350596,877.555350596,785,801.555350596,649,629.555350596,651,0.400966686684,-0.0053867943978,0.0698098138136,0.999999928424,0.000222081000187,-0.000305146637974,2.67829536775e-05,1793196416809116416
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.9766636,633,877,785,801,649,629,651,0.400962587265,-0.00538715104409,0.0698115980788,0.999999929391,0.000221216449139,-0.000302604571894,2.66773504835e-05,1793196416825783040
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.398762726,633,877,785,801,649,629,651,0.400960403609,-0.00538655082835,0.0698117262726,0.999999929709,0.000222399508229,-0.000300707605933,2.63728971814e-05,1793196416842449664
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,743,712,673.818749244,659.181250756,633.181250756,877,785,801,649,629.181250756,651,0.400959226487,-0.00538678660623,0.0698126271553,0.999999930325,0.000222723650491,-0.000298414590515,2.63362786493e-05,1793196416859116288
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,743,712,673.234033118,659.765966882,633.765966882,877,785,801,649,629.765966882,651,0.400960289914,-0.00538888331138,0.0698152480484,0.999999931604,0.000221135838202,-0.000295239966526,2.68958620859e-05,1793196416875782912
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,743,712,673.347251686,659.652748314,633.652748314,877,784.652748314,801,649.347251686,630,650.652748314,0.400960048101,-0.005389543573,0.0698163072707,0.999999932437,0.000219507126163,-0.000293632071886,2.68684292965e-05,1793196416892449792
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,743,712,673.926246527,659.073753473,633.073753473,877,784.073753473,801,649.926246527,630,650.073753473,0.400958935216,-0.00538924520432,0.0698163242907,0.999999932976,0.000217851119183,-0.000293069755602,2.64492431889e-05,1793196416909116928
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.497031029,743,712.502968971,674.502968971,659.502968971,633.502968971,877.502968971,784.502968971,801,649.497031029,630,650.502968971,0.400957671401,-0.00538842382804,0.06981628038,0.999999932535,0.000219282161477,-0.000293514076684,2.63567093701e-05,1793196416925783552
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.079474233,743,712.920525767,674.920525767,659.920525767,633.920525767,877.920525767,785,800.920525767,649,630,651,0.400956350112,-0.00538754737944,0.0698161404509,0.999999931994,0.0002208627311,-0.000294179743804,2.6249274273e-05,1793196416942449664
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,743,712.809614734,674.809614734,659.809614734,633,877,784.190385266,800.809614734,649.809614734,630,651,0.400955859989,-0.00538881714592,0.0698160620804,0.99999993262,0.0002186102821,-0.000293787003448,2.56554483563e-05,1793196416992449280
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,743,712.604088515,674.604088515,660,633.395911485,877.395911485,784.395911485,801,649.604088515,630,651,0.400956069464,-0.00538801251191,0.0698166028016,0.999999932553,0.000220171508469,-0.000292846979889,2.56785358147e-05,1793196417009116160
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,743,712.012777047,674.012777047,660,633.987222953,877.987222953,784.987222953,801,649.012777047,630,651,0.400955690085,-0.00538594852446,0.0698170539198,0.999999932084,0.000223123372514,-0.000292214779897,2.56418615205e-05,1793196417025783040
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+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,743,713,674.139548995,660,633.860451005,877.139548995,785,801,650,630,651,0.400956804575,-0.0053873803378,0.0698182526662,0.999999933751,0.000218470863002,-0.000290043630371,2.53433264974e-05,1793196417059117312
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,743,713,674.71413069,660,633.28586931,877.71413069,785,801,650,630,651,0.400957124646,-0.00538706313365,0.0698181668597,0.999999933367,0.000220025641526,-0.00029017173341,2.55871102647e-05,1793196417075783680
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+417,6.950000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660.35545632,633.64454368,877,785,801,649,629.35545632,651,0.400957983107,-0.00538889464659,0.0698208418026,0.999999934566,0.000218580448087,-0.00028711871644,2.55516126855e-05,1793196417209116928
+418,6.966666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660.947868627,633.052131373,877,785,801,649,629.947868627,651,0.400957919543,-0.00538914199578,0.0698198797954,0.999999934799,0.000217289158051,-0.00028733314536,2.50606577526e-05,1793196417225783552
+419,6.983333333,POSE2_TO_POSE3_RETREAT,765,743,712.527366163,674.527366163,660.472633837,633.527366163,877,785,800.472633837,649,630,651,0.400956461125,-0.00538897333062,0.0698189225458,0.999999933855,0.000218943972162,-0.000289328191779,2.53538557516e-05,1793196417242449920
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..56f3ff1f2eb04779f4d47f5971275cf4a1b0c553
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,421 @@
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+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
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+6,0.100000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+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
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+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
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ef98653e81a8d415622eb599372b8cce0b67371e
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c49d4f3a3e20fc186c13a7798b44e72c7aa0742f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_02/franka_data.csv
@@ -0,0 +1,424 @@
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+4,0.066666667,BASELINE,765,743,712.337084855,674,660,633.662915145,877.662915145,785.337084855,800.337084855,649,630,651,0.400956338804,-0.00538717009852,0.0698197558534,0.99999993391,0.000220414113085,-0.000288071820571,2.47580241865e-05,1793196417466798080
+5,0.083333333,BASELINE,765,743,712.911507828,674,660,633.088492172,877.088492172,785.911507828,800.911507828,649,630,651,0.400956637783,-0.00538622969274,0.0698195339931,0.999999933811,0.000221212273888,-0.000287816875642,2.45971827037e-05,1793196417483464704
+6,0.100000000,BASELINE,765,743,713,674,659.500152499,633,877.499847501,785.500152499,801,649.499847501,630,651,0.400956168325,-0.00538634589108,0.0698193874318,0.999999933869,0.000221009241702,-0.000287777507829,2.45001206782e-05,1793196417500131328
+7,0.116666667,BASELINE,765,743,712.911099262,674,659.088900738,633.088900738,878,784.911099262,801,649.911099262,630,651,0.400955791224,-0.00538665519947,0.0698193757842,0.999999933976,0.000220579979716,-0.000287741733506,2.44238371193e-05,1793196417516797952
+8,0.133333333,BASELINE,765,743,712.33208412,674,659.66791588,633.66791588,878,784.33208412,801,649.33208412,630,651,0.400956694787,-0.00538696833045,0.0698200323254,0.999999934192,0.00021990867291,-0.000287509336416,2.43980734052e-05,1793196417533464832
+9,0.150000000,BASELINE,765,742.755132028,712.244867972,674,660,633.755132028,877.755132028,784.244867972,801.244867972,649.244867972,630,651,0.400956978375,-0.00538753602876,0.0698204812793,0.999999934409,0.000219322984448,-0.00028718610675,2.4549573202e-05,1793196417550131456
+10,0.166666667,BASELINE,765,742.180954466,712.819045534,674,660,633.180954466,877.180954466,784.819045534,801.819045534,649.819045534,630,651,0.400956428193,-0.00538844608075,0.0698206510602,0.999999934631,0.000218852439487,-0.000286740721322,2.49394650349e-05,1793196417566798080
+11,0.183333333,BASELINE,765.402652801,742.402652801,712.597347199,674,660,633.402652801,877,785,801.597347199,650,630,651,0.400955823125,-0.00538899487184,0.0698206937981,0.999999934969,0.000217263214277,-0.000286762841138,2.50270894184e-05,1793196417583464704
+12,0.200000000,BASELINE,765.990599508,742.990599508,712.009400492,674,660,633.990599508,877,785,801.009400492,650,630,651,0.400955192798,-0.00538937741693,0.0698206780729,0.999999935357,0.000215159191582,-0.000287000098801,2.49756155457e-05,1793196417600131328
+13,0.216666667,BASELINE,765.430624989,743,712,674,660,634,877.569375011,785,801,650,630,651,0.400956164266,-0.00538885792443,0.0698208776495,0.99999993498,0.000217654532558,-0.000286432013456,2.49649334057e-05,1793196417616797952
+14,0.233333333,BASELINE,765,743,712,674,660,634,878,785,801,649.852235884,630,651,0.400957253865,-0.00538834520266,0.0698214501097,0.999999934864,0.000219475749867,-0.000285445351742,2.49669620664e-05,1793196417633464576
+15,0.250000000,BASELINE,765,743,712,674,660,634,878,785,801,649.274537324,630,651,0.400958611452,-0.00538789482612,0.0698230973333,0.999999935558,0.00021911809565,-0.000283278874013,2.50040455764e-05,1793196417650131456
+16,0.266666667,BASELINE,765,743,712.302974285,674,660,634,878,785,801,649,630,651,0.400958940238,-0.00538797592961,0.0698232113455,0.999999935549,0.00021928918422,-0.000283177307805,2.49807205386e-05,1793196417666798080
+17,0.283333333,BASELINE,765,743,712.88031656,674,660,634,878,785,801,649,630,651,0.40095833736,-0.00538853833176,0.0698219369092,0.999999934906,0.000219939092643,-0.000284945687964,2.49026906187e-05,1793196417683464704
+18,0.300000000,BASELINE,765,743,713,674,659.534327564,634,877.534327564,785,801,649.465672436,630,651,0.400957748184,-0.00538927660385,0.0698214526747,0.999999935294,0.000217305676564,-0.000285608292079,2.4882566885e-05,1793196417700131328
+19,0.316666667,BASELINE,765,743,712.947668895,674,659.052331105,633.947668895,877.052331105,784.947668895,801,650,630,651,0.40095728106,-0.00538986072441,0.069821229706,0.99999993587,0.0002143158703,-0.000285848721885,2.48712230071e-05,1793196417716797952
+20,0.333333333,BASELINE,765,743,712.368984866,674,659.631015134,633.368984866,877.631015134,784.368984866,801,650,630,651,0.400958005505,-0.00538843177437,0.0698215560955,0.999999935741,0.000216377655,-0.000284751418664,2.4795875974e-05,1793196417733464576
+21,0.350000000,BASELINE,765,743,712,674,660,633.208546194,878,784,801.208546194,649.791453806,629.791453806,651,0.40095791317,-0.00538773682605,0.0698215563513,0.999999935354,0.000218210447733,-0.000284712937021,2.47925062505e-05,1793196417750131456
+22,0.366666667,BASELINE,765,743,712,674,660,633.784048439,878,784,801.784048439,649.215951561,629.215951561,651,0.400956383634,-0.00538833342086,0.0698209827452,0.999999934517,0.000219640307996,-0.000286537548634,2.49157871759e-05,1793196417766798080
+23,0.383333333,BASELINE,765,743,712.358952605,674,659.641047395,633.641047395,878,784,801.28209479,649,629.358952605,651,0.400956210416,-0.00538802315637,0.0698206787627,0.999999934241,0.000220600951199,-0.000286762375687,2.49016224127e-05,1793196417783465216
+24,0.400000000,BASELINE,765,743,712.933497612,674,659.066502388,633.066502388,878,784,800.133004776,649,629.933497612,651,0.400956851822,-0.00538716821843,0.0698205367203,0.999999934304,0.000221279775627,-0.00028602634794,2.48049056871e-05,1793196417800132352
+25,0.416666667,BASELINE,765.523009711,743,712.476990289,674,659.523009711,633.523009711,878,784.523009711,800.523009711,649,630,651,0.400956401608,-0.00538891416521,0.0698209473571,0.999999935131,0.000217866882339,-0.000285757838748,2.47983199101e-05,1793196417816798464
+26,0.433333333,BASELINE,765.887883639,743,712,674,660,633.887883639,877.887883639,784.887883639,801.112116361,649.112116361,630,651,0.400955815125,-0.00539048021951,0.0698211662613,0.999999935835,0.000214475771651,-0.000285861138218,2.47841910005e-05,1793196417833464576
+27,0.450000000,BASELINE,765.308629149,743,712,674,660,633.308629149,877.308629149,784.308629149,801.691370851,649.691370851,630,651,0.40095525623,-0.00538987822702,0.0698202848723,0.999999935665,0.000213407032016,-0.000287258612425,2.46894760497e-05,1793196417850131456
+28,0.466666667,BASELINE,765,743,712,673.731172241,659.731172241,633.268827759,877.268827759,784,801.731172241,649.731172241,630,651,0.400955384365,-0.00538950879664,0.0698202226137,0.999999935562,0.000213716982234,-0.000287398473823,2.45756717527e-05,1793196417866798336
+29,0.483333333,BASELINE,765,743,712,673.155765382,659.155765382,633.844234618,877.844234618,784,801.155765382,649.155765382,630,651,0.400956296009,-0.00538940458698,0.0698210945158,0.999999935532,0.000215599231057,-0.000286104116422,2.44400974082e-05,1793196417883465216
+30,0.500000000,BASELINE,765,743,712.417626868,673.417626868,659,634,878,784.417626868,801,649.417626868,630,650.582373132,0.400956639094,-0.00538847931575,0.0698215488263,0.999999935462,0.000216592113111,-0.000285599346084,2.44131722265e-05,1793196417900131840
+31,0.516666667,BASELINE,765,743,712.990271309,673.990271309,659,634,878,784.990271309,801,649.990271309,630,650.009728691,0.400956771136,-0.00538724927733,0.0698218481323,0.999999935379,0.000217254873935,-0.000285387660058,2.44265761806e-05,1793196417916798464
+32,0.533333333,BASELINE,765,743,712.417309652,674,659.582690348,633.417309652,878.582690348,785,800.417309652,649.417309652,630,650.582690348,0.400956329139,-0.00538819384088,0.0698211277497,0.999999935324,0.000216621329363,-0.000286067702027,2.43560154088e-05,1793196417933465088
+33,0.550000000,BASELINE,765,743,712,673.828500044,660,633.171499956,878.657000087,785,800.171499956,649,630,651,0.400956149302,-0.00538892891368,0.069820773946,0.999999935344,0.000216240893967,-0.000286282375262,2.43975230297e-05,1793196417950131712
+34,0.566666667,BASELINE,765,743,712,673.2490884,660,633.7509116,877.4981768,785,800.7509116,649,630,651,0.40095661661,-0.00538907632295,0.0698213339643,0.999999935542,0.000216515764328,-0.000285353515425,2.47090362237e-05,1793196417966798080
+35,0.583333333,BASELINE,765,743,712,673.327499883,660,633.672500117,877.327499883,785,801,649.327499883,630,651,0.400956262008,-0.00538850674208,0.0698213986351,0.999999935388,0.00021723004753,-0.000285348377057,2.47263481541e-05,1793196417983464704
+36,0.600000000,BASELINE,765,743,712,673.901959202,660,633.098040798,877.901959202,785,801,649.901959202,630,651,0.400955287624,-0.00538739649695,0.0698210897767,0.999999934968,0.000218275680944,-0.00028603979375,2.45218103341e-05,1793196418000131584
+37,0.616666667,BASELINE,765,743,712,674,660,633.487720391,877.512279609,784.512279609,801,649.512279609,630,651,0.400955227093,-0.00538870238005,0.0698212466391,0.999999935234,0.000216406576183,-0.000286519802803,2.46262907535e-05,1793196418016798208
+38,0.633333333,BASELINE,765,743,712,674,660,634,877,784.074884667,801,649,630,651,0.400955329625,-0.0053903011163,0.0698213985972,0.999999935588,0.000214255430024,-0.000286891713219,2.47498444797e-05,1793196418033464832
+39,0.650000000,BASELINE,765,743,712,674,660,634,877,784.655813966,801,649,630,651,0.400955263248,-0.00539051889355,0.0698208697655,0.999999935611,0.000214251690643,-0.000286827122248,2.45725565439e-05,1793196418050131968
+40,0.666666667,BASELINE,765,743,712.233894965,674,659.766105035,634,877,785,801.233894965,649,630,651,0.400955741083,-0.00538993849349,0.0698209730698,0.999999935636,0.000215158578754,-0.000286069712331,2.44811747115e-05,1793196418066798848
+41,0.683333333,BASELINE,765,743,712.807834963,674,659.192165037,634,877,785,801.807834963,649,630,651,0.400957010115,-0.00538819767412,0.0698219953967,0.999999935656,0.000217389370338,-0.000284305056951,2.45146863171e-05,1793196418083465728
+42,0.700000000,BASELINE,765,743,712.619284187,674,659.380715813,633.619284187,877,785,801.619284187,649,630,651,0.400957610194,-0.00538764005182,0.0698226728988,0.999999935834,0.000217833194758,-0.000283336201623,2.45383435335e-05,1793196418100132096
+43,0.716666667,BASELINE,765,743,712.046936472,674,659.953063528,633.046936472,877,785,801.046936472,649,630,651,0.400957873556,-0.00538767798744,0.0698231768346,0.999999936093,0.000217377555777,-0.00028276790937,2.45570405785e-05,1793196418116798208
+44,0.733333333,BASELINE,765,743,712.548157998,674,659.451842002,633.548157998,877,785,801,649.548157998,630,651,0.400957945335,-0.00538910627058,0.0698230113078,0.999999936481,0.000215753738604,-0.000282602707744,2.49696127468e-05,1793196418133464832
+45,0.750000000,BASELINE,764.859789904,743,712.859789904,674,659.140210096,634,877,785,801,649.859789904,630,650.859789904,0.400957735276,-0.00539026773112,0.0698225805563,0.999999936624,0.000214717703599,-0.000282863992268,2.52345496677e-05,1793196418150131200
+46,0.766666667,BASELINE,764.28351957,743,712.28351957,674,659.71648043,634,877,785,801,649.28351957,630,650.28351957,0.400956701917,-0.00539021308058,0.0698215109396,0.999999935972,0.000215834254461,-0.000284339679099,2.49309035677e-05,1793196418166798080
+47,0.783333333,BASELINE,764.292714729,743,712,674,659.707285271,634,877.292714729,784.707285271,801,649,629.707285271,650.292714729,0.400955920683,-0.00539047247929,0.0698211162269,0.999999935716,0.000215323629029,-0.000285651344885,2.46429948667e-05,1793196418183465216
+48,0.800000000,BASELINE,764.868914197,743,712,674,659.131085803,634,877.868914197,784.131085803,801,649,629.131085803,650.868914197,0.400955383623,-0.00539103602453,0.0698213751366,0.99999993584,0.00021323713616,-0.000286804161771,2.43703272911e-05,1793196418200132352
+49,0.816666667,BASELINE,765,743,712,674,659.455446775,634,877.544553225,784.455446775,801,649,629.455446775,651,0.400956488083,-0.00539026737101,0.0698219853118,0.999999936021,0.000214524193076,-0.000285196556045,2.44874300309e-05,1793196418216798976
+50,0.833333333,BASELINE,765,743,712.044225267,674,660,634,877,785,801,649,630,651,0.400957997046,-0.00538916349271,0.0698226760577,0.999999936212,0.000216629134451,-0.000282909937004,2.46904122708e-05,1793196418233465600
+51,0.850000000,BASELINE,765,743,712.623362169,674,660,634,877,785,801,649,630,651,0.400958551428,-0.00538875033458,0.0698230901061,0.999999936408,0.00021660986959,-0.000282243221654,2.45437513823e-05,1793196418250131968
+52,0.866666667,BASELINE,764.799152441,743,713,674,660,634,877,784.799152441,801,649,630,651,0.400959026701,-0.00538862971643,0.0698234096386,0.999999936489,0.000216720908017,-0.000281879039642,2.44455274437e-05,1793196418266798080
+53,0.883333333,BASELINE,764.224738813,743,713,674,660,634,877,784.224738813,801,649,630,651,0.400959354834,-0.00538905320755,0.0698235533765,0.999999936357,0.000217074303825,-0.000282077554028,2.44373937348e-05,1793196418283464960
+54,0.900000000,BASELINE,764.357946351,743,712.642053649,674,660,633.642053649,877,784.357946351,801,649,630,651,0.400959137616,-0.00538879875236,0.0698232417269,0.999999936314,0.000217589294142,-0.000281846427343,2.42770465806e-05,1793196418300131584
+55,0.916666667,BASELINE,764.945947674,743,712.054052326,674,660,633.054052326,877,784.945947674,801,649,630,651,0.400958569895,-0.00538810857564,0.0698226373961,0.999999936328,0.000218208142525,-0.000281339166909,2.40188706326e-05,1793196418316798208
+56,0.933333333,BASELINE,765,743,712.525714557,673.474285443,659.474285443,633,877,785,801,649,630,651,0.400957813446,-0.00538943655277,0.069822772557,0.999999936599,0.000215978412514,-0.000282061479347,2.44423922866e-05,1793196418333465088
+57,0.950000000,BASELINE,765,743,712.895643216,673.104356784,659.104356784,633.104356784,877.104356784,785,800.895643216,649.104356784,630,651,0.400957357077,-0.00539047232683,0.0698229636635,0.999999936718,0.000214371746521,-0.00028282735319,2.48307677412e-05,1793196418350131968
+58,0.966666667,BASELINE,765,743,712.318320365,673.681679635,659.681679635,633.681679635,877.681679635,785,800.318320365,649.681679635,630,651,0.400958347318,-0.00538925784693,0.0698230690483,0.999999936063,0.000216895862801,-0.000283226527209,2.47470901389e-05,1793196418366799104
+59,0.983333333,BASELINE,765,743,712,674,660,633.742545634,877.742545634,785,800.514908733,649.742545634,630,651,0.400958489631,-0.0053887402243,0.0698229671583,0.999999935849,0.000217974939932,-0.000283161627859,2.46636351331e-05,1793196418383465472
+60,1.000000000,BASELINE,765,743,712,674,660,633.168673503,877.168673503,785,801.662652994,649.168673503,630,651,0.400957589819,-0.00538907905629,0.0698226105226,0.999999936182,0.000217278028658,-0.000282526370948,2.45804536927e-05,1793196418400131584
+61,1.016666667,BASELINE,765,743,712,674,660,633.416814947,877.416814947,785,801.583185053,649.416814947,630,651,0.400957595321,-0.00538890598214,0.0698226463723,0.999999936268,0.000217019692501,-0.000282413998891,2.46677806244e-05,1793196418416798208
+62,1.033333333,BASELINE,765,743,712,674,659.993002371,634,877.993002371,785,801,649.993002371,630,651,0.400957978071,-0.00538854116126,0.0698228425024,0.999999936252,0.000216944554162,-0.000282514576133,2.48227148394e-05,1793196418433464832
+63,1.050000000,BASELINE,765,743,712,674,659.414362627,634,877.414362627,785,801,649.414362627,630,651,0.400958392755,-0.00538992013421,0.0698227853171,0.999999936341,0.000216920926503,-0.000282230073278,2.47022818475e-05,1793196418450131456
+64,1.066666667,BASELINE,764.835961835,743,712,673.835961835,659.164038165,633.835961835,877.164038165,785,800.835961835,649,629.835961835,651,0.400958365583,-0.00539080997445,0.0698226290797,0.99999993643,0.000216400253459,-0.000282324449731,2.45643366697e-05,1793196418466798080
+65,1.083333333,BASELINE,764.258163793,743,712,673.258163793,659.741836207,633.258163793,877.741836207,785,800.258163793,649,629.258163793,651,0.400957223904,-0.00539046605603,0.0698222229995,0.99999993652,0.000214625863409,-0.000283374488291,2.43822198285e-05,1793196418483464960
+66,1.100000000,BASELINE,764.317284619,743,712,673.317284619,660,633.317284619,878,785,800.634569237,649,629.317284619,651,0.4009570549,-0.00539019800499,0.0698224186192,0.999999936596,0.000214327365169,-0.00028333060144,2.44151362956e-05,1793196418500131840
+67,1.116666667,BASELINE,764.890835241,743,712,673.890835241,660,633.890835241,878,785,801.781670481,649,629.890835241,651,0.400957671512,-0.0053899912309,0.069823100223,0.999999936661,0.000215220922583,-0.000282403167476,2.46217319329e-05,1793196418516798720
+68,1.133333333,BASELINE,765,743,712.478196474,674,660,634,877.521803526,784.521803526,801.521803526,649,630,651,0.400956758511,-0.00538991464489,0.0698224335044,0.999999936416,0.000214988045804,-0.000283438807381,2.47204973997e-05,1793196418533465344
+69,1.150000000,BASELINE,765,743,713,674,659.932457696,633.932457696,877,784.067542304,801,649,630,651,0.40095583892,-0.00538985438521,0.0698216133534,0.99999993615,0.000214674827306,-0.000284608567415,2.47680496213e-05,1793196418550131712
+70,1.166666667,BASELINE,765,743,713,674,659.352682383,633.352682383,877,784.647317617,801,649,630,651,0.400957596305,-0.00538968584725,0.0698220333367,0.999999936292,0.000215760479166,-0.000283295770156,2.46194428062e-05,1793196418566798080
+71,1.183333333,BASELINE,765,743,712.775151703,673.775151703,659.224848297,633.224848297,877.224848297,785,800.775151703,649,630,651,0.40095827298,-0.00538955802554,0.0698223269972,0.999999936287,0.000216513569817,-0.000282743667372,2.45609360104e-05,1793196418583464704
+72,1.200000000,BASELINE,765,743,712.201106919,673.201106919,659.798893081,633.798893081,877.798893081,785,800.201106919,649,630,651,0.400957271275,-0.00538949343741,0.0698224244745,0.999999936056,0.000216750182603,-0.00028337294686,2.46423573595e-05,1793196418600131072
+73,1.216666667,BASELINE,765,743,712,673.381957181,660,633.618042819,877.618042819,785,800.381957181,649,630,651,0.400956079798,-0.00538938274246,0.0698217864755,0.999999935637,0.00021694014653,-0.000284712838409,2.45296796912e-05,1793196418616798208
+74,1.233333333,BASELINE,765,743,712,673.969884917,660,633.030115083,877.030115083,785,800.969884917,649,630,651,0.400954785985,-0.0053892471844,0.0698207518707,0.999999935114,0.000217104955029,-0.00028643592774,2.43123340491e-05,1793196418633465088
+75,1.250000000,BASELINE,764.450300952,743,712,674,660,633.549699048,877,785,800.450300952,649,630,651,0.400956596046,-0.00538937605949,0.0698220909795,0.999999935655,0.000217518119784,-0.000284217848702,2.43976564906e-05,1793196418650131968
+76,1.266666667,BASELINE,764.128627178,743,712,674,660,633.871372822,877,784.871372822,800,649,630,650.871372822,0.400958074888,-0.00538978313182,0.0698231331518,0.999999936219,0.000217253631919,-0.000282420095566,2.45186011748e-05,1793196418666798592
+77,1.283333333,BASELINE,764.705992473,743,712,674,660,633.294007527,877,784.294007527,800,649,630,650.294007527,0.400957813617,-0.00539111093835,0.0698226923308,0.999999936676,0.000214578259014,-0.00028283102451,2.47068139383e-05,1793196418683464960
+78,1.300000000,BASELINE,765,743,712,674.281279851,660,633,877,784.281279851,800.281279851,649,630,650.281279851,0.400957869121,-0.00539184808438,0.0698229765525,0.999999937264,0.000212606062876,-0.000282239505129,2.47319066294e-05,1793196418700131584
+79,1.316666667,BASELINE,765,743,712,674.854411177,660,633,877,784.854411177,800.854411177,649,630,650.854411177,0.400958253307,-0.00539197237045,0.0698240130669,0.99999993799,0.000211363471874,-0.000280607861371,2.45877485301e-05,1793196418716798208
+80,1.333333333,BASELINE,765,743,712,674.559228183,660,633.440771817,877.440771817,785,801,649.440771817,629.559228183,651,0.400958031834,-0.00539156970547,0.0698235092437,0.999999937312,0.000213344742929,-0.000281521692575,2.46225416601e-05,1793196418733464832
+81,1.350000000,BASELINE,764.968914504,743,712.031085496,674,660,634,877.968914504,784.968914504,801,649.968914504,629,651,0.400957710855,-0.00539094563718,0.0698225930323,0.999999936222,0.000216314349839,-0.000283116198774,2.46932346416e-05,1793196418750131712
+82,1.366666667,BASELINE,764.388356612,743,712.611643388,674,660,634,877.388356612,784.388356612,801,649.388356612,629,651,0.400959276552,-0.00538957981735,0.0698236589398,0.999999936485,0.000217348958349,-0.000281420773072,2.43213608415e-05,1793196418766798336
+83,1.383333333,BASELINE,764.190372935,743,713,674.190372935,660,634,877,784.190372935,801,649,629.190372935,651,0.400959888936,-0.00538856078043,0.0698241262525,0.999999936576,0.000217887726277,-0.000280698461586,2.41004921652e-05,1793196418783465216
+84,1.400000000,BASELINE,764.765408285,743,713,674.765408285,660,634,877,784.765408285,801,649,629.765408285,651,0.400958575082,-0.0053882424434,0.0698233840609,0.999999936325,0.000217424612301,-0.000281942398109,2.41847402981e-05,1793196418800131840
+85,1.416666667,BASELINE,765,743.345402901,712.654597099,674.654597099,660,634,877,784.654597099,801,649,630,651,0.400957674831,-0.00538877019153,0.0698229083111,0.999999936175,0.000217096396722,-0.000282708756058,2.4397715981e-05,1793196418816798464
+86,1.433333333,BASELINE,765,743.928814796,712.071185204,674.071185204,660,634,877,784.071185204,801,649,630,651,0.400957059585,-0.005389880957,0.0698226161603,0.999999936095,0.000216861136475,-0.000283146025798,2.46993947785e-05,1793196418833464832
+87,1.450000000,BASELINE,765,743.486175462,712,674,659.486175462,633.486175462,877.513824538,784,801,649,630,651,0.400958426176,-0.00538970676655,0.0698238526701,0.999999936836,0.000215828563952,-0.000281338046329,2.43998368828e-05,1793196418850131456
+88,1.466666667,BASELINE,765,743,712.097070842,674,659,633,878,784.097070842,801,649,630,651,0.400959552257,-0.00538953840342,0.069824771288,0.999999937433,0.000214852812289,-0.000279982516698,2.41379705363e-05,1793196418866798080
+89,1.483333333,BASELINE,765,743,712.670572188,674,659,633,878,784.670572188,801,649,630,651,0.400958146114,-0.00539027508995,0.0698230869943,0.999999936784,0.000214699775904,-0.000282379092736,2.44711913011e-05,1793196418883464704
+90,1.500000000,BASELINE,764.754974972,743,712.754974972,674,659.245025028,633.245025028,877.754974972,785,800.754974972,649,630,650.754974972,0.400957734945,-0.00539062114281,0.0698226156267,0.999999936713,0.000214550061795,-0.000282727675562,2.46589437878e-05,1793196418900131584
+91,1.516666667,BASELINE,764.179237942,743,712.179237942,674,659.820762058,633.820762058,877.179237942,785,800.179237942,649,630,650.179237942,0.400958666698,-0.0053904399546,0.069823781354,0.999999937424,0.0002144048318,-0.000280312067358,2.46503566897e-05,1793196418916798464
+92,1.533333333,BASELINE,764.407179866,743,712,674,660,633.592820134,877.407179866,785,800.407179866,649,630,650.407179866,0.400957826706,-0.00539017845728,0.0698229920284,0.999999937207,0.000214453301866,-0.000281063453295,2.44680229144e-05,1793196418933465088
+93,1.550000000,BASELINE,764.998425985,743,712,674,660,633.001574015,877.998425985,785,800.998425985,649,630,650.998425985,0.400956185794,-0.0053898806561,0.0698213189184,0.999999936568,0.000214589334314,-0.000283246483349,2.42071466989e-05,1793196418950131968
+94,1.566666667,BASELINE,765,743,712,674,659.420877727,633.579122273,876.841755454,785,801,649,630,651,0.400958078528,-0.00538963301242,0.069823087855,0.999999936898,0.000215982962434,-0.000281007905469,2.42767320971e-05,1793196418966798336
+95,1.583333333,BASELINE,765,743,712,674,659.158272809,634,876.158272809,785,800.841727191,649,630,651,0.40095918503,-0.00538951737238,0.0698243342863,0.999999937083,0.000216706486325,-0.000279778641916,2.44168494662e-05,1793196418983465216
+96,1.600000000,BASELINE,765,743,712,674,659.73342623,634,876.73342623,785,800.26657377,649,630,651,0.400958195801,-0.00538974906894,0.069824180272,0.999999936892,0.000215656156297,-0.000281238935634,2.47404202163e-05,1793196419000131584
+97,1.616666667,BASELINE,765,743,712,674.312704188,660,634,877,785,800.312704188,649.312704188,630,651,0.400957993542,-0.00538930760221,0.0698240733619,0.999999936538,0.000216718075937,-0.000281680355513,2.47532657701e-05,1793196419016798208
+98,1.633333333,BASELINE,765,743,712,674.89554519,660,634,877,785,800.89554519,649.89554519,630,651,0.400958471124,-0.00538828460764,0.0698240071442,0.999999936038,0.000219604711829,-0.000281241597353,2.44976840891e-05,1793196419033464832
+99,1.650000000,BASELINE,765,743,712,674.04763389,660,633.523816945,877,785,801,649.523816945,630,651,0.400958327577,-0.00538930499124,0.0698236645167,0.99999993636,0.000217474166533,-0.000281760150406,2.44334626467e-05,1793196419050131712
+100,1.666666667,BASELINE,765,743,712,673.056176825,660,633,877,785,801,649,630,651,0.400957974639,-0.00539056073507,0.0698232230311,0.999999936748,0.000214656413518,-0.000282544229691,2.43890467825e-05,1793196419066798592
+101,1.683333333,BASELINE,765,743,712,673.634654739,660,633,877,785,801,649,630,651,0.400956935839,-0.00538985650352,0.0698224235512,0.999999936173,0.00021563467098,-0.000283853605154,2.41402952969e-05,1793196419083464704
+102,1.700000000,BASELINE,765,743,712,674,660,633.212105796,877.212105796,785,801,649.212105796,630,651,0.400956573995,-0.00538953579384,0.0698221599325,0.999999935922,0.000216714724172,-0.000283914310963,2.41382213327e-05,1793196419100131328
+103,1.716666667,BASELINE,765,743,712,674,660,633.78779659,877.78779659,785,801,649.78779659,630,651,0.400957372565,-0.0053898725052,0.0698228148701,0.999999936228,0.00021796927226,-0.000281834586905,2.45589941413e-05,1793196419116797952
+104,1.733333333,BASELINE,765,743,712,674,659.629104851,633.629104851,877.629104851,784.629104851,801,650,630,651,0.400957106419,-0.00539006877422,0.0698227925213,0.999999936386,0.000216649819705,-0.000282297247297,2.44658626212e-05,1793196419133464576
+105,1.750000000,BASELINE,765,743,712,674,659.041681592,633.041681592,877.041681592,784.041681592,801,650,630,651,0.400956218693,-0.00539018305322,0.0698223747737,0.999999936452,0.000213827669017,-0.000284244148247,2.40727144573e-05,1793196419150131456
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,878,785,801,649,630,651,0.400958680203,-0.00538928484891,0.0698235968968,0.999999936174,0.000218388116808,-0.000281736238514,2.41495199081e-05,1793196419181250816
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.398400798,743,712.601599202,674.601599202,660,634,877.398400798,785,801,649,630,651,0.400958640758,-0.00539005588544,0.0698232104617,0.99999993699,0.000215299948698,-0.000281208398896,2.42329613375e-05,1793196419197917952
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.193652996,743,713,674.806347004,660,634,877,785,801.193652996,649,630,651,0.400958881195,-0.00539078387057,0.0698232856346,0.999999937611,0.000213189041255,-0.000280602395456,2.42900399164e-05,1793196419214585088
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+110,1.833333333,POSE1_TO_POSE2_PRESS,765,743,712.649043008,674.350956992,659.649043008,633.649043008,877.350956992,785,801.649043008,649,630,651,0.400959378632,-0.00539083334419,0.0698245455851,0.999999937363,0.00021507288217,-0.000280040412196,2.43808392408e-05,1793196419247918848
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,743,712.05780221,674.94219779,659.05780221,633.05780221,877.94219779,785,801.05780221,649,630,651,0.400958346815,-0.00538939186004,0.0698243457124,0.999999936332,0.000218708141262,-0.000280892573986,2.45210333873e-05,1793196419264584960
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+113,1.883333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877,785,800.899630347,649,630,651,0.400959225673,-0.00539028149046,0.0698242167004,0.999999936828,0.000216592972561,-0.000280790785271,2.4237730178e-05,1793196419297918464
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877,785,800.323996951,649,630,651,0.400961858655,-0.00539145171503,0.0698255716125,0.999999937724,0.00021461365771,-0.000279093701285,2.44953359008e-05,1793196419314584576
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.249392648,743,712,674,660,634,877,785,800.249392648,649,630,651,0.400967409832,-0.00539177122388,0.0698280898851,0.999999938882,0.000214314240144,-0.000275114723314,2.48492518958e-05,1793196419331250944
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+124,2.066666667,POSE1_TO_POSE2_PRESS,764.510392479,743,712,674.510392479,659.510392479,633,877,785,800,649.510392479,630,651,0.401450332985,-0.00540102999844,0.0699006029982,0.999999965421,0.000206863189404,-0.000161236866528,1.91953463317e-05,1793196419481251072
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,743,712,674,659,633.068006437,877,784.931993563,800.068006437,649,630,651,0.401550481504,-0.00540311638499,0.0698978579691,0.999999964683,0.000205679934353,-0.000167556370116,1.59795317604e-05,1793196419497917696
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659,633.642902608,877,784.357097392,800.642902608,649,630,651,0.401681774871,-0.00540837100172,0.0699009740333,0.999999966599,0.000197525551613,-0.000166181572112,1.30371831426e-05,1793196419514584320
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,743,712.222915568,674,659.222915568,634,877,784.222915568,800.777084432,649.222915568,630,651,0.401824628335,-0.00541285959789,0.0699044911897,0.999999968621,0.000190214588685,-0.000162731951336,9.72657015551e-06,1793196419531250944
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,743,712.811317828,674,659.811317828,634,877,784.811317828,800.188682172,649.811317828,630,651,0.40198643543,-0.00541609224574,0.0699086659663,0.999999970853,0.000184286476222,-0.000155880504095,5.81216057098e-06,1793196419547917568
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.392752821,743,712.607247179,674,660,634,877.392752821,785,800.392752821,649.607247179,630,651,0.402175464121,-0.00541850497878,0.0699114397742,0.999999973067,0.000177714044605,-0.000149272910444,5.870477409e-07,1793196419564584192
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.970899067,743,712.029100933,674,660,634,877.970899067,785,800.970899067,649.029100933,630,651,0.402377342398,-0.0054205306829,0.069913552275,0.9999999752,0.000170837470691,-0.000142780423822,-5.25676439757e-06,1793196419581250816
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,743.548804034,712,674,660,633.451195966,878,785,801.548804034,649,629.451195966,651,0.40260569995,-0.005425014295,0.0699141630942,0.999999976852,0.000161493142671,-0.00014171148102,-1.1548120727e-05,1793196419597917440
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,743.875103906,712.124896094,674,660,633.124896094,878,785,801.875103906,649,629.124896094,651,0.40284563336,-0.00542984291066,0.0699160396438,0.999999978712,0.000152475483295,-0.000137898620569,-1.76431866246e-05,1793196419614584320
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,743.305422344,712.694577656,674,660,633.694577656,878,785,801.305422344,649,629.694577656,651,0.403121793168,-0.0054354362249,0.06992270722,0.999999981611,0.00014508697117,-0.000123290273953,-2.29547395386e-05,1793196419631251968
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.723804324,743,712.723804324,674,660,634,878,785,801,649.276195676,630,650.723804324,0.403419858021,-0.00544204238525,0.069932619171,0.999999989308,9.77641590495e-05,-0.000105191138074,-2.75834061359e-05,1793196419647919104
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.128390563,743,712.128390563,674,660,634,878,785,801,649.871609437,630,650.128390563,0.403743240004,-0.00544981916024,0.069946280866,0.999999996048,4.28656622647e-06,-8.30574603297e-05,-3.14228141839e-05,1793196419664585472
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.454263254,743,712,674,660,634,878,785,801,649.545736746,630,650.454263254,0.404094232534,-0.00546312818913,0.0699496477345,0.999999996308,1.51163144812e-05,-8.10126407893e-05,-2.43298641366e-05,1793196419681251840
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.96713051,743,712.03286949,674,660,634,878,785,801,649.03286949,630,651,0.404455136958,-0.00547829885103,0.0699505685377,0.999999995116,5.08235190084e-05,-8.34363180293e-05,-1.49718205464e-05,1793196419697918464
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.397340288,743,712.602659712,674,660,634,878,785,801,649.602659712,630,651,0.404853961463,-0.0054990355883,0.069957763787,0.999999997188,2.44915549053e-05,-6.86399847655e-05,-1.77073295504e-05,1793196419714584832
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.179445282,743,712.820554718,674,659.820554718,634,878,785,801,650,630,651,0.405258699659,-0.00551309457024,0.0699621218114,0.999999998012,6.01093652085e-06,-5.94828200796e-05,-2.00353384173e-05,1793196419731251200
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.772348684,743,712.227651316,674,659.227651316,634,878,785,801,650,630,651,0.40567706348,-0.00551176739856,0.0699599426129,0.99999999775,5.62053069505e-06,-6.3318810725e-05,-2.14244298577e-05,1793196419747918080
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.64383672,743,712,674.35616328,659.712326559,633.64383672,877.64383672,784.64383672,801,650,630,651,0.406123612273,-0.00551346605456,0.0699536905595,0.999999996962,4.7566177907e-06,-7.43787109643e-05,-2.28378563848e-05,1793196419764584704
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.065686865,743,712,674.934313135,660.868626271,633.065686865,877.065686865,784.065686865,801,650,630,651,0.406587728009,-0.00551705062388,0.0699449000098,0.999999995654,3.5975811749e-06,-8.9941071665e-05,-2.42664504195e-05,1793196419781251072
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.512759876,743,712.512759876,674.487240124,660.487240124,633.512759876,877.512759876,784,801,650,630,651,0.407103313723,-0.0055254155561,0.0699280882932,0.999999993285,-1.18433939035e-05,-0.000111939633334,-2.75370447252e-05,1793196419797918464
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,743,712.909597844,674,660,634,878,784,801,650,630,651,0.407635094813,-0.00553358434654,0.0699144443204,0.999999990979,-2.80137697809e-05,-0.000127708726879,-3.07808711932e-05,1793196419814585856
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,743,712.336454318,674,660,634,878,784,801,650,630,651,0.40821812887,-0.0055374337617,0.0699232060917,0.999999993137,-3.83036044638e-05,-0.000105807533446,-3.26209744531e-05,1793196419831252224
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.755756912,743,712,674,660,633.755756912,878.244243088,784.244243088,801,650,630,651,0.408814728866,-0.00554357116827,0.0699337406575,0.999999995022,-4.76029402768e-05,-8.09367385563e-05,-3.3763244895e-05,1793196419847918336
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.164321685,743,712,674,660,633.164321685,878.835678315,784.835678315,801,650,630,651,0.409430612844,-0.00555296095997,0.0699467952542,0.999999996541,-5.54942789302e-05,-5.18446493362e-05,-3.39135441875e-05,1793196419864584704
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.41792601,743,712,674.41792601,660.41792601,633,878.58207399,784.58207399,800.58207399,649.58207399,629.58207399,651,0.410051785255,-0.00555857682674,0.0699422828685,0.999999995754,-6.1998264499e-05,-5.81577568035e-05,-3.55729164741e-05,1793196419881251328
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.996639009,743,712,674.996639009,660.996639009,633,878.003360991,784.003360991,800.003360991,649.003360991,629.003360991,651,0.41067499225,-0.00556274076637,0.0699310120081,0.999999993926,-6.79684991158e-05,-7.80921635264e-05,-3.78128683213e-05,1793196419897917696
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,743,712,674.427962284,660.427962284,633,878.572037716,784.572037716,800.572037716,649.572037716,629,651,0.411376264944,-0.00556248617295,0.0699370536124,0.999999994103,-7.04795630804e-05,-7.35419244141e-05,-3.76484949643e-05,1793196419914584320
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743,712,674.147075055,660,633,879,785,800.70584989,649.852924945,629.147075055,650.852924945,0.412092246858,-0.00555673426584,0.0699504050667,0.999999995637,-6.54629084441e-05,-5.51512414791e-05,-3.73982561743e-05,1793196419931251200
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,743,712,674.721119424,660,633,879,785,799.557761153,649.278880576,629.721119424,650.278880576,0.41284960667,-0.00553509819972,0.0699846839364,0.999999998566,-3.86514152058e-05,3.00400394586e-06,-3.69395180032e-05,1793196419947918080
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,743,712,674.695231364,660,633,878.695231364,785,799.304768636,649,630,650.304768636,0.413600569957,-0.005524932121,0.0700074624455,0.999999998248,-2.39050588516e-05,3.96215304928e-05,-3.6919584185e-05,1793196419964584960
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,743,712,674.102507106,660,633,878.102507106,785,799.897492894,649,630,650.897492894,0.414345489683,-0.00552560326827,0.0700193750325,0.999999997531,-2.05582451446e-05,5.588950524e-05,-3.73142474706e-05,1793196419981251584
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.520668153,743,712.479331847,674.479331847,660,633.479331847,878,784.520668153,800.479331847,649,630,651,0.415061810525,-0.00553600247047,0.0699752443069,0.999999997848,-4.5300956519e-05,-2.55412720509e-05,-3.99856857343e-05,1793196419997918208
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743.058251461,712.941748539,674.941748539,660,634,878.058251461,784.058251461,801,649.058251461,630,651,0.415783036989,-0.00554708347687,0.0699227555347,0.999999989253,-7.24757363479e-05,-0.000119893801768,-4.32030924467e-05,1793196420014584576
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743.63148543,712.36851457,674.36851457,660,634,878.63148543,784.63148543,801,649.63148543,630,651,0.416600501803,-0.00554620848239,0.0698999795339,0.999999985564,-6.92244027119e-05,-0.000147874154601,-4.7038311126e-05,1793196420031251200
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.210363985,743.789636015,712,674.210363985,660.210363985,633.789636015,878.789636015,784.789636015,800.789636015,649.789636015,629.789636015,651,0.41742746898,-0.00554523652783,0.0698986793436,0.999999986106,-6.5945568149e-05,-0.000145066786577,-4.89363063016e-05,1793196420047917824
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.799403301,743.200596699,712,674.799403301,660.799403301,633.200596699,878.200596699,784.200596699,800.200596699,649.200596699,629.200596699,651,0.418271541272,-0.0055440900359,0.0699360376718,0.999999993148,-6.26172294045e-05,-8.68385687251e-05,-4.73471132375e-05,1793196420064584192
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.617870601,743,712,674.617870601,660.617870601,633.382129399,878,784.382129399,800,649,629,651,0.419134319357,-0.00553943813907,0.0699644420289,0.999999996136,-5.78156549755e-05,-4.7133906479e-05,-4.65145947336e-05,1793196420081251328
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.038404748,743,712,674.038404748,660.038404748,633.961595252,878,784.961595252,800,649,629,651,0.420006757323,-0.00553297600686,0.0699882224409,0.999999997429,-5.22532831335e-05,-1.69950445024e-05,-4.6072832612e-05,1793196420097918464
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.538689533,743,712.538689533,674,660,633.461310467,878,785,800.538689533,649,629.538689533,650.461310467,0.420905475807,-0.00553783925532,0.0700100921697,0.999999997277,-5.48083106623e-05,1.97344894339e-05,-4.53107554888e-05,1793196420114585344
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743,712.885388921,674.114611079,660.114611079,633,878,784.885388921,801,649,629.885388921,650.114611079,0.421795370293,-0.00554321290022,0.0700208237702,0.999999996434,-5.9927322137e-05,3.87237119016e-05,-4.51845603677e-05,1793196420131251968
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743,712.313475114,674.686524886,660.686524886,633,878,784.313475114,801,649,629.313475114,650.686524886,0.422642613415,-0.00554741553129,0.0699876549265,0.999999996089,-7.2977763306e-05,-1.49381935746e-05,-4.76862777911e-05,1793196420147918080
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743,712,675.269345374,661,633,878,784,800.730654626,649,629,650.730654626,0.423459215238,-0.00554762118692,0.0699320894205,0.999999990334,-7.77025654253e-05,-0.000102966989678,-5.18904267771e-05,1793196420164584192
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,712,675.86539528,661,633,878,784,800.13460472,649,629,650.13460472,0.424238650576,-0.00554297868118,0.0698493577074,0.999999968623,-7.23287209861e-05,-0.000232681374823,-5.81595529951e-05,1793196420181250816
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,712.445512116,675.554487884,660.554487884,633.445512116,878,784.445512116,800,649,629,650.445512116,0.42513122389,-0.00554215007976,0.0698536799487,0.999999972494,-7.32085687792e-05,-0.000214640196648,-5.98482826096e-05,1793196420197917440
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743,712.979041521,675,660.020958479,633.979041521,878,784.979041521,800.020958479,649,629,651,0.426057068058,-0.00554239444876,0.069884500347,0.999999983648,-7.55478675958e-05,-0.000152959799243,-5.99914359983e-05,1793196420214584320
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743,712.4041956,675,660.5958044,633.4041956,878,784.4041956,800.5958044,649,629,651,0.426990002242,-0.00554159346324,0.0699445050595,0.999999993213,-6.82471734499e-05,-7.70465711496e-05,-5.45989335174e-05,1793196420231251200
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,712,675,661,633,878.175537254,784,801,649.175537254,629,651,0.427920652844,-0.00554357645071,0.0699945183956,0.999999996458,-6.63196324829e-05,-1.11383324302e-05,-5.06080467629e-05,1793196420247918080
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743,712,675,661,633,878.766845071,784,801,649.766845071,629,651,0.428845894586,-0.005552153446,0.0700208665511,0.999999995297,-7.71187297466e-05,3.1072480702e-05,-4.99369722136e-05,1793196420264584704
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+182,3.033333333,POSE1_TO_POSE2_PRESS,765,743,712,676,661,633,879,784.134496232,801,650,630,650.865503768,0.437869160157,-0.00557649340759,0.0699775417606,0.999999991989,-0.000113188487483,-7.35344623875e-06,-5.61727633998e-05,1793196420447917824
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765,743,712,676.950422872,660.049577128,633,879,784,801,649.950422872,629.049577128,651,0.444148097876,-0.00559242461086,0.0699189906429,0.999999983993,-0.000122186389632,-0.000117585514392,-5.70733397985e-05,1793196420614584576
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+240,4.000000000,POSE1_TO_POSE2_PRESS,764.195175406,743,712,676,658,631,879.195175406,782.804824594,801.390350813,649,629,650.804824594,0.450021142168,-0.00559506217348,0.0697290609562,0.999999901782,-0.000137481246162,-0.000417379680889,-5.76998023282e-05,1793196421414584320
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.38826543,743,712,676,658,631,878.61173457,782.61173457,801,649,629,651,0.450021466199,-0.00559435733569,0.0697287668494,0.999999901642,-0.000137744466181,-0.000417583779495,-5.80211865957e-05,1793196421431251200
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.967962662,743,712,676,658,631,878.032037338,782.032037338,801,649,629,651,0.450021675708,-0.00559372600917,0.0697284035466,0.999999901495,-0.000137502067042,-0.000417952672364,-5.84756479082e-05,1793196421447917824
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,743,712,676,658,631,878.541290211,782,802.082580422,649.541290211,629,651,0.450021506213,-0.0055922512539,0.0697286489404,0.999999901981,-0.000135001789048,-0.000417638397173,-5.82350233647e-05,1793196421464584448
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.884884372,743,712,676.115115628,658,631,879,782.115115628,802.884884372,649.884884372,629,651,0.450021301552,-0.00559148171932,0.0697287776391,0.999999902256,-0.000133513213967,-0.000417500163542,-5.79231591178e-05,1793196421481251072
+245,4.083333333,POSE1_TO_POSE2_PRESS,764.30756398,743,712,676.69243602,658,631,879,782.69243602,802.30756398,649.30756398,629,651,0.450021044719,-0.00559374184559,0.0697282948211,0.999999901558,-0.000136617093169,-0.000418229222956,-5.74885195388e-05,1793196421497917696
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+247,4.116666667,POSE1_TO_POSE2_PRESS,764,743,712,677,658,631,879,783,802,649.867741478,629.867741478,651,0.450022929984,-0.00559130672094,0.0697296770846,0.999999902848,-0.000131758817593,-0.000416625692151,-5.80150586908e-05,1793196421531250944
+248,4.133333333,HOLD_POSE2,765,743,712,676,658,631,878,783,802,650,629,650,0.450022576433,-0.00559393481946,0.0697296332292,0.999999901886,-0.000135966548337,-0.000417727712358,-5.69638639661e-05,1793196421563902720
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+254,4.233333333,HOLD_POSE2,764,743.482502929,712,676,658,631,880.034994142,783,801.517497071,649.482502929,629,651,0.450021936546,-0.00559266433097,0.069728257134,0.999999901508,-0.000133083008905,-0.000419506215387,-5.73443758553e-05,1793196421663902208
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+256,4.266666667,HOLD_POSE2,764,744,712,676,658,631,879,783,801,650,629,650.366790878,0.450021681587,-0.0055925491931,0.0697274809578,0.999999900947,-0.000134767009292,-0.000420298017149,-5.73847644077e-05,1793196421697235712
+257,4.283333333,HOLD_POSE2,764,744,712,676.213280363,658,631,879,783,801,649.786719637,629,650.213280363,0.450021807845,-0.00559233853443,0.0697270029867,0.999999900754,-0.000135130830437,-0.000420611575506,-5.76004264036e-05,1793196421713902336
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+262,4.366666667,HOLD_POSE2,764,743.118624028,712,676.881375972,658,631,878.881375972,782.881375972,801.118624028,650,629,650.881375972,0.450023620361,-0.00559262873625,0.0697285417799,0.999999901639,-0.00013600759575,-0.000418227404086,-5.75220743244e-05,1793196421797235200
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744,712.568223264,675,659.431776736,633,877.568223264,784,800.431776736,650,630,651,0.40968645507,-0.00537744902106,0.0698090840091,0.999999922673,0.000240546110173,-0.000308713018684,3.85638749843e-05,1793196423385442304
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744,712,674.413738931,659.413738931,633.586261069,877,784,801,650,630,651,0.408565571324,-0.00536937430456,0.0697693333915,0.999999901045,0.000244669813978,-0.0003699527898,3.43661662035e-05,1793196423418775296
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.835434487,743.835434487,712,674,659.164565513,633.835434487,877.164565513,784.164565513,801,649.835434487,630,651,0.408065145622,-0.00536683115846,0.0697700898854,0.999999902406,0.000245647402497,-0.000365667335114,3.36535631294e-05,1793196423435441920
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,660,633.333704945,877.666295055,784.666295055,801,649,630,651,0.407152439821,-0.00536607223243,0.0698021360784,0.999999918223,0.000250905139115,-0.000315199080798,3.53436693206e-05,1793196423468775936
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,660,633.913224984,877.086775016,784.086775016,801,649,630,651,0.406693323978,-0.00536509514887,0.0698112632927,0.999999918913,0.000255970322418,-0.000308695612347,3.68690773197e-05,1793196423485442560
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.653887967,743.653887967,712,674.346112033,660,633,878.307775935,784.346112033,801.653887967,649,630,651,0.405422838424,-0.0054155806453,0.0697970697142,0.999999923459,0.000193324728741,-0.000338254168416,3.59476000086e-05,1793196423535442176
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.182425124,743.182425124,712,674,660,633.817574876,878.182425124,784.817574876,800.364850247,649,630,651,0.404751073702,-0.00540606199126,0.0698266633734,0.99999993803,0.000209581549542,-0.000280479121923,3.66960679333e-05,1793196423568775424
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,878,785,800.397322993,649.397322993,630,651,0.404434162075,-0.0054054517136,0.0698393662462,0.999999943661,0.000211356091574,-0.00025811137299,3.7223308785e-05,1793196423585442048
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633.450577682,877.450577682,785,801,650,630,651,0.403811825518,-0.00540543678912,0.0698411499608,0.999999944398,0.000210801072819,-0.000255777389927,3.66653609618e-05,1793196423618775552
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,743.124428954,712,674.124428954,660,633.124428954,877.124428954,785,801,649.875571046,630,651,0.403513507594,-0.00540057637933,0.0698321325374,0.99999993928,0.000217412001449,-0.000270010399431,3.55913060448e-05,1793196423635442432
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,743.71060835,712,674.71060835,660,633.71060835,877.71060835,785,801,649.28939165,630,651,0.403248196429,-0.00539790581564,0.0698210009642,0.999999933462,0.000222471987729,-0.000287024106932,3.4633965932e-05,1793196423652109056
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,743.704838324,712,674.704838324,660,634,878,784.704838324,801,649.295161676,630,651,0.402997041583,-0.00539714617056,0.069813742055,0.999999930034,0.000221776177304,-0.000299335722064,3.38392276727e-05,1793196423668775680
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.036669265,743,712,674,659.036669265,633,877.963330735,784.963330735,800.036669265,649.036669265,630,651,0.402346102514,-0.0053902617565,0.0698060374234,0.999999926454,0.000219842703953,-0.000312685665847,3.14367558096e-05,1793196423718775552
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.222607152,743,712,674,660,633,877.777392848,784.777392848,800.222607152,650,630,651,0.401853051109,-0.00539321120915,0.0697974338274,0.999999923712,0.000204750718752,-0.000331073097799,3.22932142504e-05,1793196423768775424
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.359795592,743,712.359795592,674.359795592,660,633.359795592,877.640204408,784.640204408,800.359795592,650,629.640204408,651,0.401724168628,-0.00539120099381,0.0697966265247,0.999999923212,0.000207132770185,-0.000331065409455,3.26893454884e-05,1793196423785442304
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,743.907886358,712,674,659.092113642,634,877,785,800.907886358,649,630,651,0.401407393789,-0.00539114916535,0.0697994505976,0.999999911273,0.000267794276683,-0.00032381201927,2.97811708696e-05,1793196423835441920
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,743.332524179,712,674,659.667475821,634,877,785,800.332524179,649,630,651,0.401325534554,-0.00539034929214,0.0697990162622,0.999999918036,0.000240637159244,-0.000324729256996,2.39162113859e-05,1793196423852108544
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.751261461,743,712,674,659.751261461,633.751261461,877,784.751261461,800.248738539,649,630,651,0.401254700162,-0.0053908770597,0.0697992874548,0.999999922685,0.000223090291619,-0.000323134535075,2.10918074683e-05,1793196423868775424
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.161919024,743,712,674,659.161919024,633.161919024,877,784.161919024,800.838080976,649,630,651,0.401198962367,-0.005393222799,0.0698005247445,0.999999925239,0.000218702981069,-0.000318100124229,2.24309126489e-05,1793196423885442304
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.41787816,743,712.41787816,674.41787816,659.835756319,633.41787816,877,784.41787816,801,649,630,651,0.40115116798,-0.00539089994886,0.0698014681345,0.999999926165,0.000219504102516,-0.000314593519605,2.27592096658e-05,1793196423902108672
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.994059342,743,712.994059342,674.994059342,660.988118683,633.994059342,877,784.994059342,801,649,630,651,0.401106382763,-0.00538680851661,0.0698023001875,0.999999926472,0.000222270735896,-0.000311665687487,2.27045864548e-05,1793196423918775040
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,743,712.425948288,674.425948288,660.425948288,634,877.574051712,785,800.425948288,649,630,651,0.401068804058,-0.00538882089435,0.069803029647,0.999999925888,0.000220851511399,-0.000314453996597,2.38063079706e-05,1793196423935441920
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,743,712.155574632,674,660,634,878,785,800.155574632,649.155574632,630,651,0.401035941962,-0.00539061104205,0.0698037552195,0.999999925956,0.000218787114285,-0.000315616173535,2.46322434258e-05,1793196423952108544
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,743,712.741218738,674,660,634,878,785,800.741218738,649.741218738,630,651,0.401015910892,-0.00539161107499,0.0698044730011,0.999999927862,0.000215059754767,-0.000312118462334,2.46624960591e-05,1793196423968775168
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.675192293,743,712.675192293,674,660,634,877.675192293,785,801,649.675192293,630,651,0.40100054112,-0.00539205892241,0.0698064408924,0.999999929444,0.000214208604569,-0.000307586422769,2.48520161521e-05,1793196423985441792
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.483089363,743,712,674,660,634,877,785,801,649.483089363,630,651,0.400978969175,-0.00539160576112,0.0698098033326,0.999999930782,0.000215954837721,-0.000301946177939,2.50710127188e-05,1793196424018775040
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877,785,801,650,630,651,0.400969908275,-0.00539091589011,0.0698098283712,0.999999930583,0.000216285971468,-0.00030238611229,2.48490643437e-05,1793196424035441920
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877,785,801,650,630,651,0.400965196817,-0.00538902515128,0.0698108032474,0.999999930598,0.000218582641455,-0.000300732058177,2.42133440474e-05,1793196424052108800
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877,784.786067909,801,649.786067909,629.786067909,650.786067909,0.400962198701,-0.00538884349353,0.0698121019143,0.999999931221,0.000218963742544,-0.000298381553138,2.40921099779e-05,1793196424068775680
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877,784.193441352,801,649.193441352,629.193441352,650.193441352,0.400962233476,-0.00539168718631,0.0698139737433,0.999999932919,0.000215953976169,-0.000294798217216,2.48815999302e-05,1793196424085442048
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877,784.965971497,801,649.965971497,629.965971497,650.965971497,0.400957249435,-0.00539071571717,0.0698127197311,0.999999932573,0.00021425434903,-0.000297249376332,2.43124701362e-05,1793196424118775296
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,743,712,673.457846882,659.457846882,633.457846882,877,784.457846882,801,649.457846882,630,651,0.400957465566,-0.00539114861147,0.0698140910066,0.999999932863,0.000215103165577,-0.000295638645372,2.45360116251e-05,1793196424135441920
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,764.023480276,743,712,674,659.023480276,633,877,784.023480276,801,649,630,651,0.40095569466,-0.0053920953155,0.0698166034712,0.999999933767,0.000215236414492,-0.000292486244919,2.43243867436e-05,1793196424235441920
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+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633,877,785,800.229264259,649,630,651,0.400956626,-0.00539259905335,0.0698168322373,0.99999993433,0.000215586622544,-0.000290312877781,2.40977544452e-05,1793196424285441792
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633,877,784.644823139,800,649,630,651,0.400957054955,-0.00539275646721,0.0698174246705,0.999999934756,0.000214399373962,-0.000289714423593,2.42129068343e-05,1793196424302108416
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+416,6.933333333,POSE2_TO_POSE3_RETREAT,765,743.239287003,712.760712997,674,659.239287003,633,878,784.239287003,800.760712997,649,630,651,0.400958789359,-0.00539107471088,0.0698195124461,0.999999935803,0.000215028969902,-0.000285616130913,2.40806623647e-05,1793196424385442304
+417,6.950000000,POSE2_TO_POSE3_RETREAT,765,743.833010247,712.166989753,674,659.833010247,633,878,784.833010247,800.166989753,649,630,651,0.400959251678,-0.00539225359803,0.0698206865518,0.999999936568,0.000212390052577,-0.000284905919883,2.41611730238e-05,1793196424402108672
+418,6.966666667,POSE2_TO_POSE3_RETREAT,765,743.586633666,712,674,660,633.413366334,878,785,800,649,630,651,0.400958304073,-0.00539286635142,0.0698198608277,0.999999936282,0.000211792676954,-0.000286353685863,2.41048250982e-05,1793196424418775296
+419,6.983333333,POSE2_TO_POSE3_RETREAT,765,743.011508463,712,674,660,633.988491537,878,785,800,649,630,651,0.400956804736,-0.0053932575648,0.0698182525283,0.999999935583,0.000211994199347,-0.00028864591331,2.39949215483e-05,1793196424435441920
+420,7.000000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.435591804,633.435591804,878,785,800.564408196,649.564408196,630,651,0.400955649253,-0.00539286824927,0.069817952271,0.999999935133,0.000213203953497,-0.000289318304077,2.39517347613e-05,1793196424452108288
+421,7.016666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.143567626,633.143567626,877.856432374,784.856432374,800.856432374,649.856432374,629.856432374,650.856432374,0.400955739354,-0.00539239735828,0.069818398207,0.999999935015,0.000214674790459,-0.000288632001504,2.40130766142e-05,1793196424468775168
+422,7.033333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.732741812,633.732741812,877.267258188,784.267258188,800.267258188,649.267258188,629.267258188,650.267258188,0.400959673713,-0.00539172273984,0.0698210772859,0.999999935901,0.000216892080419,-0.000283831233267,2.43946271748e-05,1793196424485442048
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1a3ffef5eb77b5dca1f954cd3ae9f70b665d33b3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,424 @@
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+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
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+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
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+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
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+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
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+24,0.400000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+28,0.466666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d457601d5049a83dfdda9001b806d4aec5dfdc5
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..62fee9d4ec343374050116ccbdde40b4438ce05b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_03/franka_data.csv
@@ -0,0 +1,426 @@
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+2,0.033333333,BASELINE,764.842164847,742.842164847,712,674,660.842164847,634,877,784.157835153,800.842164847,649,629.842164847,651,0.400957288625,-0.00539431714664,0.0698203719039,0.999999936831,0.000209997224432,-0.000285790123325,2.37379238181e-05,1793196424670327296
+3,0.050000000,BASELINE,764.248802232,742.248802232,712,674,660.248802232,634,877,784.751197768,800.248802232,649,629.248802232,651,0.400958384765,-0.00539456816681,0.0698208517494,0.999999937213,0.000210546665088,-0.000284065113023,2.34580167727e-05,1793196424686993664
+4,0.066666667,BASELINE,764.335757427,742.335757427,712,674,660,633.664242573,877,785,800.335757427,649,629.335757427,651,0.400958880386,-0.00539414251534,0.0698211226025,0.999999937154,0.000211076472127,-0.000283885455858,2.33885477531e-05,1793196424703660288
+5,0.083333333,BASELINE,764.91396056,742.91396056,712,674,660,633.08603944,877,785,800.91396056,649,629.91396056,651,0.400958942381,-0.00539322824879,0.0698212425452,0.999999936777,0.000211592101975,-0.00028482167652,2.34710330832e-05,1793196424720327168
+6,0.100000000,BASELINE,765,743,712,674,660,633,877,785,801,649,630,651,0.400958437809,-0.00539364915077,0.0698211055572,0.999999937051,0.000210535952373,-0.000284641069179,2.34965883345e-05,1793196424736993536
+7,0.116666667,BASELINE,764.933665758,743,712,674,660,633,877,785,801,649,630,651,0.400958130417,-0.00539414600955,0.0698211138326,0.999999937463,0.000209399901255,-0.000284032283061,2.34998493814e-05,1793196424753660416
+8,0.133333333,BASELINE,764.345852648,743,712,674,660,633,877,785,801,649,630,651,0.400960151768,-0.00539340504896,0.0698226171833,0.999999938072,0.000209795837067,-0.000281592295462,2.34060871326e-05,1793196424770327552
+9,0.150000000,BASELINE,764.238427312,743,712,674,660,633.238427312,877,785,801,649,630,651,0.400960469569,-0.00539265050644,0.0698229882454,0.999999937968,0.000211186102738,-0.000280921951584,2.33905728949e-05,1793196424786994176
+10,0.166666667,BASELINE,764.81765702,743,712,674,660,633.81765702,877,785,801,649,630,651,0.400958352356,-0.0053918765503,0.0698217408406,0.999999936844,0.000213997640106,-0.000282781095054,2.34869045329e-05,1793196424803660544
+11,0.183333333,BASELINE,765,743,712,674,660,634,877,785,801,649,630,651,0.400958727607,-0.00539213606852,0.0698222291442,0.999999937195,0.000212916920603,-0.000282340400542,2.36668356932e-05,1793196424820327424
+12,0.200000000,BASELINE,765,743,712,674,660,634,877,785,801,649,630,651,0.400960247979,-0.00539287039932,0.0698235148903,0.999999938218,0.000210047968425,-0.000280843083744,2.38851752772e-05,1793196424836993792
+13,0.216666667,BASELINE,765,743,712,674.543638106,660,633.456361894,877,785,801,649.543638106,630,651,0.400958671682,-0.00539343673482,0.0698220939543,0.999999937454,0.000211353004797,-0.000282595493221,2.37079968852e-05,1793196424853660416
+14,0.233333333,BASELINE,765,743,712.120599908,674.879400092,660,633.120599908,877.120599908,785,801,649.879400092,629.879400092,650.879400092,0.400957690508,-0.00539397396453,0.0698210799109,0.999999936852,0.000212631538247,-0.000283768233221,2.36497055584e-05,1793196424870327040
+15,0.250000000,BASELINE,765,743,712.713633181,674.286366819,660,633.713633181,877.713633181,785,801,649.286366819,629.286366819,650.286366819,0.400959692687,-0.00539443254997,0.0698222297371,0.999999937282,0.000212927366356,-0.000281985929682,2.41404188563e-05,1793196424886993920
+16,0.266666667,BASELINE,765,743,712.701111075,674,660,633.701111075,878,785,801,649.298888925,629,650.298888925,0.400959100218,-0.00539318880115,0.0698218914592,0.99999993688,0.000213725610041,-0.000282818762562,2.39857586866e-05,1793196424903660800
+17,0.283333333,BASELINE,765,743,712.123118065,674,660,633.123118065,878,785,801,649.876881935,629,650.876881935,0.400956084855,-0.00539035540341,0.0698201635817,0.999999935694,0.000214993012069,-0.000286093623996,2.32284452742e-05,1793196424920327680
+18,0.300000000,BASELINE,765,743,712,674,660,633.452977137,877.547022863,785,801,650,629.452977137,651,0.400957536632,-0.0053919509644,0.0698207603088,0.99999993668,0.000213194042919,-0.000283980938021,2.33010406555e-05,1793196424936994304
+19,0.316666667,BASELINE,764.971707313,743,712,674,660,633.971707313,877,785,801,649.971707313,630,651,0.40096006599,-0.00539448004308,0.0698219350838,0.999999938128,0.000210842692116,-0.00028059426047,2.35749972038e-05,1793196424953660928
+20,0.333333333,BASELINE,764.401486381,743,712,674,660,633.401486381,877,785,801,649.401486381,630,651,0.400960076366,-0.00539192862115,0.0698221303472,0.999999937463,0.000213808077725,-0.000280736218884,2.34033298492e-05,1793196424970327296
+21,0.350000000,BASELINE,764.176566649,743,712,674,659.823433351,633.176566649,877,785,801,649,630,651,0.400959873475,-0.0053906070872,0.0698223095246,0.999999937021,0.00021543147331,-0.000281073905022,2.33521175968e-05,1793196424986993920
+22,0.366666667,BASELINE,764.773255264,743,712,674,659.226744736,633.773255264,877,785,801,649,630,651,0.400959163141,-0.00539221194403,0.0698224504269,0.999999937126,0.000213861742889,-0.000281877304888,2.35875157477e-05,1793196425003660800
+23,0.383333333,BASELINE,765,743,712,674,659.359264247,634,877.359264247,785,801,649,630,651,0.400959228851,-0.00539329641512,0.0698227583076,0.999999937449,0.000212815426217,-0.00028150799433,2.37739875159e-05,1793196425020327424
+24,0.400000000,BASELINE,765,743,712,674,659.938727562,634,877.938727562,785,801,649,630,651,0.400959770211,-0.00539406193324,0.0698231685321,0.999999937905,0.000212089918439,-0.000280419910006,2.39304715083e-05,1793196425036994048
+25,0.416666667,BASELINE,765,743,712,674,660,633.486288795,877.486288795,785,801,649.513711205,630,651,0.400959281749,-0.00539488967308,0.0698220404055,0.999999937877,0.000210250617694,-0.000281922039256,2.36627445071e-05,1793196425053660672
+26,0.433333333,BASELINE,765,743,712,674,660,633.090435705,877.090435705,785,801,650,630,651,0.400959003088,-0.00539546646934,0.0698212115272,0.999999937825,0.000208908390941,-0.000283124269076,2.34085891438e-05,1793196425070327552
+27,0.450000000,BASELINE,765,743,712,674,660,633.679683998,877.679683998,785,801,650,630,651,0.400960553255,-0.00539461856614,0.0698230364949,0.99999993798,0.000211034257015,-0.000280983049866,2.3505955561e-05,1793196425086994432
+28,0.466666667,BASELINE,765,743,712,674,659.735894274,634,878,785,801,650,630,651,0.400960974327,-0.00539432343469,0.0698236285423,0.999999937862,0.000212531817944,-0.000280268276912,2.35770301508e-05,1793196425103661056
+29,0.483333333,BASELINE,765,743,712,674,659.157221335,634,878,785,801,650,630,651,0.400960050575,-0.00539468669066,0.0698227521008,0.999999937425,0.000213281026182,-0.000281252494975,2.3616789447e-05,1793196425120327424
+30,0.500000000,BASELINE,765,743,712,674,659.420412632,634,877.579587368,784.579587368,801,650,629.579587368,651,0.400959306902,-0.00539315101298,0.0698221700386,0.999999936965,0.000213967671998,-0.000282381118503,2.34435583685e-05,1793196425136994048
+31,0.516666667,BASELINE,765,743,712,674,659.997659,634,877.002341,784.002341,801,650,629.002341,651,0.400958630407,-0.00539090694349,0.0698216977938,0.999999936494,0.000214630979063,-0.000283563612059,2.31908718356e-05,1793196425153660672
+32,0.533333333,BASELINE,765,743,712,674,660,633.426689518,877.573310482,784,801,649.426689518,629.573310482,651,0.400959388647,-0.00539266418455,0.0698228945554,0.999999937181,0.000213885120973,-0.000281663464006,2.36080624989e-05,1793196425170327296
+33,0.550000000,BASELINE,765,742.847709016,712,674.152290984,659.847709016,633,877.847709016,784,800.847709016,649,630,651,0.400959887004,-0.00539368083981,0.0698235978605,0.999999937564,0.000213506628498,-0.000280569155848,2.38414078938e-05,1793196425186994176
+34,0.566666667,BASELINE,765,742.259173882,712,674.740826118,659.259173882,633,877.259173882,784,800.259173882,649,630,651,0.400959624183,-0.00539252938186,0.0698228681703,0.999999937072,0.00021419690793,-0.000281819168456,2.35403067676e-05,1793196425203660800
+35,0.583333333,BASELINE,765.324630494,742.324630494,712,674.675369506,659.324630494,633.324630494,877,784.324630494,800.324630494,649,630,651,0.400959864965,-0.00539275373448,0.0698228969742,0.999999937499,0.00021251561251,-0.000281591720364,2.33663214916e-05,1793196425220327680
+36,0.600000000,BASELINE,765.904712306,742.904712306,712,674.095287694,659.904712306,633.904712306,877,784.904712306,800.904712306,649,630,651,0.400960502031,-0.00539406071055,0.0698235226363,0.999999938638,0.000208968127956,-0.000280201660475,2.32923634825e-05,1793196425236994304
+37,0.616666667,BASELINE,765.519539968,743,712,674,660,634,877,784.519539968,801,649,630,651,0.400960936209,-0.0053935937029,0.0698239038015,0.999999938374,0.00021148753064,-0.000279253128329,2.33068980455e-05,1793196425253660672
+38,0.633333333,BASELINE,765,743,712,674,659.944484824,634,877,784.055515176,801,649,630,651,0.400961200579,-0.00539296773041,0.0698242015983,0.999999937913,0.000214597922302,-0.000278525275917,2.33578299044e-05,1793196425270327296
+39,0.650000000,BASELINE,765,743,712,674,659.367934265,634,877,784.632065735,801,649,630,651,0.400960245506,-0.00539412233683,0.0698241679772,0.999999938301,0.000212063194308,-0.00027905409997,2.35871213819e-05,1793196425286994176
+40,0.666666667,BASELINE,764.786538805,743,712,674,659.213461195,634,877,785,801,649.213461195,630,651,0.400959149869,-0.00539408851155,0.0698237864184,0.999999938181,0.000211138849232,-0.000280195610463,2.34452618246e-05,1793196425303660800
+41,0.683333333,BASELINE,764.196598482,743,712,674,659.803401518,634,877,785,801,649.803401518,630,651,0.400957806323,-0.00539195866248,0.0698227912061,0.999999937167,0.000213054718693,-0.000282417709165,2.26488073147e-05,1793196425320327424
+42,0.700000000,BASELINE,764.384655013,743,712,674,660,633.615344987,877.384655013,785,801,649.615344987,630,651,0.400957962776,-0.00539231113629,0.0698225924671,0.99999993731,0.000212615212207,-0.000282233249674,2.27812956593e-05,1793196425336994048
+43,0.716666667,BASELINE,764.961566677,743,712,674,660,633.038433323,877.961566677,785,801,649.038433323,630,651,0.400958868953,-0.00539390431433,0.0698227918182,0.999999938029,0.000210998451568,-0.000280845954325,2.33780843367e-05,1793196425353660672
+44,0.733333333,BASELINE,764.462920655,743,712,674,660,633.537079345,877.462920655,784.462920655,801,649,630,651,0.400958130765,-0.00539424190642,0.0698224755203,0.999999937667,0.000210801062614,-0.000282283677178,2.335329469e-05,1793196425370327552
+45,0.750000000,BASELINE,764.115161144,743,712,674,660,633.884838856,877,784.115161144,800.884838856,649,630,651,0.400957499532,-0.00539441476149,0.069822394368,0.999999937475,0.000210409227532,-0.000283260463839,2.32564884445e-05,1793196425386994432
+46,0.766666667,BASELINE,764.70422602,743,712,674,660,633.29577398,877,784.70422602,800.29577398,649,630,651,0.400957791411,-0.0053942784838,0.069823432324,0.999999938312,0.000208800331696,-0.000281510689216,2.30458900683e-05,1793196425403661056
+47,0.783333333,BASELINE,765,743,712,674,659.712034932,633.287965068,877,785,800,649,630,651,0.400958412755,-0.00539431151307,0.0698238650713,0.999999938487,0.000209027881751,-0.000280709686922,2.3148115452e-05,1793196425420327680
+48,0.800000000,BASELINE,765,743,712,674,659.13366673,633.86633327,877,785,800,649,630,651,0.400959366353,-0.00539451528273,0.069823687486,0.999999937996,0.00021110742583,-0.000280865489559,2.35658131017e-05,1793196425436994048
+49,0.816666667,BASELINE,765,743.444964296,712,674,659.444964296,634,877,785,800,649,630,651,0.400959686516,-0.00539468351991,0.0698237218196,0.999999938043,0.000211338398662,-0.000280508751583,2.37498981662e-05,1793196425453660672
+50,0.833333333,BASELINE,765,743.976732575,712,674.023267425,659.976732575,634,877.023267425,785,800,649,630,651,0.400959826108,-0.0053948314167,0.0698238381128,0.999999938239,0.000211073150272,-0.00028000251334,2.38668915672e-05,1793196425470327040
+51,0.850000000,BASELINE,765,743.407968117,712,674.592031883,659.407968117,634,877.592031883,785,800,649,630,651,0.400960196025,-0.00539475283429,0.0698243825482,0.999999938107,0.000212200878338,-0.00027960311875,2.40571906726e-05,1793196425486993920
+52,0.866666667,BASELINE,765,743,712,674.83188179,659.16811821,633.83188179,877.83188179,785,800.16811821,649,630,651,0.400959973072,-0.00539428025512,0.0698242834963,0.99999993787,0.000212749416864,-0.000280043819078,2.39379560588e-05,1793196425503660800
+53,0.883333333,BASELINE,765,743,712,674.237218652,659.762781348,633.237218652,877.237218652,785,800.762781348,649,630,651,0.400958245909,-0.00539280803815,0.0698225518056,0.999999937363,0.000211828451444,-0.0002826159853,2.30333809373e-05,1793196425520327936
+54,0.900000000,BASELINE,764.651867015,743,712,674,659.651867015,633,877,785,800.651867015,649,630,650.651867015,0.400958032299,-0.00539222665396,0.0698222181828,0.999999937255,0.000211743996847,-0.000283091593944,2.26593556747e-05,1793196425536994304
+55,0.916666667,BASELINE,764.072694995,743,712,674,659.072694995,633,877,785,800.072694995,649,630,650.072694995,0.400958823162,-0.00539223647249,0.0698228123901,0.999999937415,0.000212214694087,-0.000282175818563,2.26374307449e-05,1793196425553660672
+56,0.933333333,BASELINE,764.500343157,743,712,674,659.500343157,633.500343157,877.500343157,785,800.500343157,649,630,650.500343157,0.400958577135,-0.0053934463349,0.0698228152435,0.999999937652,0.000211329811203,-0.00028198081362,2.28538533731e-05,1793196425570327552
+57,0.950000000,BASELINE,764.925061308,743,712,673.925061308,659.925061308,633.925061308,878,784.925061308,801,649.074938692,630,651,0.400958161213,-0.00539466507151,0.0698226513339,0.999999937864,0.000210247772948,-0.000282024334067,2.30392096993e-05,1793196425586994688
+58,0.966666667,BASELINE,764.33366552,743,712,673.33366552,659.33366552,633.33366552,878,784.33366552,801,649.66633448,630,651,0.400957600071,-0.00539475791318,0.0698219230911,0.999999937825,0.000209147899227,-0.000282998738989,2.27746980781e-05,1793196425603661056
+59,0.983333333,BASELINE,764.252096369,743,712,673.504192737,659,633,877.747903631,784.252096369,800.747903631,649.747903631,629.747903631,651,0.400958212372,-0.00539399527919,0.0698222426074,0.999999937762,0.000210184186636,-0.00028245685307,2.27423865034e-05,1793196425620327168
+60,1.000000000,BASELINE,764.830564519,743,712,674.661129037,659,633,877.169435481,784.830564519,800.169435481,649.169435481,629.169435481,651,0.400960343846,-0.00539212511985,0.069823918585,0.999999937654,0.000213986014375,-0.000279951930107,2.30106882781e-05,1793196425636993792
+61,1.016666667,BASELINE,765,743,712,674.592157449,659.407842551,633.407842551,877,784.592157449,800.407842551,649,629.407842551,651,0.400959886634,-0.00539298200243,0.069823676284,0.999999937648,0.000213518028739,-0.000280319322455,2.31539241448e-05,1793196425653660672
+62,1.033333333,BASELINE,765,743,712,674.01537244,659.98462756,633.98462756,877,784.01537244,800.98462756,649,629.98462756,651,0.400958357099,-0.00539496851999,0.0698226393656,0.999999937683,0.000211281338829,-0.000281876527073,2.32453533805e-05,1793196425670327552
+63,1.050000000,BASELINE,765,743,712,674,660,633.440284066,877.559715934,784.559715934,801,649.559715934,630,651,0.400958697663,-0.00539498082695,0.0698236221855,0.999999937759,0.000211950722459,-0.00028105816773,2.37665998716e-05,1793196425686994432
+64,1.066666667,BASELINE,765,743,712,674,660,633.138462806,877.861537194,784.861537194,801,649.861537194,630,651,0.400958812223,-0.00539476932026,0.0698241197262,0.999999937728,0.000212492402401,-0.000280738005949,2.40183619914e-05,1793196425703661056
+65,1.083333333,BASELINE,765,743,712,674,660,633.729314563,877.270685437,784.270685437,801,649.270685437,630,651,0.400958021075,-0.00539400318154,0.069822851061,0.999999937345,0.000212356862082,-0.000282258090225,2.33512059836e-05,1793196425720327424
+66,1.100000000,BASELINE,765,743,712,674,660,633.686288855,877,784,801,649,629.686288855,651,0.400958576214,-0.00539409437948,0.0698229063744,0.999999937652,0.000211460857939,-0.000281858364904,2.31702831261e-05,1793196425736993792
+67,1.116666667,BASELINE,765,743,712,674,660,633.107349845,877,784,801,649,629.107349845,651,0.400960269575,-0.00539491041488,0.0698240810489,0.999999938539,0.00020992191778,-0.00027983553173,2.34004473224e-05,1793196425753660416
+68,1.133333333,BASELINE,765,743,712.468092198,674,660,633.468092198,877,784.468092198,801,649,629,651,0.400960136041,-0.00539440115196,0.0698240901403,0.999999938562,0.000209554192686,-0.000280046158114,2.31627597441e-05,1793196425770327040
+69,1.150000000,BASELINE,764.957148423,743,712.957148423,674.042851577,660,633.957148423,877,785,801,649,629.042851577,651,0.400959639589,-0.00539361038516,0.0698238741367,0.999999938397,0.000209584889818,-0.000280637754899,2.28639219052e-05,1793196425786993920
+70,1.166666667,BASELINE,764.380978654,743,712.380978654,674.619021346,660,633.380978654,877,785,801,649,629.619021346,651,0.400959802083,-0.00539307076625,0.0698241588427,0.999999938318,0.000211256100135,-0.000279643251574,2.31294826045e-05,1793196425803660544
+71,1.183333333,BASELINE,764.20052847,743,712,674.79947153,660,633,877,784.79947153,800.79947153,649,630,651,0.400959782862,-0.00539300320146,0.0698241786235,0.999999938312,0.000211664320416,-0.000279348239861,2.32122880424e-05,1793196425820327168
+72,1.200000000,BASELINE,764.792453278,743,712,674.207546722,660,633,877,784.207546722,800.207546722,649,630,651,0.400959408966,-0.00539385700327,0.0698236813167,0.999999938452,0.000209607406371,-0.000280418512685,2.29383873707e-05,1793196425836993792
+73,1.216666667,BASELINE,765,743,712.375665465,674,660,633.375665465,877,784,800.375665465,649.375665465,630,650.624334535,0.400958626927,-0.00539344531219,0.0698226866319,0.999999938011,0.00021017830527,-0.000281574259656,2.28000626309e-05,1793196425853660160
+74,1.233333333,BASELINE,765,743,712.954173196,674,660,633.954173196,877,784,800.954173196,649.954173196,630,650.045826804,0.400957624509,-0.00539235031243,0.0698214233856,0.999999937253,0.000212168103772,-0.000282776158714,2.27349427451e-05,1793196425870326784
+75,1.250000000,BASELINE,765,743,712.472387894,674,660,633.472387894,877,784.527612106,801,649.472387894,630,650.527612106,0.40095800207,-0.0053929737969,0.0698222493474,0.999999937767,0.000211445922861,-0.000281479264685,2.29565480205e-05,1793196425886993664
+76,1.266666667,BASELINE,765,743,712,674.103718876,660,633.103718876,877,785,801,649,630,651,0.400958730565,-0.00539368846225,0.0698233668563,0.999999938314,0.000210814208753,-0.000279983625117,2.32103304216e-05,1793196425903660288
+77,1.283333333,BASELINE,765,743,712,674.694398609,660,633.694398609,877,785,801,649,630,651,0.4009605493,-0.00539413710295,0.0698250093202,0.999999938516,0.000211702642834,-0.000278564170878,2.34993724012e-05,1793196425920326912
+78,1.300000000,BASELINE,765,743,712,675,660,633.721409604,877.278590396,785,800.721409604,649.278590396,630,651,0.400961149415,-0.00539398577119,0.0698253140563,0.999999938656,0.000211769170033,-0.000278006995777,2.35494326548e-05,1793196425936993536
+79,1.316666667,BASELINE,765,743,712,675,660,633.144172871,877.855827129,785,800.144172871,649.855827129,630,651,0.40096044318,-0.00539319127445,0.0698241847603,0.999999938731,0.000210954620577,-0.000278374176051,2.33433066831e-05,1793196425953660416
+80,1.333333333,BASELINE,764.569198549,743,712,674.569198549,660,633,877.569198549,784.569198549,800.430801451,650,630,651,0.400959881695,-0.00539408875934,0.0698238839884,0.999999938478,0.000210799324739,-0.000279405776613,2.32472788914e-05,1793196425970327040
+81,1.350000000,BASELINE,764.005047849,743,712,674,660,633.005047849,877,784.005047849,801,649.994952151,630,651,0.400959376071,-0.00539553428059,0.069823860994,0.999999938121,0.000210859271708,-0.000280639901619,2.31886247029e-05,1793196425986993664
+82,1.366666667,BASELINE,764.582152024,743,712,674,660,633.582152024,877,784.582152024,801,649.417847976,630,651,0.400959739942,-0.00539525184816,0.0698240590446,0.999999938456,0.000210439650646,-0.000279758189229,2.32116134751e-05,1793196426003660544
+83,1.383333333,BASELINE,764.837161819,742.837161819,712,674,659.837161819,634,877,784.837161819,800.837161819,649,630,651,0.400959437772,-0.00539491684634,0.0698237523241,0.999999938455,0.000210287927756,-0.00027987941507,2.31663682953e-05,1793196426020327168
+84,1.400000000,BASELINE,764.24707732,742.24707732,712,674,659.24707732,634,877,784.24707732,800.24707732,649,630,651,0.400957388081,-0.00539444391563,0.0698221212117,0.99999993757,0.000210839102013,-0.000282632097687,2.29420944392e-05,1793196426036993792
+85,1.416666667,BASELINE,764,742.336440649,712,674,659.336440649,634,877.336440649,784.336440649,800.336440649,649,630,651,0.400957188463,-0.00539361881721,0.06982178301,0.999999937094,0.000212175671093,-0.000283324073035,2.28049111174e-05,1793196426053660416
+86,1.433333333,BASELINE,764,742.915228535,712,674,659.915228535,634,877.915228535,784.915228535,800.915228535,649,630,651,0.400958321504,-0.00539254004297,0.0698223761267,0.999999936915,0.000214077981131,-0.000282531665414,2.27304614607e-05,1793196426070327040
+87,1.450000000,BASELINE,764,743,712,674.490444259,660,633.509555741,877.509555741,784.509555741,801,649,630,651,0.400957982867,-0.00539386570357,0.0698226748351,0.999999937619,0.000211181338832,-0.000282200010274,2.29619129664e-05,1793196426086993920
+88,1.466666667,BASELINE,764,743,712,674.933141711,660,633.066858289,877,784.066858289,801,649,630,651,0.400957500422,-0.00539529920321,0.0698229207817,0.999999938364,0.000208027438966,-0.000281884713894,2.31989947828e-05,1793196426103660544
+89,1.483333333,BASELINE,764,743,712,674.342538755,660,633.657461245,877,784.657461245,801,649,630,651,0.400957869698,-0.00539434536988,0.0698231491611,0.999999938326,0.000209309154394,-0.000281078210403,2.30689818661e-05,1793196426120326912
+90,1.500000000,BASELINE,764,743,712,673.757613096,659.757613096,634,877.242386904,784.757613096,801,649,630,651,0.400958597614,-0.00539389413978,0.0698235251051,0.999999938242,0.000210632613582,-0.000280386499505,2.30978905843e-05,1793196426136993536
+91,1.516666667,BASELINE,764,743,712,673.180526965,659.180526965,634,877.819473035,784.180526965,801,649,630,651,0.400959820756,-0.00539413692792,0.0698241048133,0.999999938094,0.000212013714414,-0.000279853299677,2.33462457746e-05,1793196426153660160
+92,1.533333333,BASELINE,764.396697161,743,712,673.396697161,659,634,877.603302839,784.396697161,800.603302839,649.396697161,630,651,0.40096021835,-0.00539513051054,0.0698241614363,0.99999993857,0.000210744013937,-0.00027908783488,2.35992892654e-05,1793196426170327296
+93,1.550000000,BASELINE,764.973984158,743,712,673.973984158,659,634,877.026015842,784.973984158,800.026015842,649.973984158,630,651,0.400960240127,-0.00539646587997,0.0698239799335,0.999999939326,0.000208267580029,-0.000278216635238,2.38544670494e-05,1793196426186994176
+94,1.566666667,BASELINE,765,743,712,674,659.54634283,633.45365717,877.54634283,785,800.54634283,649.45365717,630,651,0.400959601509,-0.0053943480962,0.0698235503819,0.999999938806,0.000209447570197,-0.000279257356102,2.31483640041e-05,1793196426203661056
+95,1.583333333,BASELINE,764.877067515,743,712,674,660,633.122932485,877.877067515,785,801,649,630,651,0.400959112959,-0.00539238513346,0.0698232184935,0.999999938259,0.000210867944291,-0.000280190848822,2.25758320761e-05,1793196426220327680
+96,1.600000000,BASELINE,764.283385216,743,712,674,660,633.716614784,877.283385216,785,801,649,630,651,0.400959318412,-0.00539163907117,0.0698233054162,0.999999937851,0.000212548056059,-0.000280368215025,2.26885072746e-05,1793196426236994304
+97,1.616666667,BASELINE,764,743,712,674,659.698531405,633.698531405,877,785,801,649.301468595,630,651,0.400959534353,-0.00539172302752,0.0698235708716,0.999999937846,0.000213020515959,-0.000280006941837,2.29577814107e-05,1793196426253660928
+98,1.633333333,BASELINE,764,743,712,674,659.121740427,633.121740427,877,785,801,649.878259573,630,651,0.400959759872,-0.00539256501548,0.0698239993756,0.999999938209,0.000212390062906,-0.000279153745158,2.33700727343e-05,1793196426270327552
+99,1.650000000,BASELINE,764,743,712,674,659.455648855,633,877,784.544351145,801,649.544351145,630,651,0.400959455998,-0.00539346802027,0.0698239755939,0.999999938298,0.000211555955794,-0.000279474895225,2.32771325068e-05,1793196426286994176
+100,1.666666667,BASELINE,764.033840683,743,712,674,659.966159317,633,877,784.033840683,801,649,629.966159317,651,0.400959091572,-0.00539423413653,0.0698238611859,0.999999938314,0.000210815752235,-0.000279994295739,2.3049632322e-05,1793196426303660800
+101,1.683333333,BASELINE,764.622567374,743,712,674,659.377432626,633,877,784.622567374,801,649,629.377432626,651,0.400960056581,-0.00539248802693,0.0698242448277,0.999999938347,0.000212508659143,-0.000278612881526,2.28320600859e-05,1793196426320327424
+102,1.700000000,BASELINE,765,743,712,674,659.207483356,633,877,785,801,649,629.207483356,650.792516644,0.400960955033,-0.00539163076511,0.0698247411037,0.999999938453,0.000213575947735,-0.000277413964761,2.28005884078e-05,1793196426336994048
+103,1.716666667,BASELINE,765,743,712,674,659.785592241,633,877,785,801,649,629.785592241,650.214407759,0.400961734593,-0.00539236124378,0.0698254385769,0.999999938699,0.000213525700144,-0.000276541041585,2.31015463961e-05,1793196426353660928
+104,1.733333333,BASELINE,764.637751714,743,712,674,659.637751714,633,877.362248286,784.637751714,801,649,630,650,0.40096016751,-0.00539275722224,0.0698245174999,0.999999938255,0.000213487942861,-0.000278160098446,2.32271025681e-05,1793196426370327552
+105,1.750000000,BASELINE,764.061952089,743,712,674,659.061952089,633,877.938047911,784.061952089,801,649,630,650,0.40095721704,-0.00539295600739,0.069822642261,0.999999937397,0.000213457548814,-0.000281248218563,2.32492565043e-05,1793196426386994176
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659,633,877,784,800,649,630,651,0.400959538917,-0.00539421948934,0.0698240197268,0.999999938358,0.000210149423759,-0.000280338085517,2.30561090056e-05,1793196426419840000
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.638458657,743,712,673.638458657,659.638458657,633,877,784.638458657,800.638458657,649,630,651,0.400958309265,-0.00539304465762,0.0698236984426,0.999999938291,0.000210566592848,-0.000280277059169,2.29117999568e-05,1793196426436506624
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,743,712,674,659.750037691,633.249962309,877,785,800.750037691,649,630,651,0.400958067012,-0.00539322912922,0.0698236140946,0.999999938445,0.000210271547797,-0.000279947961,2.29314442431e-05,1793196426453173248
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,743,712,674,659.173726228,633.826273772,877,785,800.173726228,649,630,651,0.4009591139,-0.00539518829819,0.0698238390889,0.999999938886,0.000209046640687,-0.000279268870005,2.31651449094e-05,1793196426469839872
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,742.597078505,712,673.597078505,659.402921495,634,877.402921495,784.597078505,800.402921495,649.402921495,630,651,0.400959973041,-0.00539493552123,0.0698243574343,0.999999939019,0.000209453484793,-0.000278499367365,2.30201785659e-05,1793196426486506752
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,742.020285711,712,673.020285711,659.979714289,634,877.979714289,784.020285711,800.979714289,649.979714289,630,651,0.400960751164,-0.00539372823089,0.0698250023686,0.999999939017,0.00021056447285,-0.000277690849744,2.27118073619e-05,1793196426503173632
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,742.568304876,712,673.568304876,660,633.431695124,877.431695124,784.568304876,801,650,630,651,0.400958592636,-0.00539356751352,0.0698238408349,0.999999938304,0.000211200099488,-0.000279759040981,2.28232431266e-05,1793196426519840256
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.845276052,743,712,674,660,633,877,784.845276052,800.845276052,649.845276052,630,651,0.4009576168,-0.00539347828817,0.0698232712366,0.999999937808,0.000212008742422,-0.000280908764094,2.29527264543e-05,1793196426536506880
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.265995605,743,712,674,660,633,877,784.265995605,800.265995605,649.265995605,630,651,0.400960179959,-0.00539348055335,0.0698245065735,0.999999937986,0.000213339682133,-0.00027925051079,2.30897414648e-05,1793196426553173248
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633.313264581,877,784,800.313264581,649,629.686735419,651,0.40096596829,-0.00539359838215,0.069827343334,0.999999939113,0.000213639933619,-0.000274939137725,2.32475509937e-05,1793196426569840128
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633.892507535,877,784,800.892507535,649,629.107492465,651,0.400974494966,-0.00539381433064,0.0698315397887,0.999999941015,0.000213065075641,-0.000268375124253,2.34230161726e-05,1793196426586506752
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659.531896056,633.531896056,877.468103944,784,800.531896056,649,629,651,0.400997697441,-0.00539464126221,0.069841752082,0.999999945529,0.000212067624788,-0.000251786903245,2.39387531195e-05,1793196426603173376
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.043802204,743,712,674,659.043802204,633,877.956197796,784.043802204,800.043802204,649,629.043802204,651,0.401026122053,-0.00539563365583,0.0698537710814,0.999999950533,0.000210975288291,-0.000231997742273,2.45222470202e-05,1793196426619840000
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+120,2.000000000,POSE1_TO_POSE2_PRESS,765,743,712.215439052,674,660.215439052,633,877,784.784560948,800.784560948,649,630,651,0.401133153286,-0.00539810764572,0.0698856169211,0.99999996169,0.00020959547942,-0.000179045938154,2.51415541404e-05,1793196426653173504
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,743,712.794897714,674,660.794897714,633,877,784.205102286,800.205102286,649,630,651,0.401194501245,-0.00539898983385,0.0698949490393,0.999999962536,0.000210591562883,-0.000173103557895,2.47832106031e-05,1793196426669840128
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,742.627984482,713,674,660.627984482,633.372015518,877,784.372015518,800,649.372015518,630,651,0.401267273302,-0.00540151687737,0.0699003155535,0.999999964443,0.000207867203483,-0.000165426181391,2.32340477071e-05,1793196426686506752
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,742.052149221,713,674,660.052149221,633.947850779,877,784.947850779,800,649.947850779,630,651,0.401346304386,-0.00540494510368,0.0699035093933,0.99999996686,0.000203104488957,-0.00015679823604,2.10324590994e-05,1793196426703173632
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,742.523425532,712.476574468,674,660,634,877,784.476574468,800,650,630,651,0.401438644506,-0.00540608030532,0.0699026134841,0.999999966927,0.000200792277999,-0.000159623074944,1.86989396333e-05,1793196426719840256
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743,712.101321194,674,660,634,877.101321194,784,800,649.898678806,630,651,0.401538381867,-0.00540716195791,0.0699017145974,0.999999966858,0.000198564772887,-0.000163087616498,1.60767602791e-05,1793196426736506880
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,743,712.690517229,674,660,634,877.690517229,784,800,649.309482771,630,651,0.401667356291,-0.00540908526087,0.069902762391,0.999999967332,0.000195570131054,-0.000164140846349,1.21279060909e-05,1793196426753173248
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.724540974,743,712.724540974,674,660,633.724540974,877.724540974,784.275459026,800,649,630,651,0.401810258342,-0.00541152058914,0.0699043384835,0.999999968274,0.000191606446044,-0.000163327820574,7.94971248022e-06,1793196426769840128
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.144306224,743,712.144306224,674,660,633.144306224,877.144306224,784.855693776,800,649,630,651,0.401968570309,-0.00541452243669,0.0699064991009,0.999999969717,0.000186570584218,-0.000160449916276,3.51777145365e-06,1793196426786506752
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633,877,785,800.431283812,649,630,651,0.402153014135,-0.00541755116904,0.0699089305665,0.999999972151,0.000178164650171,-0.000154768493951,-1.67457006081e-06,1793196426803173632
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.005464049,743,712,674,660,633.005464049,877,785,801,649,630,651,0.40234638178,-0.00542061093622,0.0699114478705,0.999999974776,0.000168655680972,-0.000148167317557,-7.11423171471e-06,1793196426819840512
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.59325408,743,712,674,660,633.59325408,877,785,801,649,630,651,0.402568879016,-0.00542602970652,0.0699135579392,0.999999976903,0.000160486013434,-0.000142450730366,-1.20852794274e-05,1793196426836507136
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,743,712,674.179537243,659.820462757,634,877,784.820462757,801,649,630,651,0.402808752435,-0.00543101027302,0.0699161000469,0.999999978895,0.000152702524216,-0.000136317499337,-1.75862894915e-05,1793196426853173504
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,743,712,674.762435091,659.237564909,634,877,784.237564909,801,649,630,651,0.403087664412,-0.00543500634211,0.0699196128036,0.999999980726,0.00014578664796,-0.000129248206784,-2.4277950055e-05,1793196426869839872
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.659009139,743,712.340990861,674.659009139,659.340990861,634,877.340990861,784.340990861,801,649,630,651,0.403389263876,-0.00544198498345,0.0699279564821,0.999999984187,0.000132465043783,-0.000114817518335,-2.9931617301e-05,1793196426886506496
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.08344045,743,712.91655955,674.08344045,659.91655955,634,877.91655955,784.91655955,801,649,630,651,0.403706470724,-0.00545101542536,0.0699396234963,0.999999988267,0.000114736747799,-9.53227054673e-05,-3.4871217429e-05,1793196426903173120
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.49074619,743,712.50925381,674,659.50925381,633.50925381,878,784.50925381,801,649,630,651,0.404054723649,-0.00545377691204,0.0699469170479,0.999999992493,8.64070990146e-05,-8.3289461551e-05,-2.47261077464e-05,1793196426919839744
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,743,712,674,659.066675305,633,878,784.066675305,800.933324695,649,630,650.933324695,0.404411769607,-0.00545580953135,0.0699532278506,0.999999995448,5.98426144878e-05,-7.29164215116e-05,-1.4341717584e-05,1793196426936506624
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,743,712,674,659.658164203,633,878,784.658164203,800.341835797,649,630,650.341835797,0.404796594275,-0.00546047140434,0.0699576399085,0.999999995718,6.13202141719e-05,-6.56532335363e-05,-2.22053713423e-05,1793196426953173248
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.755788967,743,712.244211033,674,660,633,878,784.755788967,800.244211033,649,630,650.244211033,0.405204733641,-0.00546953923209,0.0699610084187,0.999999996233,5.61524341214e-05,-6.06061351315e-05,-2.66100092769e-05,1793196426969840128
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.177193698,743,712.822806302,674,660,633,878,784.177193698,800.822806302,649,630,650.822806302,0.405644796462,-0.00548463988195,0.0699629480582,0.999999997061,4.18855145769e-05,-5.859340235e-05,-2.62784135233e-05,1793196426986506752
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.397563107,743,712.602436893,674,660,633,878,784.397563107,800.602436893,649,629.602436893,650.602436893,0.406090378496,-0.00550616013703,0.0699558537026,0.999999996969,1.54709823779e-05,-7.22358207421e-05,-2.45827316955e-05,1793196427003173376
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.97062552,743,712.02937448,674,660,633,878,784.97062552,800.02937448,649,629.02937448,650.02937448,0.406538396958,-0.00553051424858,0.0699447714019,0.999999995314,-1.63059641184e-05,-9.27890113271e-05,-2.22848909199e-05,1793196427019839744
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743,712,674.542304962,660.542304962,633,878,785,801.084609924,649,629.542304962,650.542304962,0.407032132257,-0.00553308360754,0.0699274803025,0.999999992627,-2.35696609395e-05,-0.000116177429638,-2.63181766888e-05,1793196427036506624
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,743,712,674.881307093,661,633.118692907,878,784.881307093,802,649.118692907,630,651,0.407544360811,-0.00553475248462,0.0699149329849,0.999999990539,-2.92732210694e-05,-0.000130995676153,-3.0100843356e-05,1793196427053173504
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,743,712,674.285699731,661,633.714300269,878,784.285699731,802,649.714300269,630,651,0.408120971816,-0.00553753239027,0.0699227942883,0.999999992791,-3.40296073702e-05,-0.000110763026263,-3.1502097583e-05,1793196427069840384
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660.701343803,634,878,784.298656197,802,649.701343803,630,651,0.408729338773,-0.00554681666318,0.0699335974291,0.999999994769,-4.70833139964e-05,-8.46700949783e-05,-3.28157283012e-05,1793196427086507264
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660.127360458,634,878,784.872639542,802,649.127360458,630,651,0.409366981083,-0.00556209722498,0.06994711261,0.999999995709,-6.77862087841e-05,-5.31746499085e-05,-3.40485799706e-05,1793196427103173632
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.551147784,743,712,674,660,633.551147784,878,785,801.102295568,649,630,651,0.409983431721,-0.00556483370107,0.0699403767734,0.99999999484,-6.94432256938e-05,-6.50292547053e-05,-3.56342683212e-05,1793196427119840256
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.026462538,743,712,674,660,633,877.973537462,784.973537462,800.026462538,649,630,651,0.410596142154,-0.00556446070441,0.0699285037831,0.999999993191,-6.65232073968e-05,-8.83179415223e-05,-3.73103034007e-05,1793196427136507136
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.62041248,743,712,674,660,633,877.37958752,784.37958752,800.62041248,649,630,651,0.411258237946,-0.00557411622082,0.0699303060816,0.999999991688,-8.19203846261e-05,-9.17108536256e-05,-3.87661137781e-05,1793196427153173248
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.208442719,877,784,800.791557281,649.208442719,630,650.791557281,0.411957416786,-0.00558288084013,0.0699433010747,0.999999992158,-9.503385171e-05,-7.16042968782e-05,-3.90571906029e-05,1793196427169839616
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.785990437,877,784,800.214009563,649.785990437,630,650.214009563,0.412722261261,-0.00559006788076,0.0699761158031,0.999999993837,-0.000104103381849,-9.8854854675e-06,-3.7285787011e-05,1793196427186506240
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,743,712.360792261,674,660,634,877.360792261,784,800.360792261,650,629.639207739,650,0.413496687806,-0.0055746173073,0.0700006673591,0.999999995491,-8.26499147373e-05,2.95495244845e-05,-3.62497632101e-05,1793196427203173120
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,743,712.933977674,674,660,634,877.933977674,784,800.933977674,650,629.066022326,650,0.414276755249,-0.00554584030072,0.0700203545091,0.99999999687,-4.32280044415e-05,5.58663908303e-05,-3.56466466071e-05,1793196427219840000
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,743,712.490781354,675.018437291,660,633.490781354,878,784,801,649.490781354,629.509218646,650.509218646,0.414987628906,-0.00552641526316,0.0699785416417,0.99999999849,-3.13572752168e-05,-2.18719751784e-05,-3.94651873439e-05,1793196427236507136
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743,712,675.824763096,660,633.087618452,878,784,801,649,629.912381548,651,0.415700132254,-0.00551246852272,0.0699313355587,0.999999993015,-2.66948804495e-05,-0.000106487559752,-4.37928673962e-05,1793196427253173760
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743,712,674.634468019,660,633.682765991,878,784,801,649,629.317234009,651,0.416474252442,-0.00552320277242,0.0698992642883,0.999999986311,-4.30113254058e-05,-0.000152475042677,-4.77355204623e-05,1793196427269840128
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660.269237852,634,878,784.269237852,800.730762148,649.269237852,629,651,0.417292707944,-0.00553260256582,0.0698977512895,0.999999985893,-5.44306693299e-05,-0.000151017548572,-4.94519860452e-05,1793196427286506496
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660.845806526,634,878,784.845806526,800.154193474,649.845806526,629,651,0.418161771473,-0.00554047909745,0.069931120085,0.999999992451,-6.02600475346e-05,-9.54023477987e-05,-4.86272929679e-05,1793196427303173120
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743,712,674.420285689,660.579714311,633.579714311,878,784.579714311,800,649.579714311,629.420285689,651,0.419047181198,-0.00554574655778,0.0699614966945,0.999999995534,-6.44251356234e-05,-5.10497434642e-05,-4.66390427339e-05,1793196427319839744
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,743,712,674.994002037,660.005997963,633.005997963,878,784.005997963,800,649.005997963,629.994002037,651,0.419938558293,-0.00555006154313,0.0699907809677,0.999999996653,-6.79826531793e-05,-1.08086949763e-05,-4.42260210883e-05,1793196427336506112
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743,712,675,660,633.581597824,878.581597824,784,800.581597824,649.581597824,630,651,0.420814563112,-0.00554779130293,0.0700095770585,0.99999999672,-6.48052635541e-05,2.04151666934e-05,-4.40955122763e-05,1793196427353172992
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743,712.167409662,675,660,634,878.832590338,784.167409662,800.832590338,649.832590338,630,651,0.421682426443,-0.00554524916487,0.0700165463012,0.999999996554,-6.27963776022e-05,3.09793519058e-05,-4.45920153993e-05,1793196427369839872
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743,712.748451364,675,660,634,878.251548636,784.748451364,800.251548636,649.251548636,630,651,0.422530575115,-0.00554220712775,0.0699945678121,0.999999996834,-6.38504118622e-05,-9.2665497084e-06,-4.65781432505e-05,1793196427386506496
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743.326161837,712.673838163,675,660,633.673838163,878.326161837,785,800.326161837,649,630,651,0.423345982984,-0.00553869322081,0.0699381148592,0.999999991803,-6.31508794548e-05,-9.90905806971e-05,-5.08568024983e-05,1793196427403173376
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743.901329171,712.098670829,675,660,633.098670829,878.901329171,785,800.901329171,649,630,651,0.424136395254,-0.00553481906852,0.069855342666,0.999999970804,-6.11126007466e-05,-0.00022676461895,-5.6885675085e-05,1793196427419840512
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744,712.476743243,675,660,633.476743243,878.523256757,785,801,649,630,651,0.425058375568,-0.00554111191794,0.0698578978094,0.99999997321,-7.28925334068e-05,-0.000211715299541,-5.86793353625e-05,1793196427436506624
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743.946295522,712.946295522,675,660.107408956,633.946295522,878.053704478,785,801,649,630,650.946295522,0.426005151265,-0.00554890121823,0.0698816818988,0.99999998115,-8.5749235075e-05,-0.000163898439679,-5.9033256664e-05,1793196427453172736
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743.354339599,712.354339599,675,661.291320802,633.354339599,878.645660401,785,801,649,630,650.354339599,0.426927381017,-0.00555058796598,0.0699411432987,0.99999999178,-8.07193854225e-05,-8.38792862742e-05,-5.37472385976e-05,1793196427469839360
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,712,675,661.768481766,633,878.768481766,785,800.768481766,649.231518234,630,650,0.427848281708,-0.00555114146361,0.0699884095826,0.999999995678,-7.58126338088e-05,-1.95783312676e-05,-5.01330058298e-05,1793196427486505984
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743,712,675,661.191717595,633,878.191717595,785,800.191717595,649.808282405,630,650,0.428767200417,-0.00555000502948,0.0700174901927,0.999999996046,-7.10894499793e-05,2.12832373157e-05,-4.90117828952e-05,1793196427503172608
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,743,712,675,661,633,878,784.617069609,800,649.617069609,630,650,0.429662352499,-0.00555373124393,0.070025012126,0.999999995187,-7.6348674281e-05,3.70502587131e-05,-4.92455805097e-05,1793196427519839744
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743,712,675,661,633,878,784.043475304,800,649.043475304,630,650,0.430545670971,-0.00555987860761,0.0700217998315,0.999999994181,-8.65782146135e-05,4.03225157003e-05,-5.01540530717e-05,1793196427536506880
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743.547201422,712,675,660.452798578,633,878.547201422,784.547201422,800,649.547201422,630,650.547201422,0.431317741199,-0.005561117266,0.0699503407052,0.999999990947,-8.832098174e-05,-8.628896274e-05,-5.3471266157e-05,1793196427553173504
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744,712,675.136258622,660.136258622,633,879,785,800.136258622,649.863741378,630,650.863741378,0.432100772552,-0.00556130354637,0.0698884468816,0.999999975597,-9.06970952704e-05,-0.000193230001803,-5.69366608495e-05,1793196427569840128
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744,712,675.71549612,660.71549612,633,879,785,800.71549612,649.28450388,630,650.28450388,0.432949099238,-0.00555937727504,0.0698758458045,0.999999973123,-9.73949523975e-05,-0.000201592867504,-6.02415864166e-05,1793196427586506752
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743.707950049,712,675.707950049,661.292049951,633,879,785,801.292049951,649,629.707950049,650.292049951,0.433822318597,-0.00555801288366,0.0699033615399,0.99999998251,-9.75135052745e-05,-0.00014801794118,-5.96784076552e-05,1793196427603173376
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743.133986674,712,675.133986674,661.866013326,633,879,785,801.866013326,649,629.133986674,650.866013326,0.434719566752,-0.00555719087015,0.0699696017044,0.9999999937,-9.12811094947e-05,-3.46549709438e-05,-5.53813792789e-05,1793196427619839744
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+239,3.983333333,POSE1_TO_POSE2_PRESS,764.731027304,744,712,677,658,630.731027304,879.268972696,782,801,649.731027304,629,650.268972696,0.450465024529,-0.00559170266358,0.0696962321378,0.999999877518,-0.000133970278253,-0.000472675457823,-5.99448986096e-05,1793196428636506368
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.153371147,744,712,677,658,630.153371147,879.846628853,782,801,649.153371147,629,650.846628853,0.45046430191,-0.00559226688988,0.0696957895158,0.999999877263,-0.000136154938587,-0.000472627202462,-5.96673439554e-05,1793196428653173248
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.422344969,744,712,676.577655031,658,630,880,782.422344969,801,649.422344969,629.422344969,650.577655031,0.450464979703,-0.00559160851861,0.0696959204976,0.9999998776,-0.000135422876072,-0.000472130330139,-5.96140992271e-05,1793196428669839872
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.997359785,744,712,676.002640215,658,630,880,782.997359785,801,649.997359785,629.997359785,650.002640215,0.450466163718,-0.00559050820106,0.0696962588264,0.999999878149,-0.000133636472484,-0.000471471291133,-5.96419383685e-05,1793196428686506240
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+244,4.066666667,POSE1_TO_POSE2_PRESS,764,744,712,676.826992349,657.173007651,631,879.826992349,783,801.826992349,650,629.173007651,651,0.450465982223,-0.00559036196151,0.069696707033,0.999999877682,-0.000132874276565,-0.000472720446591,-5.92915821839e-05,1793196428719840000
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,744,712,676.246188422,657.753811578,631,879.246188422,783,801.246188422,650,629.753811578,651,0.450467229479,-0.00558952655775,0.069697411815,0.999999878301,-0.000131862216777,-0.000471670048027,-5.94832204642e-05,1793196428736507136
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+247,4.116666667,POSE1_TO_POSE2_PRESS,764.90571651,743.09428349,712,676,658,631,879,782.09428349,801.90571651,649.09428349,630,650.09428349,0.45047002394,-0.00558822934685,0.0696993252088,0.999999880616,-0.000129611215325,-0.000467373796762,-5.9422158726e-05,1793196428769840128
+248,4.133333333,HOLD_POSE2,765,743,712,676,658,631,879,783,801,649,629,650,0.450468112448,-0.00559027010767,0.0696975599857,0.999999878131,-0.000135172454475,-0.000471029330329,-5.99830184411e-05,1793196428801654528
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+251,4.183333333,HOLD_POSE2,764.761674499,743.238325501,712,677,658.238325501,630.238325501,879,782.761674499,801.238325501,650,629.238325501,651,0.450468306929,-0.00559065228292,0.0696971602866,0.999999878645,-0.000132141515432,-0.000470951525197,-5.87667686138e-05,1793196428851654656
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+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.930462125,660,633,877.930462125,784.069537875,800.069537875,649,630,651,0.412121989325,-0.00539362252094,0.0698426713966,0.999999946014,0.000223800032778,-0.000237101325516,4.08396091185e-05,1793196430583539712
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.360969045,660,633,877.360969045,784.639030955,800.639030955,649,630,651,0.411549337121,-0.00538889467808,0.0698688001595,0.999999951157,0.000235339041686,-0.000201430802352,4.15633317934e-05,1793196430600206848
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.788490143,633,877,785,800.788490143,649,630,650.788490143,0.410957927536,-0.00538397892933,0.0698748475739,0.99999995039,0.000242068591577,-0.0001972097291,4.1595729004e-05,1793196430616873472
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.21084264,633,877,785,800.21084264,649,630,650.21084264,0.410334047736,-0.00537873790346,0.0698461328342,0.999999939658,0.000240472646546,-0.000247429751366,4.04313957423e-05,1793196430633539840
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,659,633,877,784.624624174,800,649,630,650,0.409736291236,-0.0053742305924,0.0698134497833,0.999999923393,0.000243802897802,-0.000303800564698,3.84688725701e-05,1793196430650206464
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,659,633,877,784.033478987,800,649,630,650,0.409153550582,-0.00537014502662,0.0697784857091,0.999999901968,0.000249964769818,-0.000363706911499,3.60475425603e-05,1793196430666872832
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.701936914,742.701936914,712.298063086,675,660,633,877.298063086,785,800,649,630,651,0.407634287687,-0.0053619909052,0.069793123317,0.999999913517,0.000253542943105,-0.00032787491647,3.43406709142e-05,1793196430716872704
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,743,712.840589475,673.318821049,660,633,877.840589475,785,800.840589475,649,630,651,0.406728803759,-0.00535861013188,0.0698108532612,0.99999991741,0.000262964294134,-0.000307762859263,3.62302393959e-05,1793196430750206208
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,743,712.566794097,673.433205903,660,633,878,784.566794097,800.566794097,649,630,651,0.406278334534,-0.00536207409292,0.0698024625395,0.9999999127,0.000258416830238,-0.000326460293112,3.52890561021e-05,1793196430766873088
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.966027314,633,877.966027314,784,800.033972686,649,630,651,0.405831211439,-0.00536894357039,0.0697898503086,0.999999906986,0.000248375879584,-0.000350999232581,3.37243244321e-05,1793196430783539968
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.392679439,633,877.392679439,784,800.607320561,649,630,651,0.405445902483,-0.00539830827522,0.0697930771762,0.999999916778,0.000216393388569,-0.000344102699804,3.47911313685e-05,1793196430800206336
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.182159944,633,877,784,801,649,630,651,0.405081131314,-0.00541794088852,0.069801891464,0.99999992688,0.000194455379947,-0.000327343952413,3.56812735953e-05,1793196430816872704
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.760241018,633,877,784,801,649,630,651,0.40476099868,-0.00541642098458,0.0698228499019,0.999999938656,0.000194348864683,-0.000289149872822,3.61874383748e-05,1793196430833538816
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.346401235,659.653598765,633,877,784.346401235,801,649,630,651,0.404449120794,-0.0054115359473,0.0698366631073,0.999999943952,0.000201555160169,-0.000264841654612,3.64697741489e-05,1793196430850205440
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.938286965,659.061713035,633,877,784.938286965,801,649,630,651,0.404143092775,-0.00540426613758,0.0698454126961,0.999999945101,0.000213943832333,-0.000250373939303,3.6593488875e-05,1793196430866872320
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.482752312,659.517247688,633,877,785,800.482752312,649,630,651,0.403837726214,-0.00540624206512,0.0698391111019,0.999999943316,0.00021056998317,-0.000260150652942,3.67410041958e-05,1793196430883538944
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.905700236,633.094299764,877,784.905700236,800.188599528,649,629.905700236,651,0.403537454122,-0.00540755839186,0.0698306954446,0.99999994037,0.000208066072416,-0.000273188452654,3.65629032509e-05,1793196430900205568
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.249819721,633.750180279,877,784.249819721,801.500360557,649.249819721,629.499639443,651,0.40300786796,-0.00539642663523,0.0698144225358,0.999999930174,0.000221791361059,-0.000298915713129,3.33158219414e-05,1793196430933539584
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.837841692,633.162158308,877,784.837841692,800.324316616,649.837841692,630.675683384,651,0.402779789415,-0.00539815031608,0.0698141642996,0.999999931088,0.000212263754584,-0.000302836935014,3.25394946393e-05,1793196430950205696
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633.420327208,877,784.579672792,800.420327208,649.579672792,630.579672792,651,0.402567975007,-0.00539718039098,0.0698101375165,0.999999929882,0.000208791983246,-0.00030925359553,3.16747028747e-05,1793196430966872320
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.424522716,743,712,674,659.424522716,633.424522716,877,784.575477284,801,649,630,651,0.402183139401,-0.00539197450731,0.0697998136486,0.999999924393,0.000209530720505,-0.00032608365593,3.12968494857e-05,1793196431000205312
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.149394206,743,712,673.850605794,659.149394206,633,877,785,800.850605794,649,630,651,0.4020128987,-0.00539007442381,0.0697968677088,0.999999922319,0.000209751697707,-0.000332174982673,3.20445639331e-05,1793196431016871936
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.720873942,743,712,673.279126058,659.720873942,633,877,785,800.279126058,649,630,651,0.401868101391,-0.00539187195351,0.0697993376228,0.999999924345,0.00020522643891,-0.000328746891767,3.34387431528e-05,1793196431033538560
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,743,712.303135976,673.303135976,659.696864024,633.303135976,877,785,800.303135976,649.303135976,630,651,0.401736643209,-0.00539124184427,0.069800055059,0.999999925101,0.000204705051153,-0.000326689808557,3.41678919937e-05,1793196431050205440
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,743,712.895692532,673.895692532,659.104307468,633.895692532,877,785,800.895692532,649.895692532,630,651,0.401617920607,-0.00538829393491,0.0697990993086,0.999999924661,0.000208006378636,-0.000325941701358,3.42620999401e-05,1793196431066872320
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,743,712.52211983,674,659,634,877.47788017,784.52211983,801,649.52211983,630,651,0.401512884493,-0.00538732484014,0.0697977766346,0.999999922801,0.000215364852851,-0.000326895729694,3.39913607763e-05,1793196431083539200
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,742.942537464,712,674,659,634,877.942537464,784,800.942537464,649,630,651,0.401412889472,-0.00538691894166,0.0697965209936,0.999999920746,0.000223169080422,-0.000328078897057,3.26847791545e-05,1793196431100205568
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,742.366475393,712,674,659,634,877.366475393,784,800.366475393,649,630,651,0.401332001862,-0.005387780611,0.0697965777778,0.99999992013,0.00022717380239,-0.000328048220563,2.27333576478e-05,1793196431116871936
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.791158753,742.208841247,712,674,659,634,877,784,800,649,630,651,0.401258610711,-0.0053894191737,0.0697965802674,0.999999920439,0.000227257346333,-0.000327389003246,1.7099326254e-05,1793196431133538560
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.217145577,742.782854423,712,674,659,634,877,784,800,649,630,651,0.401198327588,-0.0053924161828,0.0697964878193,0.999999922495,0.000220484466073,-0.000325630743201,1.9014520968e-05,1793196431150205184
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.367494512,743,712,674,659,633.632505488,877,784.367494512,800.734989024,649,630,651,0.401148434739,-0.00539234768652,0.0697970848616,0.99999992366,0.000218450433881,-0.000323352543727,2.00818015829e-05,1793196431166872064
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.958600807,743,712,674,659,633.041399193,877,784.958600807,801.917201615,649,630,651,0.401104864129,-0.00539041390207,0.0697981014426,0.999999924298,0.000219299879736,-0.000320757973388,2.06331463049e-05,1793196431183539200
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,659,633.538407164,877,785,801.461592836,649.538407164,630,651,0.401071522574,-0.00538921728064,0.0698005147694,0.999999925522,0.000218711908481,-0.000317279265058,2.13345213471e-05,1793196431200206336
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.88387571,743,712,674,659.11612429,633.88387571,877.11612429,784.88387571,801,649.88387571,629.88387571,651,0.401040877474,-0.00538844896288,0.0698025632349,0.99999992663,0.000217895844663,-0.00031428983058,2.19742847955e-05,1793196431216873216
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.311028699,743,712,674,659.688971301,633.311028699,877.688971301,784.311028699,801,649.311028699,629.311028699,651,0.401017807794,-0.00538914683526,0.0698027629613,0.999999927154,0.00021660844928,-0.000313486620576,2.23272870481e-05,1793196431233539328
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.261785652,743,712,674,659.738214348,633.261785652,878,784,801,649,629.261785652,651,0.40100043871,-0.00538982349098,0.0698044679892,0.999999928051,0.000216813842585,-0.000310434453148,2.27955988483e-05,1793196431250205440
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.834561278,743,712,674,659.165438722,633.834561278,878,784,801,649,629.834561278,651,0.400989841684,-0.00539047494232,0.06980796125,0.999999929367,0.000218792603792,-0.000304710621937,2.34008934244e-05,1793196431266872064
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.5742166,743,712,674,659.4257834,633.5742166,877.5742166,784,801,649,630,651,0.400980479383,-0.00539136723872,0.0698096088872,0.999999930544,0.000217168394262,-0.00030198516157,2.35598456528e-05,1793196431283538688
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.023570033,743,712,674,659.976429967,633.023570033,877,784,801,649,630,651,0.400971809274,-0.00539220988771,0.0698105053267,0.999999931599,0.000214392134975,-0.000300474279898,2.3523638555e-05,1793196431300205312
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.599617569,743,712,674,659.400382431,633.599617569,877,784,801,649,630,651,0.400967609426,-0.00538959596191,0.0698113641955,0.999999931103,0.000218912373612,-0.00029888836355,2.31621181383e-05,1793196431316872192
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,659,634,877,784.750520761,801,649,630,651,0.400960328474,-0.00539194654891,0.069811270213,0.99999993202,0.000213903290153,-0.000299450137763,2.31128020967e-05,1793196431350205696
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,659,633.075396364,877,784.075396364,801,649,630,650.075396364,0.400961866617,-0.00538993634483,0.0698156326925,0.999999933728,0.000216631392845,-0.000291671807855,2.32734042817e-05,1793196431383538944
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+424,7.066666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,659,634,877.675917825,784.324082175,801,649.324082175,630,651,0.400959201049,-0.0053928854978,0.0698200618708,0.999999935886,0.000215222190467,-0.000285280509611,2.28456977545e-05,1793196431750205696
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1aeb40c034021f46a8896a37af8c3a3a18f8c6ec
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,426 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_04/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..90de3ae64a124e72014213af964ee8e029cacb22
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_04/franka_data.csv
@@ -0,0 +1,428 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,765,742.42105186,712,674.42105186,659,633,877.57894814,784.42105186,801,649,630,651,0.400959287481,-0.00539280857687,0.0698207048728,0.999999936488,0.00021337612084,-0.000284593526512,2.23687488225e-05,1793196431919320320
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+6,0.100000000,BASELINE,764,743,712,674,659,634,877.51797839,784.51797839,800.51797839,649,630,651,0.400958742956,-0.00539238095334,0.0698200960047,0.999999936615,0.000214341295843,-0.000283445862623,2.20576088326e-05,1793196432002653440
+7,0.116666667,BASELINE,764.061051484,743,712.061051484,674,659.061051484,633.938948516,877,784,800.061051484,649,630,651,0.40095947437,-0.00539254576853,0.0698207757423,0.999999936925,0.000214805097213,-0.000281978052924,2.227637468e-05,1793196432019319808
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+21,0.350000000,BASELINE,764,743,712,673.820752141,659.179247859,633.820752141,877,784.179247859,800.179247859,649.179247859,629.179247859,651,0.400958156667,-0.00539328204481,0.0698200583855,0.999999937007,0.000212252553707,-0.000283637384723,2.20292995033e-05,1793196432252654080
+22,0.366666667,BASELINE,764,743,712,673.246346357,659.753653643,633.246346357,877,784.753653643,800.753653643,649.753653643,629.753653643,651,0.400958838628,-0.00539261819973,0.0698208448692,0.999999936709,0.000213870662279,-0.000283444471579,2.23667724685e-05,1793196432269320448
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+24,0.400000000,BASELINE,764,743,712,673,660,633.92912176,877,784.07087824,800.07087824,649.07087824,630,651,0.40095801916,-0.00539299835925,0.0698199520306,0.999999937011,0.000211322461322,-0.000284296378502,2.22755086835e-05,1793196432302653184
+25,0.416666667,BASELINE,764,743.510277272,712,673.510277272,659.489722728,633.489722728,877,784,800,649.510277272,630,651,0.400957109039,-0.00539208416467,0.0698203373578,0.999999936795,0.0002121709247,-0.000284423712117,2.22762147144e-05,1793196432319320320
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+27,0.450000000,BASELINE,764.662639258,742.674721484,712,673.337360742,659.662639258,633,877,784,800.662639258,649.337360742,630,651,0.400957913795,-0.00539368222594,0.0698210856064,0.999999936579,0.00021373475009,-0.000283978560133,2.26896522711e-05,1793196432352654080
+28,0.466666667,BASELINE,764.757598177,742.242401823,712.242401823,673.242401823,659.757598177,633,877,784.242401823,801,649,629.757598177,651,0.400958699019,-0.00539443871936,0.0698210728096,0.999999936599,0.000213941843231,-0.000283744442676,2.27905457202e-05,1793196432369320704
+29,0.483333333,BASELINE,764.168978295,742.831021705,712.831021705,673.831021705,659.168978295,633,877,784.831021705,801,649,629.168978295,651,0.400958631661,-0.00539315519803,0.0698206852153,0.999999936619,0.000213811535317,-0.000283792755082,2.25466172623e-05,1793196432385987072
+30,0.500000000,BASELINE,764.4135242,743,712.5864758,674,659.4135242,633.4135242,877,785,801,649,629.4135242,651,0.400958548758,-0.00539225489694,0.0698211748501,0.999999936818,0.000213238238106,-0.000283553506118,2.21546874746e-05,1793196432402653952
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+33,0.550000000,BASELINE,764,743,712,673.14829552,659.85170448,633.14829552,877,784.85170448,801,649,630,651,0.40095835673,-0.00539454621847,0.0698210307495,0.999999936945,0.000211762316407,-0.000284213072001,2.21306236573e-05,1793196432452653312
+34,0.566666667,BASELINE,764,743,712,673.723413792,659.276586208,633.723413792,877,784.276586208,801,649,630,651,0.400960037967,-0.0053950403553,0.0698222779235,0.999999937771,0.000211008965465,-0.000281823835272,2.25455314046e-05,1793196432469319936
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+38,0.633333333,BASELINE,765,743,712,674,659,633.053402327,877,784.946597673,800.053402327,649,630,651,0.400957778452,-0.00539279181539,0.0698218792427,0.999999936559,0.00021449319984,-0.000283498664862,2.24401370465e-05,1793196432535987200
+39,0.650000000,BASELINE,765,743,712,674,659,633.62780138,877,784.37219862,800.62780138,649,630,651,0.400958966817,-0.00539211118849,0.0698221577483,0.99999993705,0.000213638617684,-0.000282412704273,2.24149337914e-05,1793196432552653824
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+52,0.866666667,BASELINE,764.169233924,743,712.169233924,674,660,633.169233924,877.830766076,784.169233924,801,649,630,651,0.400956852789,-0.0053921963421,0.0698201049024,0.99999993668,0.00021204859773,-0.000284943324398,2.19650352202e-05,1793196432769319936
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+56,0.933333333,BASELINE,765,743,712.499544128,673.500455872,659.499544128,633.500455872,877,785,800.500455872,649.499544128,630,651,0.40095932351,-0.00539513570461,0.0698223970562,0.999999938155,0.000210160575131,-0.00028112891489,2.21307171115e-05,1793196432835986944
+57,0.950000000,BASELINE,765,743,712.080674212,674,659.080674212,634,877,785,801,649,630,651,0.400959631628,-0.00539366093902,0.0698227783817,0.999999937932,0.000211952364157,-0.000280581228386,2.20346579142e-05,1793196432852654080
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+60,1.000000000,BASELINE,764.176188277,743,712.176188277,674,660,634,877,785,801,649.823811723,630,651,0.400957792537,-0.00539478644548,0.069821665875,0.999999937676,0.000208983574341,-0.000283730511502,2.17011506159e-05,1793196432902653696
+61,1.016666667,BASELINE,764.406372803,743,712,673.593627197,660,633.593627197,877,784.593627197,801,649.593627197,629.593627197,651,0.400958319507,-0.00539432889126,0.0698222251485,0.999999937926,0.000209109446908,-0.000282745861798,2.1801189713e-05,1793196432919320064
+62,1.033333333,BASELINE,764.985417014,743,712,673.014582986,660,633.014582986,877,784.014582986,801,649.014582986,629.014582986,651,0.400959839288,-0.00539289540825,0.0698236062422,0.999999938125,0.000211227259073,-0.000280443649037,2.20163606272e-05,1793196432935986688
+63,1.050000000,BASELINE,765,743,712,673.557074804,659.442925196,633,877.557074804,784,801,649,629,651,0.400959670757,-0.00539409928442,0.0698235716546,0.999999938321,0.000209783408495,-0.000280844494483,2.1780849521e-05,1793196432952653824
+64,1.066666667,BASELINE,765,743,712.130052718,674,659.130052718,633.130052718,877.869947282,784.130052718,801,649,629.130052718,651,0.400959536619,-0.00539479711833,0.0698235039295,0.999999938361,0.000209210620034,-0.000281144603566,2.16209582055e-05,1793196432969320704
+65,1.083333333,BASELINE,765,743,712.708236996,674,659.708236996,633.708236996,877.291763004,784.708236996,801,649,629.708236996,651,0.400959671288,-0.00539351646408,0.0698234480472,0.99999993786,0.000211956377211,-0.00028085696618,2.17617559125e-05,1793196432985987328
+66,1.100000000,BASELINE,765,743,712.706539162,674,660,634,877,785,801,649,630,651,0.400959530529,-0.00539220347576,0.0698228473211,0.999999937363,0.000213592681623,-0.000281395078418,2.16715747295e-05,1793196433002653696
+67,1.116666667,BASELINE,765,743,712.114144507,674,660,634,877,785,801,649,630,651,0.400959109206,-0.00539085755044,0.0698216915903,0.999999936872,0.000214098842053,-0.000282774340346,2.13461069425e-05,1793196433019320064
+68,1.133333333,BASELINE,765,743,712,673.535223411,660,633.535223411,877,785,800.535223411,649,630,650.535223411,0.4009603708,-0.00539134631687,0.0698227821173,0.999999937318,0.000214639342446,-0.000280762535825,2.15829734748e-05,1793196433035986944
+69,1.150000000,BASELINE,765,743,712,673.040488718,659.959511282,633.040488718,877,785,800.040488718,649.040488718,630,650.040488718,0.400961803197,-0.00539226640216,0.0698242020845,0.999999937916,0.000215061710464,-0.000278271110843,2.19271441282e-05,1793196433052653312
+70,1.166666667,BASELINE,765,743,712,673.616289956,659.383710044,633.616289956,877,785,800.616289956,649.616289956,630,650.616289956,0.400960183334,-0.0053930996346,0.0698228895191,0.999999937663,0.000213813856204,-0.000280139129785,2.19155450735e-05,1793196433069319680
+71,1.183333333,BASELINE,765,743,712,674,659.192252591,633.807747409,877,785,801,649.807747409,630,651,0.400959175348,-0.00539369093283,0.0698220654275,0.999999937374,0.000213293908337,-0.000281558329871,2.19486408762e-05,1793196433085986304
+72,1.200000000,BASELINE,765,743,712,674,659.76853773,633.23146227,877,785,801,649.23146227,630,651,0.400959389613,-0.00539379895754,0.0698222170824,0.999999937025,0.000214227983544,-0.00028208099596,2.20710165141e-05,1793196433102653184
+73,1.216666667,BASELINE,765,743,712,674,660,633.354076386,877.354076386,785,801,649,630,651,0.400959532624,-0.00539294240858,0.0698227127817,0.999999937099,0.000215070155872,-0.000281173704908,2.21088356e-05,1793196433119320064
+74,1.233333333,BASELINE,765,743,712,674,660,633.945826429,877.945826429,785,801,649,630,651,0.400959627806,-0.00539143838985,0.0698234394208,0.999999937454,0.000215850638368,-0.000279306555567,2.20898961211e-05,1793196433135986688
+75,1.250000000,BASELINE,765,743,712,674,660,633.476621132,878,784.476621132,800.476621132,649,630,651,0.400959842687,-0.00539339933399,0.0698233593622,0.999999937931,0.000213614394773,-0.000279317028008,2.20907165173e-05,1793196433152653056
+76,1.266666667,BASELINE,765,743,712,673.900832396,660,633,878.099167604,784.099167604,800,649,630,651,0.400959924987,-0.00539510840529,0.0698230402147,0.999999938206,0.000211653466107,-0.000279827509049,2.20808089856e-05,1793196433169319936
+77,1.283333333,BASELINE,765,743,712,673.326638589,660,633,878.673361411,784.673361411,800,649,630,651,0.400959314419,-0.00539393836608,0.0698219652079,0.999999937473,0.000212467566064,-0.000281826733874,2.20099747523e-05,1793196433185987840
+78,1.300000000,BASELINE,765,743,712,673.255314258,660,633,878.489371483,785,800.255314258,649,630,651,0.400959408931,-0.00539378391235,0.0698221690979,0.999999937559,0.000212074659872,-0.000281807852491,2.21331848916e-05,1793196433202654464
+79,1.316666667,BASELINE,765,743,712,673.847504784,660,633,877.304990432,785,800.847504784,649,630,651,0.400960433766,-0.00539496948042,0.0698240604377,0.999999938722,0.000210089160514,-0.00027912616594,2.2512428304e-05,1793196433219320320
+80,1.333333333,BASELINE,765,743,712,674,660,633.430371083,877,785,801,649.430371083,630,651,0.400960161508,-0.00539434896986,0.0698243068326,0.999999938514,0.000211544997603,-0.000278781984059,2.23973079762e-05,1793196433235986688
+81,1.350000000,BASELINE,765,743,712,674,660,634,877,785,800.990096069,650,630,651,0.40095948425,-0.00539312271475,0.0698239989921,0.999999937846,0.000214144316444,-0.000279213672615,2.21137279213e-05,1793196433252653824
+82,1.366666667,BASELINE,765,743,712,674,660,634,877,785,800.41623856,650,630,651,0.400961361271,-0.00539307175696,0.0698246173105,0.999999938334,0.000213894040629,-0.000277662430801,2.20007261248e-05,1793196433269320704
+83,1.383333333,BASELINE,765,743,712.15836201,674,659.84163799,634,877,784.84163799,800,649.84163799,630,651,0.400962412599,-0.00539341638037,0.0698247570998,0.999999938693,0.000213119027322,-0.00027696755092,2.19611010908e-05,1793196433285987328
+84,1.400000000,BASELINE,765,743,712.734924975,674,659.265075025,634,877,784.265075025,800,649.265075025,630,651,0.400961283443,-0.00539480565098,0.0698236331944,0.999999938713,0.000210958291962,-0.000278534143507,2.211524872e-05,1793196433302653440
+85,1.416666667,BASELINE,765,743,712.680577078,674,659.319422922,633.680577078,877,784,800,649,630,651,0.400959613916,-0.00539537360549,0.0698224225149,0.999999938573,0.000209109501536,-0.000280423793577,2.21204498829e-05,1793196433319320064
+86,1.433333333,BASELINE,765,743,712.089326527,674,659.910673473,633.089326527,877,784,800,649,630,651,0.400957484534,-0.00539524262318,0.0698211379912,0.999999938296,0.00020752617513,-0.000282588364175,2.19988981894e-05,1793196433335986688
+87,1.450000000,BASELINE,765,743,712.490327569,674,660,633.490327569,877,784.490327569,800.490327569,649,630,650.509672431,0.400958580393,-0.00539434592908,0.0698223490871,0.999999938308,0.000209446664706,-0.00028112453104,2.2032093289e-05,1793196433352653312
+88,1.466666667,BASELINE,764.932526939,743,712.932526939,674,660,633.932526939,877.067473061,785,801,649,630,650.067473061,0.400959875006,-0.00539351172544,0.0698236610364,0.999999938343,0.000211451295291,-0.000279492799966,2.20505806562e-05,1793196433369320192
+89,1.483333333,BASELINE,764.358719351,743,712.358719351,674,660,633.358719351,877.641280649,785,801,649,630,650.641280649,0.400958353745,-0.00539416908712,0.0698223968714,0.999999938231,0.000209407933193,-0.000281446918028,2.17520305146e-05,1793196433385987072
+90,1.500000000,BASELINE,764.221062859,743,712,674,660,633,877.778937141,785,801.221062859,649,630,651,0.40095794709,-0.00539441276838,0.0698218468158,0.999999938116,0.000209105782659,-0.000282086641445,2.16775938651e-05,1793196433402653696
+91,1.516666667,BASELINE,764.810809352,743,712,674,660,633,877.189190648,785,801.810809352,649,630,651,0.400959399351,-0.00539396652273,0.0698224877361,0.999999937999,0.000211707585574,-0.000280534247024,2.19769286556e-05,1793196433419320320
+92,1.533333333,BASELINE,765,743,712,673.606454836,660,633.393545164,877,784.606454836,802,649,630,651,0.400959587916,-0.00539457504675,0.0698223780884,0.999999937991,0.000211838326048,-0.000280464121256,2.19830223814e-05,1793196433435986944
+93,1.550000000,BASELINE,765,743,712,673.02703026,660,633.97296974,877,784.02703026,802,649,630,651,0.400959179611,-0.00539568175997,0.0698219139321,0.999999938036,0.000210801933533,-0.000281094101085,2.18506123948e-05,1793196433452653568
+94,1.566666667,BASELINE,764.450748206,743,712,673.549251794,660,634,877,784.549251794,801.450748206,649,630,651,0.400960270527,-0.00539356630339,0.0698234922857,0.999999937997,0.000213594349809,-0.000279112922471,2.18748662859e-05,1793196433469320192
+95,1.583333333,BASELINE,764.125379864,743,712,674,660,634,877,785,800.874620136,649,630,651,0.400961180366,-0.00539206975797,0.0698246875624,0.999999938062,0.000215246664671,-0.000277606646954,2.18958730986e-05,1793196433485986560
+96,1.600000000,BASELINE,764.701507329,743,712,674,660,634,877,785,800.298492671,649,630,651,0.400961175483,-0.00539336506501,0.0698241463457,0.999999938546,0.000212126701448,-0.000278267019915,2.18776467269e-05,1793196433502653184
+97,1.616666667,BASELINE,765,743,712,674,660,633.716456681,877,785,800.283543319,649.283543319,630,651,0.400960667143,-0.00539419072589,0.0698238951198,0.999999938666,0.000210847460151,-0.000278799466052,2.19549956524e-05,1793196433519319808
+98,1.633333333,BASELINE,765,743,712,674,660,633.128068312,877,785,800.871931688,649.871931688,630,651,0.400959617523,-0.00539451145747,0.0698239556709,0.999999938404,0.000211547228704,-0.000279194374581,2.21351001525e-05,1793196433535986944
+99,1.650000000,BASELINE,765,743,712,674,660,633,877.453257122,785,801,649.546742878,630,651,0.400959748406,-0.00539354450374,0.069823597032,0.999999937779,0.000213390004826,-0.0002800296079,2.21322794011e-05,1793196433552653824
+100,1.666666667,BASELINE,764.967622041,743,712,674,660,633.032377959,878,785,800.967622041,649,630,651,0.400960113814,-0.00539233048238,0.0698231135988,0.999999937108,0.000215335015851,-0.000280941604161,2.20816403231e-05,1793196433569320192
+101,1.683333333,BASELINE,764.392516921,743,712,674,660,633.607483079,878,785,800.392516921,649,630,651,0.400958905061,-0.00539298019996,0.0698224932342,0.999999937425,0.000213663274502,-0.000281086856031,2.20825345325e-05,1793196433585987072
+102,1.700000000,BASELINE,764,743,712,674.186177424,660,634,878,785,800.186177424,649,630,651,0.400958668206,-0.00539384272204,0.0698224065426,0.999999938005,0.000211612170832,-0.000280568744197,2.2157469925e-05,1793196433602653952
+103,1.716666667,BASELINE,764,743,712,674.772587587,660,634,878,785,800.772587587,649,630,651,0.400960520675,-0.00539516271801,0.0698234671086,0.999999939146,0.000208745537663,-0.00027862457398,2.23915744845e-05,1793196433619320320
+104,1.733333333,BASELINE,764.357297199,743,712,674.642702801,660,634,877.642702801,784.642702801,801,649,630,651,0.400960244478,-0.005395378916,0.0698235767016,0.99999993907,0.000208927129978,-0.000278753315361,2.25153119162e-05,1793196433635986688
+105,1.750000000,BASELINE,764.940929629,743,712,674.059070371,660,634,877.059070371,784.059070371,801,649,630,651,0.400958619845,-0.00539489589685,0.0698230838867,0.999999938222,0.000211039665842,-0.000280195173276,2.25691356702e-05,1793196433652653056
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,743,712,673,660,634,877,785,800,649,630,651,0.400958524332,-0.00539375064361,0.0698226109101,0.999999937403,0.000213923453299,-0.000280963485527,2.21573777673e-05,1793196433683326208
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.43025242,743,712,673.56974758,660,633.43025242,877,784.43025242,800.56974758,649.56974758,630,651,0.400959981515,-0.00539290533491,0.0698235995062,0.999999937995,0.000213603165356,-0.000279102069106,2.20350796801e-05,1793196433699992832
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.145764775,743,712,674,660,633,877,784,801,649.854235225,630,650.854235225,0.400960655222,-0.00539249853961,0.069823911308,0.999999938377,0.000212852884159,-0.000278319276961,2.18841971149e-05,1793196433716659456
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+110,1.833333333,POSE1_TO_POSE2_PRESS,764.673974035,743,712,674,660,633.326025965,877,784.326025965,800.673974035,649,630,650.326025965,0.400958777005,-0.00539257615856,0.0698217916082,0.999999937676,0.000212371454406,-0.0002812151977,2.15624415679e-05,1793196433749992448
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.097107215,743,712,674,660,633.902892785,877,784.902892785,800.097107215,649,630,650.902892785,0.40095987831,-0.00539031248411,0.0698225490717,0.999999937101,0.000216791475072,-0.000279880385299,2.16000188275e-05,1793196433766659072
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.477370664,743,712,674,660,634,877,784.522629336,800,649,630,651,0.400959763441,-0.00539185102224,0.0698227044973,0.999999937585,0.00021447254541,-0.000279918986381,2.18433852388e-05,1793196433783325952
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.946992077,877,784.053007923,800.053007923,649,630,651,0.400959611538,-0.00539394965321,0.0698228487274,0.999999938232,0.000211182634669,-0.000280089745044,2.20707767122e-05,1793196433799992576
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.354638366,877,784.645361634,800.645361634,649,630,651,0.400961587473,-0.00539391660304,0.0698241189199,0.999999938457,0.000211891800624,-0.000278776686259,2.17118107137e-05,1793196433816659200
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,743,712,673.768292881,660,633.231707119,877,784.768292881,801,649,630,651,0.400967869453,-0.00539403175592,0.0698272903491,0.999999939702,0.00021207586688,-0.000274127587864,2.17498113251e-05,1793196433833326080
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,743,712,673.19091089,660,633.80908911,877,784.19091089,801,649,630,651,0.400980575454,-0.00539436800718,0.0698332981597,0.999999942408,0.000211476557164,-0.000264501581324,2.23800310731e-05,1793196433849992448
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,743,712.386051166,673.386051166,660,634,876.613948834,784,801,649,630,651,0.401006209367,-0.00539497352265,0.0698441801674,0.999999947005,0.000211254946302,-0.000246644172778,2.29696292918e-05,1793196433866659072
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,743,712.962805831,673.962805831,660,634,876.037194169,784,801,649,630,651,0.401038229477,-0.00539571205065,0.0698574699562,0.999999952166,0.000211219912892,-0.000224720573849,2.35391611307e-05,1793196433883325696
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.463692612,743,712.463692612,674,659.463692612,633.463692612,877.072614776,784,800.463692612,649,630,651,0.401089360807,-0.00539753222386,0.0698728913115,0.999999957514,0.000210673913083,-0.000200034705779,2.39655532956e-05,1793196433899992320
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+122,2.033333333,POSE1_TO_POSE2_PRESS,765,743,712,673.29149838,659.29149838,633,877,784,800,649.29149838,630,651,0.401286551104,-0.00540316533906,0.0698999842512,0.999999965367,0.000204628212271,-0.00016409774389,2.15622720474e-05,1793196433949992448
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,743,712,673.869718785,659.869718785,633,877,784,800,649.869718785,630,651,0.401366782052,-0.00540502649731,0.0699002721776,0.999999965786,0.000204206868685,-0.000162304682951,1.96277381381e-05,1793196433966658816
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,743,712,674,659.555153719,633.444846281,877,784.444846281,800,649.555153719,629.555153719,651,0.401462169593,-0.00540624008077,0.0698994811554,0.99999996551,0.000202422015481,-0.000166501876993,1.67894768436e-05,1793196433983325440
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743,712,674,659,634,877,784.980412344,800.019587656,649,629.019587656,651,0.401562999444,-0.00540731995126,0.0698984877364,0.999999965064,0.000200139348142,-0.000172130150395,1.36722694433e-05,1793196433999992576
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,743,712,674,659,634,877,784.390727148,800.609272852,649,629.609272852,651,0.401693926134,-0.00540998986636,0.0699007369192,0.999999966724,0.000194910004724,-0.000168702107215,1.00864471494e-05,1793196434016659200
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,743,712.195533277,674,659.195533277,633.804466723,877,784.195533277,801.195533277,649,630,651,0.401838903943,-0.00541256029704,0.0699030639587,0.999999968308,0.000190365570673,-0.000164639999717,6.21962972906e-06,1793196434033325824
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,712.775067839,674,659.775067839,633.224932161,877,784.775067839,801.775067839,649,630,651,0.40201147626,-0.00541493535327,0.0699055438979,0.999999969789,0.000187166207923,-0.00015933267485,1.80097576764e-06,1793196434049992192
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,713,674,659.647838238,633,877,784.647838238,801.295676476,649,630,651,0.40220263276,-0.0054194049444,0.0699099464166,0.999999972806,0.000177999035411,-0.000150647501086,-3.23292706342e-06,1793196434066659072
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,713,674,659.072292411,633,877,784.072292411,800.144584821,649,630,651,0.402405577639,-0.00542520314599,0.0699155684704,0.999999976568,0.000165046347626,-0.000139819681827,-8.65709641584e-06,1793196434083325696
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.497397252,743,712.497397252,673.497397252,659.502602748,633.502602748,877,784,800.502602748,649,630,651,0.402634515387,-0.00542840267718,0.0699166304772,0.999999977873,0.000158034854183,-0.000138083274759,-1.45612321416e-05,1793196434099992320
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.079602706,743,712,673.079602706,660,634,877.079602706,784.079602706,800.920397294,649,630,650.920397294,0.402872446141,-0.00543170756429,0.0699173463102,0.999999978973,0.000151471233746,-0.000136715338814,-2.04800246324e-05,1793196434116659200
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.670728898,743,712,673.670728898,660,634,877.670728898,784.670728898,800.329271102,649,630,650.329271102,0.403144171913,-0.00543808827008,0.0699200469765,0.999999981174,0.000142301369843,-0.000129322996564,-2.60499516873e-05,1793196434133325824
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,743,712.257268581,674,660,634,878,785,800.257268581,649,630,650.257268581,0.403447235304,-0.00544387905833,0.0699278211668,0.999999986789,0.000111045409947,-0.000114311903087,-3.20082133694e-05,1793196434149992192
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,743,712.8380409,674,660,634,878,785,800.8380409,649,630,650.8380409,0.403789704334,-0.00544892805128,0.0699419750866,0.999999993883,5.2017171968e-05,-8.97205706696e-05,-3.84547880635e-05,1793196434166659072
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,743,712.586233651,674,660,633.586233651,877.586233651,784.586233651,801,649,629.586233651,651,0.404139449315,-0.00545307705666,0.0699478586199,0.999999995107,5.04729959147e-05,-8.02342824489e-05,-2.82979701398e-05,1793196434183325952
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,743,712.012459887,674,660,633.012459887,877.012459887,784.012459887,801,649,629.012459887,651,0.404492007968,-0.00545687802809,0.0699505439151,0.999999994467,7.11584590722e-05,-7.6589260233e-05,-1.17204609892e-05,1793196434199992576
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.429093679,743,712,674,660,633.570906321,877.570906321,784.570906321,801,649,629,651,0.404881466837,-0.00547211920073,0.0699570678723,0.999999996046,5.79989762178e-05,-6.52164888914e-05,-1.70381923363e-05,1793196434216658944
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.155055369,743,712,674,660,633.844944631,877.844944631,785,800.844944631,649.155055369,629.155055369,651,0.405285174581,-0.00549041364873,0.0699616579325,0.999999997341,3.94016052242e-05,-5.76064390826e-05,-2.11614319884e-05,1793196434233325568
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.740787278,743,712,674,660,633.259212722,877.259212722,785,800.259212722,649.740787278,629.740787278,651,0.405726184347,-0.00551648341544,0.0699606397892,0.999999997901,7.78687426991e-06,-6.09240582995e-05,-2.06169261687e-05,1793196434249992448
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,743,712,674,659.680846955,633,877,784.680846955,800.319153045,649.680846955,629.680846955,651,0.406181878654,-0.00552561415306,0.0699520997115,0.999999996863,-5.50252218049e-06,-7.59654150087e-05,-2.17665979261e-05,1793196434266659072
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,743,712,674,659.10832886,633,877,784.10832886,800.89167114,649.10832886,629.10832886,651,0.406649230579,-0.00552129755838,0.0699375882187,0.999999994665,-4.24404491209e-06,-0.000100313859617,-2.42612211855e-05,1793196434283325696
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743,712,674,659.464160981,633.464160981,877,784.464160981,801,649,629.464160981,651,0.407150577733,-0.00552604478606,0.069922611717,0.999999992393,-1.1453977012e-05,-0.000119793412098,-2.70770596311e-05,1793196434299992320
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.961893342,877,784.961893342,801,649.038106658,630,651,0.407664820047,-0.00553314210575,0.0699093369306,0.99999999018,-2.15538213797e-05,-0.000135204489161,-2.99168998838e-05,1793196434316659200
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.366562385,877,784.366562385,801,649.633437615,630,651,0.408251615393,-0.00554367355525,0.0699225327596,0.999999992671,-4.5013329898e-05,-0.000107738576582,-3.20115544212e-05,1793196434333325824
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.778091122,743,712,673.778091122,660,633,877.221908878,784,800.778091122,649.778091122,629.778091122,650.778091122,0.408856275643,-0.00555152579701,0.0699353481577,0.999999994502,-5.94441270471e-05,-7.95520344598e-05,-3.36833123232e-05,1793196434349992448
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.200611378,743,712,673.200611378,660,633,877.799388622,784,800.200611378,649.200611378,629.200611378,650.200611378,0.409489561297,-0.00555508506787,0.06994755398,0.999999996374,-5.94079634395e-05,-5.02108090273e-05,-3.46774509038e-05,1793196434366659328
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,712,673.753171292,660,633,877.623414354,784,800.376585646,649,629.376585646,650.376585646,0.410125623891,-0.00556395269623,0.0699447565262,0.999999995385,-7.01215885028e-05,-5.49573038682e-05,-3.59514710517e-05,1793196434383326208
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,743,712,674.907264311,660,633,877.046367844,784,800.953632156,649,629.953632156,650.953632156,0.410763164661,-0.00557564602416,0.0699339726557,0.999999992525,-8.6557449499e-05,-7.78490845833e-05,-3.73744753275e-05,1793196434399992832
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,743,712,674.47873293,660,633.52126707,877.52126707,784.52126707,800.47873293,649,629.47873293,650.47873293,0.411436324603,-0.00558150269737,0.0699369909532,0.999999991838,-9.59535572809e-05,-7.48977678049e-05,-3.88162796843e-05,1793196434416659200
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,743,712,674.093488729,660,634,878,785,800.093488729,649,629.093488729,650.093488729,0.412126166133,-0.00558684706953,0.0699458949846,0.999999991938,-0.000103846247515,-6.13728129952e-05,-3.96555390833e-05,1793196434433325824
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,712,674.695109756,660,634,878,785,800.695109756,649,629.695109756,650.695109756,0.412889760039,-0.0055921787996,0.069980234645,0.999999993589,-0.000106910705321,-2.65066126797e-06,-3.72109021824e-05,1793196434449992448
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.284212649,743,712,674.715787351,660,633.715787351,878.284212649,785,801,649,629.715787351,651,0.413654255444,-0.00558035717967,0.0700035320647,0.999999994664,-9.00854352872e-05,3.54012217812e-05,-3.61017041709e-05,1793196434466659072
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.860453256,743,712,674.139546744,660,633.139546744,878.860453256,785,801,649,629.139546744,651,0.414419677229,-0.00555091052579,0.0700154836073,0.99999999658,-5.28235081326e-05,5.2214450062e-05,-3.63646668434e-05,1793196434483325696
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.432786009,878.567213991,784.567213991,800.567213991,649,629,651,0.415148874323,-0.00553185478278,0.069973922647,0.999999998173,-3.82803965686e-05,-2.42425975578e-05,-4.00055004114e-05,1793196434499992064
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743,712.004003228,674.004003228,660,633.995996772,878,784,800.004003228,649,629.004003228,651,0.415867029491,-0.00551629485401,0.0699155338456,0.999999990073,-3.11397267861e-05,-0.000129943685713,-4.47126196115e-05,1793196434516658688
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743,712.594753029,674.594753029,660,633.405246971,878,784,800.594753029,649,629.594753029,651,0.416663425631,-0.00552643842603,0.0698970446437,0.999999986089,-4.48968760829e-05,-0.000153459468893,-4.74965004482e-05,1793196434533325568
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,743,712.816934937,675,660.183065063,633,878,784,801,649,630,650.816934937,0.417483630386,-0.00553610146658,0.0698966593594,0.999999986022,-5.57448862058e-05,-0.000149964121489,-4.85713277442e-05,1793196434549992448
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,712.233948452,675,660.766051548,633,878,784,801,649,630,650.233948452,0.418355847065,-0.00554471474408,0.0699358236462,0.999999993307,-6.02376299268e-05,-8.74606274037e-05,-4.59125799095e-05,1793196434566659072
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.656320134,743,712,675,660.656320134,633,878,784,800.656320134,649,630,650.343679866,0.419234348634,-0.00555163278277,0.0699674722486,0.999999995735,-6.91205888592e-05,-4.24312934619e-05,-4.41835685907e-05,1793196434583325696
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.082283239,743,712,675,660.082283239,633,878,784,800.082283239,649,630,650.917716761,0.420117062716,-0.00555741455969,0.0699940833394,0.999999995754,-8.09461609232e-05,-9.11430261805e-06,-4.30777284638e-05,1793196434599992320
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,712,674.506449519,660,633.493550481,878,784,800,649.493550481,629.506449519,651,0.42103032089,-0.00555510727112,0.0700126459584,0.999999996033,-7.50079733805e-05,2.13544136417e-05,-4.30223443718e-05,1793196434616659200
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.071576346,743,712,674.071576346,660.071576346,633.928423654,878,784,800,649.928423654,629,651,0.421935982767,-0.00555083156973,0.0700226192747,0.999999996065,-6.65167056068e-05,3.94419371587e-05,-4.34710720049e-05,1793196434633325824
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.663348717,743,712,674.663348717,660.663348717,633.336651283,878,784,800,649.336651283,629,651,0.422749292527,-0.00554208695074,0.0699799556001,0.999999996643,-6.10725094967e-05,-2.89897323028e-05,-4.63061007518e-05,1793196434649992448
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.750793007,743,712,675,660.750793007,633,878,784,800,649,629.249206993,651,0.423557896282,-0.00553738624352,0.069922243104,0.999999989782,-6.0800833307e-05,-0.000118957024859,-5.08721519642e-05,1793196434666659072
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.172738739,743,712,675,660.172738739,633,878,784,800,649,629.827261261,651,0.424360290226,-0.00553802177923,0.0698446725562,0.9999999679,-6.73546831139e-05,-0.000237342192289,-5.77224169683e-05,1793196434683325952
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,712,675,660.404189162,633,878,784,800,649,630,651,0.425269543723,-0.00554441266313,0.0698523055278,0.999999971444,-7.63249349319e-05,-0.000218679197396,-5.88675440698e-05,1793196434699992320
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,712,675,660.98063699,633,878,784,800,649,630,651,0.426224338927,-0.00555325638019,0.0698962508203,0.99999998459,-8.6325016396e-05,-0.000141608558868,-5.75812362609e-05,1793196434716658944
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.567331838,743,712,674.432668162,661,633,878,784,800,649,630,650.432668162,0.427164886604,-0.00555503977645,0.0699516562068,0.99999999245,-8.57963771403e-05,-7.04507996725e-05,-5.2690508784e-05,1793196434733325824
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,712,674.152340792,661,633.152340792,878,784.152340792,800,649,630,650,0.428104129164,-0.00555571665046,0.0699998121917,0.99999999527,-8.39263759304e-05,-5.95648491399e-06,-4.87942421889e-05,1793196434749992448
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743,712,674.731626715,661,633.731626715,878,784.731626715,800,649,630,650,0.429041101857,-0.00555398017463,0.0700265349089,0.999999994883,-7.93227319956e-05,4.04390607733e-05,-4.8036128363e-05,1793196434766659328
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.309870332,743,712,675,661,634,878.619740664,784.690129668,800.309870332,649,629.690129668,650.309870332,0.429935039646,-0.005556166895,0.0700279034829,0.999999994422,-8.20858979711e-05,4.54020384844e-05,-4.85442832048e-05,1793196434783325952
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.887214222,743,712,675,661,634,879.774428444,784.112785778,800.887214222,649,629.112785778,650.887214222,0.430791830563,-0.00556174003596,0.070007386892,0.999999994477,-9.12079397074e-05,1.46012919768e-05,-5.01454546128e-05,1793196434799992576
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.538504805,743,712,675,661,633.538504805,879.538504805,784,801,649,629.461495195,651,0.431564896359,-0.00556197355714,0.0699369774978,0.999999988937,-8.95164016673e-05,-0.000105996272753,-5.36505376098e-05,1793196434816659200
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.963969527,743,712,675,661,633,878.963969527,784,801,649,629.963969527,651,0.432326781534,-0.00556109265112,0.0698609574132,0.999999966716,-8.59442209573e-05,-0.000236406818041,-5.73870709869e-05,1793196434833325824
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.374095294,743,712,675,661,633,878.374095294,784,801,649,629.374095294,651,0.433229257435,-0.00556300828735,0.0698848881218,0.99999997728,-9.38190469661e-05,-0.000182543847546,-5.75761285899e-05,1793196434849992448
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.211784565,743.211784565,712,675.211784565,661.423569129,633,878.211784565,784,801,649,629.211784565,651,0.434129076448,-0.00556333303654,0.0699218351892,0.999999987146,-9.74346093651e-05,-0.000114176185539,-5.63691240375e-05,1793196434866659072
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.790739482,743.790739482,712,675.790739482,662.581478964,633,878.790739482,784,801,649,629.790739482,651,0.435024289368,-0.00556089966928,0.0699813486879,0.999999994009,-9.3665898536e-05,-2.06617683396e-05,-5.2741770058e-05,1793196434883325696
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+240,4.000000000,POSE1_TO_POSE2_PRESS,765,743.232314049,712,676,658,631,879,782,801,650,629,651,0.450934930112,-0.00558435847375,0.0696722493744,0.999999863321,-0.000120762557259,-0.000504866971731,-6.23116646369e-05,1793196435916659200
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.656067853,743,712,676.343932147,658,631,879,782,801.343932147,650,629.343932147,651,0.450934786921,-0.00558462911657,0.0696716589307,0.999999862988,-0.000121429144244,-0.000505389190921,-6.21342375525e-05,1793196435933325824
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.081297958,743,712,676.918702042,658,631,879,782,801.918702042,650,629.918702042,651,0.45093543231,-0.0055835997121,0.0696717922101,0.99999986339,-0.000120663315937,-0.000504809580474,-6.18701750489e-05,1793196435949992448
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+244,4.066666667,POSE1_TO_POSE2_PRESS,764.068439788,743,712,677,657.068439788,630.068439788,879,782,801.068439788,649.068439788,629,650.931560212,0.45093591129,-0.00558359511102,0.0696742593799,0.999999864304,-0.000120651184679,-0.000503021933462,-6.16832043006e-05,1793196435983325952
+245,4.083333333,POSE1_TO_POSE2_PRESS,764.662486916,743,712,677,657.662486916,630.662486916,879,782,801.662486916,649.662486916,629,650.337513084,0.450935271214,-0.00558152992869,0.069673879612,0.999999863723,-0.000119086514266,-0.000504481773532,-6.22181601894e-05,1793196435999992576
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+247,4.116666667,POSE1_TO_POSE2_PRESS,765,743.82712889,712.82712889,677,657.17287111,631,879,782,802,650,629,650.82712889,0.450937161879,-0.00558126773955,0.0696735921374,0.999999863905,-0.000119337528704,-0.000504091934056,-6.19649391003e-05,1793196436033326080
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,743,712,676.420674777,657.420674777,630.420674777,879,782.420674777,801.420674777,650,629.579325223,650.579325223,0.450939256326,-0.00557868109787,0.0696735474258,0.99999986472,-0.000115179403146,-0.000503471238297,-6.17350805224e-05,1793196436428219392
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,743,712,674.681006267,660,633,878,784,801,649,630,650.681006267,0.414020016177,-0.00540277631556,0.0697607781658,0.999999903338,0.00020687405756,-0.000386191850834,3.71788156826e-05,1793196437828220928
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+416,6.933333333,POSE2_TO_POSE3_RETREAT,764.103414222,742.103414222,712,673.896585778,659.896585778,633,877.103414222,784,800.103414222,649,630,650,0.400958373261,-0.00539344670651,0.0698175253681,0.999999935714,0.000210292480653,-0.000289615103522,2.17452276119e-05,1793196438878219008
+417,6.950000000,POSE2_TO_POSE3_RETREAT,764,742.473423822,712,674,660,633,877,784,800.473423822,649,630,650.473423822,0.400959964541,-0.00539418503753,0.0698187776231,0.999999936075,0.000211779016119,-0.000287247512033,2.21037704647e-05,1793196438894885376
+418,6.966666667,POSE2_TO_POSE3_RETREAT,764.049467244,742.950532756,712,674,659.950532756,633.049467244,877,784,801,649,629.950532756,651,0.400961529136,-0.0053950368618,0.0698200838121,0.999999936426,0.000213308368906,-0.000284852076571,2.24929918857e-05,1793196438911552256
+419,6.983333333,POSE2_TO_POSE3_RETREAT,764.623950462,742.376049538,712,674,659.376049538,633.623950462,877,784,801,649,629.376049538,651,0.400960264001,-0.00539500830253,0.0698199140858,0.999999936498,0.000212635670882,-0.000285123923667,2.22478039121e-05,1793196438928218880
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,765,742.795736188,712,673.204263812,659,633.204263812,877.795736188,784.795736188,800.204263812,649.795736188,629.795736188,651,0.40096067335,-0.00539626781436,0.0698206504509,0.999999937587,0.000209496958231,-0.000283634624188,2.21098169891e-05,1793196438961552128
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+424,7.066666667,POSE2_TO_POSE3_RETREAT,764.467525157,742.532474843,712,674,660.467525157,633.467525157,877.532474843,784,800.467525157,649,630,651,0.400958144636,-0.00539291742464,0.069819173225,0.999999936298,0.000211095265566,-0.000287018130324,2.15416223183e-05,1793196439011552256
+425,7.083333333,POSE2_TO_POSE3_RETREAT,764.107045819,743,712,674,659.892954181,633.107045819,878,784,800.107045819,649,630,651,0.400959463134,-0.00539248549454,0.0698198333033,0.99999993638,0.000212559592352,-0.000285629346048,2.17708305549e-05,1793196439028218880
+426,7.100000000,POSE2_TO_POSE3_RETREAT,764.682645061,743,712,674,659.317354939,633.682645061,878,784,800.682645061,649,630,651,0.400960794807,-0.00539319635182,0.0698204828062,0.999999937061,0.000211447314116,-0.000284088244907,2.14943163045e-05,1793196439044885504
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eecfa9e32a91b427e97dd95caa41ebcdb860cf88
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_04/simulation_data.csv
@@ -0,0 +1,428 @@
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+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
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+6,0.100000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+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
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+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
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+19,0.316666667,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+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
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+423,7.050000000,pose2_to_pose3_retreat,0.578252438433,1.22263305421e-06,1.06001161013,0.548823674691,0.00867489343701,1.05966114862
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+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
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b71c265c13d2fa5f50750c76d62e8510f2861db5
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e3868b87a11c9a3d00a26a35d9a773389f631d40
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_05/franka_data.csv
@@ -0,0 +1,429 @@
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+52,0.866666667,BASELINE,765,743,712,674,660.169493299,633.830506701,877,784,800.830506701,649,630,651,0.400959825856,-0.00539591042377,0.0698226808028,0.999999938903,0.00020769573331,-0.000280366470668,2.12162005585e-05,1793196440063911424
+53,0.883333333,BASELINE,765,743,712,674,660.758750577,633.241249423,877,784,800.241249423,649,630,651,0.400960240698,-0.00539565377351,0.0698227109873,0.999999938046,0.000211826754205,-0.000280295920865,2.17081447711e-05,1793196440080578304
+54,0.900000000,BASELINE,764.657737777,743,712,674,660.657737777,633.342262223,877,784,800.342262223,649,630,651,0.400960286578,-0.00539521964759,0.0698228067901,0.999999937987,0.000212296713527,-0.000280162513981,2.15434316003e-05,1793196440097244672
+55,0.916666667,BASELINE,764.0782092,743,712,674,660.0782092,633.9217908,877,784,800.9217908,649,630,651,0.400960076684,-0.00539466249028,0.0698229480815,0.999999938487,0.000210228715879,-0.000279985532704,2.09235039758e-05,1793196440113911296
+56,0.933333333,BASELINE,764,743,712,674,659.500962375,633.500962375,877,784,801,649,630,651,0.400960287387,-0.00539413278552,0.0698232255789,0.999999938587,0.000210608005345,-0.000279341978637,2.09341895541e-05,1793196440130578176
+57,0.950000000,BASELINE,764,743,712,673.924675183,659.075324817,633.075324817,877,784.075324817,801,649,630,651,0.400960351772,-0.00539366236274,0.0698233956051,0.999999938499,0.000211466309077,-0.000279000535064,2.10433175314e-05,1793196440147244800
+58,0.966666667,BASELINE,764,743,712,673.352371119,659.647628881,633.647628881,877,784.647628881,801,649,630,651,0.400959017861,-0.00539355481478,0.0698227163588,0.999999937581,0.000212966058634,-0.000281132606217,2.1152857768e-05,1793196440163912448
+59,0.983333333,BASELINE,764,743,712,673.227785425,659.772214575,634,877,785,801,649,630,651,0.400958674477,-0.00539357227858,0.0698225502928,0.999999937251,0.000213270033187,-0.000282076015303,2.11279149552e-05,1793196440180579840
+60,1.000000000,BASELINE,764,743,712,673.82052311,659.17947689,634,877,785,801,649,630,651,0.400959918092,-0.00539379003316,0.0698232064317,0.999999937869,0.000211658166383,-0.000281114979311,2.08875066931e-05,1793196440197246208
+61,1.016666667,BASELINE,764.403054981,743,712,674,659.403054981,633.596945019,877,784.596945019,800.596945019,649,629.596945019,650.596945019,0.400960259129,-0.00539411717477,0.0698234035487,0.99999993826,0.000210895137592,-0.000280281901078,2.11204606101e-05,1793196440213912320
+62,1.033333333,BASELINE,764.981154487,743,712,674,659.981154487,633.018845513,877,784.018845513,800.018845513,649,629.018845513,650.018845513,0.400960208182,-0.00539449182254,0.0698234013151,0.999999938551,0.000210500754505,-0.000279504394244,2.15589930903e-05,1793196440230578688
+63,1.050000000,BASELINE,764.44375215,743,712,674,660,633.55624785,877,784.55624785,800.55624785,649,629.55624785,650.55624785,0.400960397956,-0.00539267824279,0.0698227308269,0.999999938247,0.000211452861233,-0.000279911223713,2.10718448335e-05,1793196440247245312
+64,1.066666667,BASELINE,764,743,712,674,660,634,877,784.865579892,801,649,630,651,0.400960572333,-0.00539186846626,0.0698223757215,0.999999938128,0.00021169377713,-0.000280174972867,2.07660795946e-05,1793196440263911936
+65,1.083333333,BASELINE,764,743,712,674,660,634,877,784.276654699,801,649,630,651,0.400960667224,-0.00539470210278,0.0698231631378,0.999999938707,0.000209376576294,-0.000279819992381,2.1179083167e-05,1793196440280578560
+66,1.100000000,BASELINE,764.3073054,743,712,674,659.6926946,634,877.3073054,784,801,649,629.6926946,651,0.400960532127,-0.00539552102642,0.0698230713682,0.99999993878,0.000208864037219,-0.000279938665976,2.12260515005e-05,1793196440297245440
+67,1.116666667,BASELINE,764.886866664,743,712,674,659.113133336,634,877.886866664,784,801,649,629.113133336,651,0.400960193275,-0.00539455502388,0.0698222006875,0.999999938407,0.000209950330403,-0.000280476971337,2.09487325047e-05,1793196440313912320
+68,1.133333333,BASELINE,765,743,712.46366298,674,659.46366298,634,877.53633702,784.46366298,801,649.46366298,629.46366298,651,0.400960704469,-0.00539463609137,0.0698229261304,0.999999938721,0.00020979168634,-0.000279468106392,2.10267418995e-05,1793196440330578944
+69,1.150000000,BASELINE,765,743,713,674,660,634,877,785,800.960346518,649.960346518,630,650.960346518,0.400961259974,-0.00539491271558,0.069823867741,0.9999999391,0.000209432873993,-0.000278369638901,2.1166241667e-05,1793196440347245568
+70,1.166666667,BASELINE,765,743,713,674,660,634,877,785,800.38617861,649.38617861,630,650.38617861,0.40095963351,-0.00539440195495,0.0698225046526,0.999999938122,0.00021044621554,-0.000281121869295,2.0972855316e-05,1793196440363912192
+71,1.183333333,BASELINE,765,743,712.806276441,674,659.806276441,633.806276441,877,784.806276441,800.193723559,649,630,650.193723559,0.400958542613,-0.00539434338911,0.0698217736365,0.999999937531,0.000211135801885,-0.000282706385986,2.08805563472e-05,1793196440380578816
+72,1.200000000,BASELINE,765,743,712.214594511,674,659.214594511,633.214594511,877,784.214594511,800.785405489,649,630,650.785405489,0.400958551906,-0.00539521374843,0.0698223410602,0.999999937754,0.00021116031137,-0.000281892116764,2.09959170115e-05,1793196440397245952
+73,1.216666667,BASELINE,764.631704756,743,712,674,659.368295244,633,877,784.368295244,800.631704756,649,630,650.631704756,0.400959534317,-0.0053953056632,0.0698230551198,0.999999938331,0.000210198589959,-0.000280557018759,2.10249648507e-05,1793196440413912320
+74,1.233333333,BASELINE,764.053818524,743,712,674,659.946181476,633,877,784.946181476,800.053818524,649,630,650.053818524,0.400961070512,-0.00539495457747,0.0698238526275,0.999999939107,0.000208675620163,-0.000278925525391,2.10048934216e-05,1793196440430578688
+75,1.250000000,BASELINE,764.521952731,743,712.521952731,674,660,633.521952731,877,785,800.521952731,649,630,650.521952731,0.400961067614,-0.00539536852906,0.0698238094061,0.999999939031,0.000209353537898,-0.000278683940503,2.10616862036e-05,1793196440447245568
+76,1.266666667,BASELINE,765,743,713,674,660,633.90281757,877,784.90281757,801,649.09718243,630,651,0.400960775099,-0.00539570596038,0.0698235788256,0.999999938836,0.000210104524593,-0.00027881513922,2.11430803439e-05,1793196440463912192
+77,1.283333333,BASELINE,765,743,713,674,660,633.32917813,877,784.32917813,801,649.67082187,630,651,0.40095983758,-0.00539528305586,0.0698228529667,0.99999993848,0.000210105648921,-0.000280074198756,2.13063883149e-05,1793196440480578816
+78,1.300000000,BASELINE,764.746850125,743,712.746850125,673.746850125,660,633,877,784.253149875,801,649.746850125,630,651,0.400960163503,-0.00539512027887,0.0698229802514,0.999999938573,0.000210063120941,-0.000279764359847,2.14266263431e-05,1793196440497245184
+79,1.316666667,BASELINE,764.152822624,743,712.152822624,673.152822624,660,633,877,784.847177376,801,649.152822624,630,651,0.400962190708,-0.00539530777528,0.0698242563321,0.999999939268,0.000209961813178,-0.000277341928935,2.14888687546e-05,1793196440513911808
+80,1.333333333,BASELINE,764,743,712,673.428595348,659.571404652,633.428595348,877,784.571404652,801,649.428595348,630,651,0.400961748197,-0.00539525795637,0.0698240096716,0.999999939301,0.000209951119225,-0.000277240377538,2.13837066865e-05,1793196440530578432
+81,1.350000000,BASELINE,764.005634273,743,712,674,659.005634273,633.994365727,877.005634273,784.005634273,801,649.994365727,630,651,0.40096046795,-0.00539512241304,0.069823241989,0.999999939103,0.000209979342043,-0.000277943683927,2.12194428046e-05,1793196440547245056
+82,1.366666667,BASELINE,764.581513282,743,712,674,659.581513282,633.418486718,877.581513282,784.581513282,801,649.418486718,630,651,0.400960980512,-0.00539463018885,0.0698231239049,0.99999993872,0.000210769711559,-0.00027874431223,2.0942130845e-05,1793196440563911936
+83,1.383333333,BASELINE,765,743,712,674,660,633.160877128,878,784.839122872,801,649.160877128,630,651,0.400961326137,-0.00539433975001,0.0698231767963,0.999999938508,0.000211156762105,-0.000279219282161,2.08117389053e-05,1793196440580578816
+84,1.400000000,BASELINE,765,743,712,674,660,633.749506858,878,784.250493142,801,649.749506858,630,651,0.4009612279,-0.0053945858336,0.0698236842908,0.999999938756,0.000210471437033,-0.000278828366502,2.10719892616e-05,1793196440597246208
+85,1.416666667,BASELINE,765,743,712,674,660,634,878,784.333027245,801,649.666972755,629.666972755,651,0.400960876221,-0.00539514110811,0.0698234813085,0.999999939119,0.000208825351313,-0.000278773001833,2.09801993695e-05,1793196440613912832
+86,1.433333333,BASELINE,765,743,712,674,660,634,878,784.912762572,801,649.087237428,629.087237428,651,0.400960336792,-0.00539592543263,0.0698227520019,0.999999939562,0.000206467529816,-0.000278966214873,2.06276164601e-05,1793196440630579200
+87,1.450000000,BASELINE,764.512190651,743,712,674,660,634,877.512190651,784.512190651,801,649,629.487809349,651,0.400961176145,-0.00539517471739,0.0698236918515,0.99999993961,0.000207627519128,-0.000277932494963,2.06158757791e-05,1793196440647245824
+88,1.466666667,BASELINE,764.063399126,743,712,674,660,634,877.063399126,784.063399126,801,649,630,651,0.400962155107,-0.00539422080013,0.0698248342725,0.999999939561,0.000209356802712,-0.000276804106026,2.06682430987e-05,1793196440663912192
+89,1.483333333,BASELINE,764.650330876,743,712,674,660,634,877.650330876,784.650330876,801,649,630,651,0.400962270154,-0.00539383421793,0.0698252079765,0.999999939321,0.000210641617045,-0.000276688616232,2.07514425769e-05,1793196440680578560
+90,1.500000000,BASELINE,764.76539176,743,712,674,660,633.76539176,877.76539176,785,801,649,629.76539176,651,0.400962191107,-0.00539370164862,0.0698251878695,0.999999939115,0.000211491567762,-0.000276774462276,2.08890423928e-05,1793196440697245184
+91,1.516666667,BASELINE,764.185026386,743,712,674,660,633.185026386,877.185026386,785,801,649,629.185026386,651,0.400961826011,-0.00539394343435,0.0698245873783,0.999999938961,0.000211700632106,-0.0002771570298,2.11068154503e-05,1793196440713911552
+92,1.533333333,BASELINE,764.393551635,743,712.393551635,674,659.606448365,633,877.393551635,785,801,649,629.393551635,651,0.400961647876,-0.00539412787948,0.0698242563609,0.999999938876,0.000211681381458,-0.000277477457501,2.10955838555e-05,1793196440730578432
+93,1.550000000,BASELINE,764.97129319,743,712.97129319,674,659.02870681,633,877.97129319,785,801,649,629.97129319,651,0.400961557244,-0.0053942854881,0.0698240514625,0.999999938824,0.000211555274914,-0.000277768802573,2.09771735902e-05,1793196440747245568
+94,1.566666667,BASELINE,764.452464773,743,712.452464773,674,659,633,877.452464773,784.452464773,801,649,629.452464773,651,0.400961091728,-0.00539478445965,0.0698241075456,0.999999939117,0.000209621771476,-0.000278194282065,2.08058260135e-05,1793196440763912192
+95,1.583333333,BASELINE,764,743,712,673.873939507,659.126060493,633.126060493,877,784.126060493,801,649,629.126060493,651,0.400960596165,-0.00539503416824,0.0698241081506,0.999999939185,0.000208674340268,-0.00027866609006,2.07402044802e-05,1793196440780578816
+96,1.600000000,BASELINE,764,743,712,673.28677572,659.71322428,633.71322428,877,784.71322428,801,649,629.71322428,651,0.400960062387,-0.0053943068384,0.0698238559148,0.999999938375,0.000211679424383,-0.000279281704917,2.10714312977e-05,1793196440797245184
+97,1.616666667,BASELINE,764.296363336,743,712,673.296363336,659.703636664,633.703636664,877,784.703636664,800.703636664,649,630,650.703636664,0.400961010474,-0.00539405949764,0.0698241786785,0.999999938367,0.000212748722327,-0.000278481865354,2.12710451236e-05,1793196440813911808
+98,1.633333333,BASELINE,764.875660012,743,712,673.875660012,659.124339988,633.124339988,877,784.124339988,800.124339988,649,630,650.124339988,0.400963373272,-0.00539427039482,0.0698250503851,0.999999939127,0.000211969955984,-0.00027633071405,2.13450101107e-05,1793196440830578432
+99,1.650000000,BASELINE,764.548389313,742.548389313,712,674,659,633.451610687,877.451610687,784.451610687,800,649,630,650.451610687,0.400962249479,-0.00539510644176,0.0698244450217,0.999999939051,0.000210901576272,-0.000277433282198,2.1209121214e-05,1793196440847245312
+100,1.666666667,BASELINE,764,742.02670287,712,674,659,633.97329713,877.97329713,784.97329713,800.02670287,649,630,651,0.40096030057,-0.0053960001691,0.0698234981717,0.999999938753,0.000209866803853,-0.000279298841678,2.10363563714e-05,1793196440863911680
+101,1.683333333,BASELINE,764,742.602947088,712,674,659,633.397052912,877.397052912,784.397052912,800.602947088,649,630,651,0.400960981207,-0.00539456480224,0.0698238313404,0.999999938681,0.000211152592253,-0.000278566142365,2.12850108621e-05,1793196440880578304
+102,1.700000000,BASELINE,764.183789458,743,712,674,659.183789458,633.183789458,877,784.183789458,800.816210542,649,630,650.816210542,0.400961426601,-0.00539399624566,0.0698242505377,0.999999938736,0.00021172225414,-0.000277923830023,2.14289497838e-05,1793196440897244928
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+104,1.733333333,BASELINE,765,743,712.358352332,673.641647668,659.641647668,633.641647668,877.358352332,784.641647668,800.358352332,649,630,650.358352332,0.400961504554,-0.00539575585456,0.0698245683383,0.999999939398,0.000208804174014,-0.000277758014808,2.13263055304e-05,1793196440930578176
+105,1.750000000,BASELINE,765,743,712.937268819,673.062731181,659.062731181,633.062731181,877.937268819,784.062731181,800.937268819,649,630,650.937268819,0.400961799725,-0.00539558191552,0.0698237212413,0.999999939705,0.000206359246428,-0.000278476311198,2.13570128409e-05,1793196440947244800
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,743,712,674,659,634,877,785,800,650,630,651,0.400961334467,-0.0053961559071,0.0698240368366,0.999999939878,0.000206164687955,-0.000278040436853,2.08088388207e-05,1793196440979260416
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,712.613799717,674,659.613799717,634,877,785,800.613799717,649.386200283,630,651,0.400961212242,-0.00539601770316,0.0698242472093,0.99999993983,0.000207044279125,-0.000277566177338,2.07431960882e-05,1793196440995927296
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,743,712.785049185,674,659.785049185,634,877,784.785049185,801,649,630,651,0.400961135426,-0.00539598730382,0.0698244805824,0.999999939685,0.000208014350829,-0.000277353747014,2.0834686823e-05,1793196441012594176
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,743,712.205360704,674,659.205360704,634,877,784.205360704,801,649,630,651,0.400961135664,-0.00539613983188,0.0698247529833,0.999999939379,0.000209137953885,-0.000277585599495,2.11928082842e-05,1793196441029260544
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.628155328,743,712,674,659.371844672,634,877,784.371844672,800.628155328,649,630,651,0.400960511998,-0.00539619835423,0.0698241510393,0.999999939219,0.000208605537618,-0.00027856241729,2.11851253329e-05,1793196441045927168
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.052312248,743,712,674,659.947687752,634,877,784.947687752,800.052312248,649,630,651,0.400959546052,-0.00539620530393,0.0698230694193,0.999999939136,0.000207164609394,-0.000279947931899,2.097675771e-05,1793196441062593792
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.518826893,743,712,674,659.481173107,633.481173107,877,784.481173107,801.037653786,649,630,651,0.400959944299,-0.00539619402651,0.0698236120307,0.999999939272,0.000207029670016,-0.000279558755244,2.09959591551e-05,1793196441079260416
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,743,712,674,659,633.093546856,877,784,801.812906288,649.093546856,629.906453144,651,0.400960517128,-0.0053961464032,0.0698242032932,0.999999939337,0.000207509192392,-0.000278964734622,2.10998563448e-05,1793196441095927040
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,743,712,674,659,633.690046097,877,784,800.619907805,649.690046097,629.309953903,651,0.40096129571,-0.00539591315923,0.069824183543,0.99999993889,0.000210590739352,-0.000278222789608,2.15368616136e-05,1793196441112593664
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.721877804,743,712,674,659.278122196,634,877,784.278122196,800.278122196,649.721877804,629.278122196,651,0.400966330869,-0.00539577493578,0.0698265345056,0.999999939645,0.00021150125534,-0.000274779900853,2.17535629114e-05,1793196441129260288
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.142912991,743,712,674,659.857087009,634,877,784.857087009,800.857087009,649.142912991,629.857087009,651,0.400975970334,-0.00539573949529,0.0698314498495,0.999999941677,0.000210063383812,-0.000268415422307,2.1731963089e-05,1793196441145926912
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659.567512542,634,877.432487458,785,801,649.432487458,630,651,0.401000172736,-0.00539610538851,0.0698423122123,0.99999994641,0.000209459391497,-0.000250641472872,2.20378476253e-05,1793196441162593792
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.006888122,743,712,674,659.006888122,634,877.993111878,784.993111878,801,649.993111878,630,651,0.401029371782,-0.00539661922876,0.0698551541581,0.999999951647,0.000209112424043,-0.000229072633071,2.24533228554e-05,1793196441179260416
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.595507831,743,712,674,659.595507831,634,877.404492169,784.404492169,801,649.404492169,630,651,0.401077466517,-0.00539851918564,0.0698705708889,0.999999957662,0.000207391113006,-0.000202815500006,2.30596579743e-05,1793196441195927040
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,743,712.181288352,674,660,634,877,784,801,649,629.818711648,651,0.40113035771,-0.00540061794064,0.0698840381382,0.999999961823,0.000205912657468,-0.000182779966783,2.33343345765e-05,1793196441212593408
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,743,712.760831841,674,660,634,877,784,801,649,629.239168159,651,0.401193785798,-0.00540315341672,0.0698932227602,0.999999963172,0.00020496770801,-0.000176412069771,2.28804222711e-05,1793196441229260032
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.66120139,743,712.66120139,673.66120139,660,634,877,784,801,649,629,651,0.401267700833,-0.00540492958455,0.0698997352582,0.999999965171,0.000203068095119,-0.000167213586025,2.14567502964e-05,1793196441245926912
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.084342557,743,712.084342557,673.084342557,660,634,877,784,801,649,629,651,0.401348984624,-0.00540617221671,0.0699043701611,0.999999967541,0.000200497678476,-0.000156026162626,1.93516670368e-05,1793196441262593536
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.490307442,743,712,673.490307442,659.509692558,633.509692558,877.490307442,784,801,649,629.490307442,651,0.401440875381,-0.00540794700062,0.0699039234283,0.999999967844,0.000197120765481,-0.000158664995354,1.67594349341e-05,1793196441279260160
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.93357362,743,712,674,659.06642638,633.06642638,877.93357362,784,800.93357362,649,630,651,0.401537855352,-0.00540980514967,0.0699026793867,0.99999996781,0.000193589544318,-0.000163424236947,1.39763549601e-05,1793196441295926784
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.342875611,743,712,674,659.657124389,633.657124389,877.342875611,784,800.342875611,649,630,651,0.401660665874,-0.00541160201389,0.0699020108086,0.999999968093,0.000189930487403,-0.000166231551834,1.03454249334e-05,1793196441312593664
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.243130687,743,712,674,660,633.756869313,877,784.243130687,800.243130687,649.243130687,630,651,0.401801892557,-0.00541389187898,0.0699036112924,0.99999996932,0.000185251050793,-0.000164321258337,6.43665491804e-06,1793196441329260288
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.822645703,743,712,674,660,633.177354297,877,784.822645703,800.822645703,649.822645703,630,651,0.401968598973,-0.00541686383703,0.0699083511451,0.999999971799,0.00017915986451,-0.000155883900691,2.1434786966e-06,1793196441345926912
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633,877,785,800.600436838,650,630,651,0.402154640003,-0.00542007570422,0.0699125345788,0.999999974209,0.000172980725145,-0.000147145706765,-2.6633257347e-06,1793196441362593792
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633,877,785,800.024664862,650,630,651,0.402349207683,-0.00542339337249,0.06991647263,0.999999976505,0.000166762797608,-0.000138274842199,-7.69664245444e-06,1793196441379260416
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.438574651,743,712,674,659.438574651,633.561425349,877,785,800,649.438574651,630,651,0.40256638898,-0.00542805965107,0.0699169543976,0.999999978341,0.000156934475937,-0.000136032775602,-1.36106700653e-05,1793196441395926784
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659.14620053,634,877,784.85379947,800.14620053,649,630,651,0.402797655583,-0.00543289248644,0.0699179754027,0.999999980122,0.000147574310786,-0.000132641401322,-1.96110058773e-05,1793196441412593664
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659.725709703,634,877,784.274290297,800.725709703,649,630,651,0.403067668636,-0.00543804007692,0.0699210530575,0.999999982049,0.00014008056497,-0.000124964435049,-2.57503211191e-05,1793196441429260288
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.696174056,712,674,660,634,877,784,801,649,630,651,0.403371476048,-0.00544331469557,0.0699305088883,0.999999985606,0.000127724165163,-0.000107106718779,-3.1657596309e-05,1793196441445926656
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.119309632,712,674,660,634,877,784,801,649,630,651,0.403705653333,-0.00544870346997,0.069945696578,0.999999989934,0.000110997856944,-8.00998944382e-05,-3.73563442714e-05,1793196441462593280
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.45673508,742.45673508,712,674,660,633.54326492,877.45673508,784,801,649,630,651,0.404044536698,-0.005454765979,0.0699496582538,0.9999999951,4.90214333082e-05,-7.7792484206e-05,-3.66809227161e-05,1793196441479260160
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633,877.966661908,784.033338092,801,649,630,651,0.404387218726,-0.00546132881576,0.0699510311749,0.999999995992,-1.78739346561e-05,-8.09211790275e-05,-3.38887451968e-05,1793196441495926784
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633,877.377179584,784.622820416,801,649,630,651,0.404772798941,-0.00547330741687,0.0699580506506,0.999999997009,3.00065219895e-05,-6.72947514352e-05,-2.35119508259e-05,1793196441512593408
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.791378687,743,712.208621313,674,660,633,877.208621313,784.791378687,800.791378687,649.208621313,629.791378687,651,0.405174026814,-0.00548967698575,0.0699630580863,0.999999996994,4.87064482257e-05,-5.76786678469e-05,-1.7708258304e-05,1793196441529260288
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.212118319,743,712.787881681,674,660,633,877.787881681,784.212118319,800.212118319,649.787881681,629.212118319,651,0.405603054458,-0.00551384759789,0.0699644909074,0.999999998155,1.55638989688e-05,-5.51874098217e-05,-2.00291930127e-05,1793196441545926912
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,743,712.635688961,674,659.635688961,633,877.635688961,784.364311039,800.364311039,649.635688961,629.364311039,650.635688961,0.406055377204,-0.00552098784038,0.0699580627818,0.999999997584,-6.6366004705e-07,-6.5861782517e-05,-2.22421945689e-05,1793196441562593536
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,743,712.060895181,674,659.060895181,633,877.060895181,784.939104819,800.939104819,649.060895181,629.939104819,650.060895181,0.406521158866,-0.00551828869379,0.0699470929504,0.999999996137,-7.11849191988e-06,-8.41426718124e-05,-2.43928373643e-05,1793196441579260160
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,743,712,674,659.52519054,633,877.52519054,784.47480946,801,649,630,650.52519054,0.407002294462,-0.00552095692762,0.0699295024834,0.999999993615,-7.40965588764e-06,-0.000109396846086,-2.73566987346e-05,1793196441595926784
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.111099146,743,712,674,660,633.111099146,878,784.111099146,800.888900854,649.111099146,630,651,0.40750332819,-0.00552598177483,0.0699158569294,0.999999991397,-1.19870927413e-05,-0.000127091532285,-3.01593403264e-05,1793196441612593408
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.690619603,743,712,674,660,633.690619603,878,784.690619603,800.309380397,649.690619603,630,651,0.408080586494,-0.00553826108564,0.0699221518303,0.999999992793,-3.77159418552e-05,-0.000109429641497,-3.18759482987e-05,1793196441629260032
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.733694348,743,712,674.266305652,660,633.733694348,878,784.733694348,800.266305652,649.733694348,629.733694348,651,0.408679742749,-0.00554621141755,0.0699323746964,0.999999994522,-5.05056596529e-05,-8.53466219991e-05,-3.34924760084e-05,1793196441645927168
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.162399724,743,712,674.837600276,660,633.162399724,878,784.162399724,800.837600276,649.162399724,629.162399724,651,0.409303977798,-0.00554920394623,0.0699470960999,0.99999999676,-4.84767179717e-05,-5.39097474724e-05,-3.49943857867e-05,1793196441662594048
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,712,674.58468241,660,633.41531759,877.58468241,784,801,649,629.41531759,651,0.409935776913,-0.00555774085333,0.06994408411,0.999999995908,-6.04095506255e-05,-5.67292955609e-05,-3.62833902102e-05,1793196441679260928
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,743,712,674.004414228,660,633.995585772,877.004414228,784,801,649,629.995585772,651,0.410570580213,-0.00556847980654,0.0699340289945,0.999999993588,-7.78875444492e-05,-7.3154377525e-05,-3.748783553e-05,1793196441695927552
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,743,712.585802778,674.585802778,659.414197222,634,878.171605556,784,800.414197222,649,630,651,0.411227939681,-0.00557415217431,0.0699332295833,0.999999992125,-8.64324415482e-05,-8.1967110632e-05,-3.95180197229e-05,1793196441712594688
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.17218678,743,712.82781322,674.82781322,659.17218678,633.82781322,878.82781322,784,800,649,629.82781322,650.82781322,0.411914764851,-0.00557965585914,0.0699426720525,0.999999992512,-9.20690590418e-05,-7.00452596091e-05,-3.99175148566e-05,1793196441729261312
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.749375675,743,712.250624325,674.250624325,659.749375675,633.250624325,878.250624325,784,800,649,629.250624325,650.250624325,0.412670489788,-0.00558485413386,0.0699760376613,0.999999995147,-9.10261490858e-05,-9.49065229085e-06,-3.64665626062e-05,1793196441745927424
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.676577744,743,712,674,660,633.323422256,878,784,800.323422256,649,629,650.323422256,0.413429671243,-0.00557258379921,0.0700002287843,0.999999996158,-7.48630033439e-05,2.89292729775e-05,-3.52479280043e-05,1793196441762593792
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.104942693,743,712,674,660,633.895057307,878,784,800.895057307,649,629,650.895057307,0.414191505509,-0.00554690705211,0.070017378884,0.999999996984,-4.70957212002e-05,5.03617797774e-05,-3.5742501707e-05,1793196441779260672
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743.474165307,712,674,660,633.525834693,878,784,801,649,629.474165307,651,0.41493079089,-0.00553163134877,0.0699810670241,0.999999998393,-3.78293296832e-05,-1.67063358852e-05,-3.87791271126e-05,1793196441795927552
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.055989505,743.944010495,712,674,660,633,878,784,801,649,629.944010495,651,0.415668895219,-0.0055205693481,0.0699342470453,0.999999993543,-3.39881959845e-05,-9.9817296894e-05,-4.23813880245e-05,1793196441812594176
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.647725276,743.352274724,712,674,660,633,878,784,801,649,629.352274724,651,0.416444216465,-0.00552744742752,0.0699019101568,0.999999987393,-4.22520140766e-05,-0.000146013920746,-4.59264089529e-05,1793196441829260544
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.766534821,743,712,674,660.233465179,633,877.766534821,784,800.766534821,649.233465179,629,651,0.417253828721,-0.00553587732037,0.0698959715416,0.999999985959,-5.282307673e-05,-0.0001517112021,-4.77031885712e-05,1793196441845926912
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.189615564,743,712,674,660.810384436,633,877.189615564,784,800.189615564,649.810384436,629,651,0.41811388694,-0.00554659010847,0.0699288678185,0.999999991886,-6.67883604976e-05,-9.78292988838e-05,-4.68786820454e-05,1793196441862593536
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,712,674.384685361,660.615314639,633,877.384685361,784,800.384685361,649.615314639,629,651,0.418983870613,-0.00555325570896,0.069957042346,0.999999994731,-7.27368980503e-05,-5.6490547099e-05,-4.5342732426e-05,1793196441879260160
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743,712,674.957704389,660.042295611,633,877.957704389,784,800.957704389,649.042295611,629,651,0.419858713548,-0.00555793989323,0.0699829052058,0.999999996034,-7.47606089047e-05,-2.12926537033e-05,-4.34584756144e-05,1793196441895926784
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,712,675,660,633,878,784,800.452599307,649,629.547400693,650.452599307,0.420768628428,-0.0055559870459,0.0700058106179,0.999999996358,-7.24598150422e-05,1.49136222769e-05,-4.25668239177e-05,1793196441912593408
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.135728522,743,712,674.864271478,660,633,878,784.135728522,800.135728522,649.135728522,629.864271478,650.135728522,0.421668442192,-0.00555166242138,0.0700181483022,0.999999996192,-6.83858404619e-05,3.3672681456e-05,-4.24951662951e-05,1793196441929260288
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.715236264,743,712,674.284763736,660,633,878,784.715236264,800.715236264,649.715236264,629.284763736,650.715236264,0.422526090395,-0.00554131241821,0.0699967042617,0.999999997204,-5.96410909537e-05,-4.87660027758e-06,-4.484592688e-05,1793196441945926912
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743,712,674.293255792,660,633,878.293255792,784.706744208,800.706744208,649.706744208,629.293255792,651,0.423347276699,-0.00553690483138,0.0699427934639,0.999999992968,-5.78820884159e-05,-9.10977417081e-05,-4.91312263916e-05,1793196441962593536
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,712,674.869837567,660,633,878.869837567,784.130162433,800.130162433,649.130162433,629.869837567,651,0.424133235826,-0.00553823844604,0.0698575152493,0.999999971547,-6.28722897054e-05,-0.000223376549903,-5.52855599212e-05,1793196441979260160
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.547725323,743,712,675,660,633.452274677,879,784,800.452274677,649,630,651,0.425039904637,-0.00554665247462,0.0698535405309,0.999999971648,-7.77849410792e-05,-0.000217657881341,-5.72622697286e-05,1793196441995927040
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+251,4.183333333,HOLD_POSE2,764,743,712,677,658,630,879,782,801,649,629,651,0.451421185115,-0.00557547453546,0.0696590171404,0.999999854812,-0.000115887816855,-0.000522316929041,-6.4268216059e-05,1793196443419018752
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+261,4.350000000,HOLD_POSE2,765,743,712,676.811237681,657,630,878.811237681,782.188762319,801,650,629,651,0.451417175849,-0.005575030269,0.0696559422541,0.999999851689,-0.000116120346897,-0.000528205868756,-6.43229784491e-05,1793196443585683968
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.329838441,743,712,674.329838441,660,633,877,784,800.329838441,649,630,651,0.414991769578,-0.00541355384995,0.0697735579007,0.999999916638,0.000197188576158,-0.000355539139569,3.78599454276e-05,1793196445122731008
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.909662975,743,712,674.909662975,660,633,877,784,800.909662975,649,630,651,0.414260501434,-0.00540551014481,0.0697594480704,0.999999901833,0.000206457528752,-0.000390243349846,3.76752526226e-05,1793196445139398144
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,743,712,673.753984383,659.246015617,633.753984383,876.246015617,784.753984383,800,649,629.246015617,651,0.401033208019,-0.00539257566914,0.069805825782,0.999999929371,0.000208272858097,-0.000312216311079,2.00428614857e-05,1793196445839397632
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.825489069,633.825489069,877,785,801,649.825489069,629.825489069,651,0.400973394779,-0.00539358619538,0.0698142871412,0.999999934083,0.000210867307899,-0.000294784905114,2.16871084249e-05,1793196445922730752
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.501736463,743,712,674,660,633,877,784.498263537,801,649,630,651,0.400965994315,-0.00539378625703,0.0698192863435,0.999999936929,0.000207116107034,-0.000287725650222,2.14436305586e-05,1793196445989397248
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.252062661,633,877,784.252062661,800.747937339,649,630,651,0.400963308111,-0.00539412373809,0.0698197200908,0.999999936911,0.000207355438942,-0.00028762058548,2.13586786682e-05,1793196446039397632
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.830921201,633,877,784.830921201,800.169078799,649,630,651,0.400962731235,-0.00539434171408,0.0698203609516,0.999999937384,0.000206662375137,-0.000286464339235,2.14757758627e-05,1793196446056064512
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,743,712,673.59249379,659.59249379,633,877.40750621,784.59249379,800.40750621,649,630,650.59249379,0.40096303234,-0.00539407623495,0.0698211204773,0.999999937651,0.000207162201627,-0.000285180098081,2.13244188651e-05,1793196446072730880
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,743,712,673.016846894,659.016846894,633,877.983153106,784.016846894,800.983153106,649,630,650.016846894,0.400963695708,-0.00539361127792,0.0698219289652,0.999999937831,0.0002081542253,-0.00028384304516,2.10622952739e-05,1793196446089397504
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765,743,712,673.556884624,659.556884624,633,877.443115376,784.556884624,801,649,630,650.556884624,0.400963516021,-0.00539474059163,0.0698215764546,0.999999937444,0.000209599999694,-0.000284104655854,2.15472667546e-05,1793196446106064128
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765,743,712.13497119,673.86502881,659.86502881,633.13497119,877,784.86502881,800.86502881,649,630,651,0.400963438296,-0.0053953138441,0.0698214758009,0.999999937262,0.000210570606163,-0.00028400728779,2.17939175099e-05,1793196446122730752
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765,743,712.728034751,673.271965249,659.271965249,633.728034751,877,784.271965249,800.271965249,649,630,651,0.4009637929,-0.00539383669263,0.0698223487471,0.99999993784,0.00020988206271,-0.000282527964532,2.11552620344e-05,1793196446139397376
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765,743,712.687992003,673,659.312007997,634,877,784.312007997,800.312007997,649.312007997,630,651,0.400963070357,-0.00539281212983,0.0698223769619,0.999999937792,0.000209956093845,-0.000282658126829,2.09562524777e-05,1793196446156064256
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765,743,712.111718143,673,659.888281857,634,877,784.888281857,800.888281857,649.888281857,630,651,0.400961435488,-0.00539217090258,0.0698216897025,0.999999937214,0.000210676013687,-0.000284151498138,2.11296161284e-05,1793196446172730880
+416,6.933333333,POSE2_TO_POSE3_RETREAT,764.535783634,743,712.464216366,673.464216366,659.535783634,633.535783634,877.464216366,784.535783634,801,649.535783634,630,651,0.4009621417,-0.00539305497232,0.0698222406448,0.999999937775,0.000209758974335,-0.000282849461508,2.11453604713e-05,1793196446189397504
+417,6.950000000,POSE2_TO_POSE3_RETREAT,764.040827202,743,712.959172798,674,659.040827202,633,877.959172798,784,801,649,630,651,0.400963363687,-0.00539424414824,0.0698230349671,0.999999938554,0.000208568097368,-0.00028096963347,2.11474412891e-05,1793196446206064384
+418,6.966666667,POSE2_TO_POSE3_RETREAT,764.627572134,743,712.372427866,674,659.627572134,633,877.372427866,784,801,649,630,651,0.400963954303,-0.00539460826468,0.0698231020509,0.999999938634,0.000208979447195,-0.000280352858869,2.14736637248e-05,1793196446222731008
+419,6.983333333,POSE2_TO_POSE3_RETREAT,764.787406347,743,712.212593653,674,659.787406347,633.212593653,877,784,801,649,630,650.787406347,0.400963897623,-0.00539481249006,0.0698229460213,0.999999938588,0.000208839896276,-0.000280615317052,2.15622735702e-05,1793196446239397376
+420,7.000000000,POSE2_TO_POSE3_RETREAT,764.205379582,743,712.794620418,674,659.205379582,633.794620418,877,784,801,649,630,650.205379582,0.40096271611,-0.00539473886595,0.0698224022783,0.999999938319,0.000207743021562,-0.000282405655666,2.12379738761e-05,1793196446256064000
+421,7.016666667,POSE2_TO_POSE3_RETREAT,764,743,712.627394508,674,659,633.627394508,877.372605492,784,801,649,629.627394508,650.372605492,0.400962452854,-0.0053936405035,0.0698223564336,0.999999938057,0.000208575397649,-0.000282742557069,2.09442513333e-05,1793196446272730880
+422,7.033333333,POSE2_TO_POSE3_RETREAT,764,743,712.051613337,674,659,633.051613337,877.948386663,784,801,649,629.051613337,650.948386663,0.400962690309,-0.005391983368,0.0698225820848,0.999999937797,0.000210459762706,-0.000282286922829,2.06672020304e-05,1793196446289397760
+423,7.050000000,POSE2_TO_POSE3_RETREAT,764.523024363,742.476975637,712,674,659.523024363,633.523024363,878,784,801,649,629.523024363,651,0.400964046676,-0.00539361095885,0.0698235748211,0.999999938632,0.000208221669174,-0.000280972369748,2.08271603317e-05,1793196446306064640
+424,7.066666667,POSE2_TO_POSE3_RETREAT,764.899744754,742.100255246,712.100255246,674,660.100255246,634,877.899744754,784,801,649,630,651,0.400965012222,-0.00539518470636,0.0698243162598,0.99999993934,0.000206228175711,-0.000279909769349,2.10105835764e-05,1793196446322731264
+425,7.083333333,POSE2_TO_POSE3_RETREAT,764.309283786,742.690716214,712.690716214,674,660.690716214,634,877.309283786,784,801,649,630,651,0.400963528106,-0.00539491370871,0.0698234596367,0.999999938929,0.000207415484104,-0.000280492648553,2.10983375018e-05,1793196446339397888
+426,7.100000000,POSE2_TO_POSE3_RETREAT,764,743,712.724106619,674,660.448213238,634,877,784.275893381,800.724106619,649,630,651,0.400962775325,-0.00539500726184,0.0698233848104,0.999999938782,0.000207954604514,-0.000280612445694,2.1163983777e-05,1793196446356064512
+427,7.116666667,POSE2_TO_POSE3_RETREAT,764,743,712.144741462,674,659.289482924,634,877,784.855258538,800.144741462,649,630,651,0.400962826983,-0.00539550180638,0.0698241699297,0.999999938926,0.000207780743769,-0.00028022287089,2.1205312508e-05,1793196446372730880
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ad95a8d3294fb58543e295bf2861256427d9ba84
--- /dev/null
+++ b/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
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+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
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+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
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+9,0.150000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+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
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+21,0.350000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+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
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+27,0.450000000,pose1_baseline,0.578252173135,1.28047870442e-06,1.06001153247,0.548823408939,0.00867494977462,1.05966107186
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+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
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3a3787564a57ce2c75bd19cce9c0919a49616779
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..810b6d317439dd5e48f8ea6e6c5ce10678f46087
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_01/franka_data.csv
@@ -0,0 +1,423 @@
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+34,0.566666667,BASELINE,764.278670269,743,712,674,659,633,877,784,801.278670269,649,630,650.278670269,0.40101833233,-0.00551558932332,0.0798569980319,0.999999981464,9.83115493339e-05,-0.0001615152901,3.63150942619e-05,1793196448264696064
+35,0.583333333,BASELINE,764,743,712,674,659,633,877,784.303738084,800.696261916,649,629.696261916,650,0.401017538667,-0.00551604097894,0.079856460026,0.999999981382,9.79271732097e-05,-0.000162219730412,3.64859158354e-05,1793196448281362688
+36,0.600000000,BASELINE,764,743,712,674,659,633,877,784.892704603,800.107295397,649,629.107295397,650,0.401016777689,-0.00551658378738,0.0798566649171,0.999999981406,9.66725884445e-05,-0.000162784493853,3.6655463801e-05,1793196448298029312
+37,0.616666667,BASELINE,764,743,712,674,659,633,877.473704022,784.526295978,800,649,629,650.473704022,0.401017034088,-0.00551589240206,0.0798568878668,0.999999981421,9.71548594133e-05,-0.000162428517597,3.656222286e-05,1793196448314695680
+38,0.633333333,BASELINE,764,743,712,673.947451202,659,633,877.947451202,784,800,649,629.052548798,651,0.401017504542,-0.00551492700807,0.0798570949062,0.999999981425,9.80107363368e-05,-0.000161918969251,3.64083618621e-05,1793196448331362304
+39,0.650000000,BASELINE,764,743,712,673.37238377,659,633,877.37238377,784,800,649,629.62761623,651,0.401017849991,-0.00551397072245,0.0798571037419,0.99999998136,9.87344644316e-05,-0.000161921795903,3.62337973512e-05,1793196448348029440
+40,0.666666667,BASELINE,764.207177537,743,712,673,659,633,877,784,800.207177537,649,630,650.792822463,0.40101832905,-0.00551367615645,0.0798573004616,0.999999981403,9.87439660331e-05,-0.000161677953846,3.61122875473e-05,1793196448364696576
+41,0.683333333,BASELINE,764.794995249,743,712,673,659,633,877,784,800.794995249,649,630,650.205004751,0.401019053589,-0.00551459734524,0.0798578423744,0.999999981644,9.74412437748e-05,-0.000160980915839,3.60882533454e-05,1793196448381363456
+42,0.700000000,BASELINE,764.622679389,743,712,673.377320611,659,633,877,784,800.622679389,649,630,650.377320611,0.40101931931,-0.00551537794093,0.0798578500093,0.999999981841,9.60266998495e-05,-0.000160632993978,3.59742480456e-05,1793196448398029824
+43,0.716666667,BASELINE,764.04329532,743,712,673.95670468,659,633,877,784,800.04329532,649,630,650.95670468,0.401019339326,-0.00551608324591,0.0798575715267,0.999999982013,9.45522730124e-05,-0.000160472031491,3.58120612516e-05,1793196448414695680
+44,0.733333333,BASELINE,764,743,712,674,659.535567021,633,877,784.535567021,800,649,629.464432979,651,0.401018730434,-0.00551539819873,0.0798575659796,0.999999981736,9.65058697143e-05,-0.000160959814753,3.61348787544e-05,1793196448431362304
+45,0.750000000,BASELINE,764,743,712.113343936,674,660,633,877.113343936,784.886656064,800,649.113343936,629.113343936,650.886656064,0.401018138212,-0.00551485330857,0.0798574830416,0.999999981528,9.79111719431e-05,-0.00016134905413,3.63781814746e-05,1793196448448028928
+46,0.766666667,BASELINE,764,743,712.686884748,674,660,633,877.686884748,784.313115252,800,649.686884748,629.686884748,650.313115252,0.401017819893,-0.00551533338655,0.0798569963846,0.999999981761,9.59662286918e-05,-0.000161125459616,3.61396037864e-05,1793196448464695552
+47,0.783333333,BASELINE,764,743,712.732589874,674,660,633.267410126,877.732589874,784,800,649.732589874,630,650,0.401018045425,-0.00551517895369,0.0798571451673,0.999999981765,9.59954822596e-05,-0.000161078455531,3.61850401334e-05,1793196448481362432
+48,0.800000000,BASELINE,764,743,712.143666727,674,660,633.856333273,877.143666727,784,800,649.143666727,630,650,0.401018924838,-0.00551426163468,0.0798580579529,0.99999998149,9.83983554301e-05,-0.000161243769937,3.6571952713e-05,1793196448498029568
+49,0.816666667,BASELINE,764,743,712,674,659.561988872,633.561988872,877,784,800.438011128,649,630,650.438011128,0.401018304412,-0.00551429915014,0.0798577951202,0.999999981442,9.8175466171e-05,-0.000161683105551,3.65567672811e-05,1793196448514696448
+50,0.833333333,BASELINE,764,743,712.017265587,674,659.017265587,633,877,784,801,649,630,650.982734413,0.401017220275,-0.00551465086807,0.07985717499,0.999999981458,9.71708691377e-05,-0.000162220504702,3.64244956482e-05,1793196448531363328
+51,0.850000000,BASELINE,764,743,712.593747884,674,659.593747884,633,877,784,801,649,630,650.406252116,0.401016791338,-0.0055152006445,0.0798572683327,0.9999999812,9.82884825619e-05,-0.000163070384382,3.67021078873e-05,1793196448548029440
+52,0.866666667,BASELINE,764,743,712.829704142,674,660,633.170295858,877.170295858,784,801,649,630,650.170295858,0.401016738826,-0.00551489736102,0.0798572625931,0.999999980955,9.98499575825e-05,-0.000163598957445,3.68030150232e-05,1793196448564695808
+53,0.883333333,BASELINE,764,743,712.252999464,674,660,633.747000536,877.747000536,784,801,649,630,650.747000536,0.401017584649,-0.00551255826127,0.0798570203947,0.999999980741,0.000102470702386,-0.000163360736452,3.6482217743e-05,1793196448581362432
+54,0.900000000,BASELINE,764,743,712,673.669873607,659.669873607,633.669873607,878,784,800.669873607,649,629.669873607,651,0.401018170292,-0.00551257433389,0.0798571545975,0.999999980974,0.000101713529531,-0.000162416660563,3.64195018087e-05,1793196448598028800
+55,0.916666667,BASELINE,764,743,712,673.081729152,659.081729152,633.081729152,878,784,800.081729152,649,629.081729152,651,0.401018552587,-0.00551443114709,0.0798575829855,0.999999981551,9.83162654134e-05,-0.000160920907157,3.65584954463e-05,1793196448614695680
+56,0.933333333,BASELINE,764,743,712.498739705,673.498739705,659,633.498739705,877.501260295,784,800.498739705,649,629.498739705,650.501260295,0.401019013977,-0.00551452832676,0.079857922084,0.999999981658,9.78011075077e-05,-0.000160621192179,3.63186908913e-05,1793196448631362816
+57,0.950000000,BASELINE,764,743,712.922526506,674,659,633.922526506,877,784,801,649,630,650.077473494,0.401019291669,-0.00551444472811,0.0798581435286,0.999999981651,9.79221863176e-05,-0.000160641211782,3.61172087802e-05,1793196448648030208
+58,0.966666667,BASELINE,764,743,712.346983779,674,659,633.346983779,877,784,801,649,630,650.653016221,0.401018306315,-0.00551502462222,0.0798577012294,0.99999998138,9.91432529253e-05,-0.000161475829491,3.65551178972e-05,1793196448664697088
+59,0.983333333,BASELINE,764,743,712,673.771607258,659.228392742,633,877,784,800.771607258,649,630,651,0.401017725376,-0.00551541726696,0.0798572861984,0.999999981261,9.93540618382e-05,-0.000162064865288,3.66242497403e-05,1793196448681363456
+60,1.000000000,BASELINE,764,743,712,673.196482972,659.803517028,633,877,784,800.196482972,649,630,651,0.401017758394,-0.00551552564153,0.0798569125641,0.999999981375,9.80311610346e-05,-0.000162281074149,3.61335271104e-05,1793196448698029312
+61,1.016666667,BASELINE,764,743,712.388670425,673.388670425,660,633,877.388670425,784.388670425,800,649,629.611329575,651,0.401017953395,-0.00551534958452,0.0798569933408,0.999999981414,9.81251070779e-05,-0.000162028315595,3.59260622283e-05,1793196448714695936
+62,1.033333333,BASELINE,764,743,712.979028052,673.979028052,660,633,877.979028052,784.979028052,800,649,629.020971948,651,0.401018232451,-0.00551502593148,0.0798573099185,0.999999981415,9.89542773333e-05,-0.000161532202453,3.58655842802e-05,1793196448731362560
+63,1.050000000,BASELINE,764.557987106,743,713,674,659.442012894,633,877.442012894,784.442012894,800.557987106,649,629.557987106,651,0.401017593664,-0.00551461769452,0.0798566683595,0.999999981397,9.75822361482e-05,-0.000162496604047,3.57496241825e-05,1793196448748029440
+64,1.066666667,BASELINE,765,743,712.864899802,674,659,633,877,784.135100198,801,649,630,651,0.401017318272,-0.00551430437155,0.0798563143814,0.999999981354,9.70895349177e-05,-0.000163047499404,3.57830501624e-05,1793196448764696320
+65,1.083333333,BASELINE,765,743,712.292403905,674,659,633,877,784.707596095,801,649,630,651,0.401018328847,-0.00551430842527,0.0798570057207,0.999999981234,9.97062440525e-05,-0.000162085477982,3.63067394452e-05,1793196448781362944
+66,1.100000000,BASELINE,765,743,712,674,659,633,877,785,801,649,629.710411275,651,0.401018871421,-0.00551395582711,0.0798577441739,0.999999981276,0.000100688712995,-0.000161218803712,3.63073369887e-05,1793196448798029568
+67,1.116666667,BASELINE,765,743,712,674,659,633,877,785,801,649,629.118504504,651,0.401018925425,-0.00551323089987,0.0798585318119,0.999999981492,9.99651060171e-05,-0.000160451667789,3.57618494508e-05,1793196448814696192
+68,1.133333333,BASELINE,764.535410463,743,712,674,659,633,877,784.535410463,800.535410463,649,629,651,0.401018659917,-0.00551350923355,0.0798576836627,0.999999981624,9.85630971641e-05,-0.000160512461348,3.56873774705e-05,1793196448831362816
+69,1.150000000,BASELINE,764,743,712.045071283,674,659.045071283,633,877,784,800,649,629.045071283,651,0.401018356867,-0.00551409961992,0.0798565819398,0.999999981725,9.70744864432e-05,-0.000160769237837,3.57741408593e-05,1793196448848029184
+70,1.166666667,BASELINE,764,743,712.620769752,674,659.620769752,633,877,784,800,649,629.620769752,651,0.401018553462,-0.00551540711769,0.0798573156984,0.999999981733,9.65656222302e-05,-0.0001608933474,3.63710113652e-05,1793196448864695552
+71,1.183333333,BASELINE,764.199675917,743,712.800324083,674,659.800324083,633,877,784,800.199675917,649,630,650.800324083,0.401018540362,-0.00551596649711,0.0798577451763,0.999999981712,9.64409781678e-05,-0.000161040580599,3.66259744831e-05,1793196448881362176
+72,1.200000000,BASELINE,764.784773797,743,712.215226203,674,659.215226203,633,877,784,800.784773797,649,630,650.215226203,0.401018122503,-0.00551508183055,0.0798575873202,0.999999981636,9.70579702001e-05,-0.000161232447932,3.6220975207e-05,1793196448898029056
+73,1.216666667,BASELINE,764.63192192,743,712,674,659,633.36807808,877,784.36807808,801,649,630,650,0.401018354792,-0.00551478027679,0.0798578827255,0.999999981581,9.75551848378e-05,-0.000161286878297,3.61481035798e-05,1793196448914696192
+74,1.233333333,BASELINE,764.049661355,743,712,674,659,633.950338645,877,784.950338645,801,649,630,650,0.401018965399,-0.00551481803303,0.079858441881,0.999999981539,9.79827016722e-05,-0.000161261334881,3.62684951152e-05,1793196448931363072
+75,1.250000000,BASELINE,764.526572375,743,712,674,659,633.473427625,877,784.473427625,800.473427625,649,629.473427625,650.526572375,0.401017842348,-0.00551500743661,0.0798577471685,0.999999981519,9.73954241602e-05,-0.000161764211366,3.61805883407e-05,1793196448948029952
+76,1.266666667,BASELINE,764.897927133,743,712.102072867,674,659,633,877,784,800,649,629,651,0.401016972114,-0.0055151404399,0.0798572232904,0.999999981528,9.68679437497e-05,-0.000162051800264,3.60506549071e-05,1793196448964696576
+77,1.283333333,BASELINE,764.323219724,743,712.676780276,674,659,633,877,784,800,649,629,651,0.401018021024,-0.00551494681539,0.0798580317962,0.99999998167,9.7055484024e-05,-0.000161114383493,3.58160557124e-05,1793196448981362688
+78,1.300000000,BASELINE,764,743,713,673.742479664,659.257520336,633.257520336,877.257520336,784,800.257520336,649,629.257520336,651,0.401017799335,-0.00551425276399,0.0798578550403,0.999999981503,9.81110284177e-05,-0.000161547810147,3.56389665002e-05,1793196448998029056
+79,1.316666667,BASELINE,764,743,713,673.1539863,659.8460137,633.8460137,877.8460137,784,800.8460137,649,629.8460137,651,0.401015944632,-0.00551291554862,0.0798564119958,0.999999980934,0.000100282158291,-0.00016374308685,3.55357908978e-05,1793196449014695936
+80,1.333333333,BASELINE,764,743,712.570750384,673,660,633.570750384,877.570750384,784,800.570750384,649,630,651,0.40101598852,-0.0055130516547,0.0798562288497,0.999999980985,9.98520514621e-05,-0.000163687913932,3.55845322142e-05,1793196449031362304
+81,1.350000000,BASELINE,764,743,712,673.010484545,659.989515455,633,877,784,800,649,630,651,0.401016732625,-0.00551370179365,0.0798565182767,0.999999981259,9.85094995248e-05,-0.000162798156185,3.56896212736e-05,1793196449048028928
+82,1.366666667,BASELINE,764,743,712,673.584313583,659.415686417,633,877,784,800,649,630,651,0.401018947325,-0.00551391659859,0.079858208674,0.999999981798,9.76728412049e-05,-0.000159918152327,3.59295442955e-05,1793196449064695808
+83,1.383333333,BASELINE,764,743.158856346,712,673.841143654,659.158856346,633,877,784,800.158856346,649,630,651,0.401020007943,-0.00551428204602,0.0798589257729,0.999999982116,9.64714865912e-05,-0.000158642462276,3.5968299113e-05,1793196449081362688
+84,1.400000000,BASELINE,764,743.7352753,712,673.2647247,659.7352753,633,877,784,800.7352753,649,630,651,0.401018034993,-0.00551504346558,0.0798570845037,0.999999981869,9.43115076042e-05,-0.000161583798354,3.54782723342e-05,1793196449098029056
+85,1.416666667,BASELINE,764.320613184,743.679386816,712,673.320613184,660,633,877,784,801,649,630,650.679386816,0.401017120689,-0.00551512769542,0.0798563392205,0.999999981632,9.44225955016e-05,-0.000162995234278,3.53975284495e-05,1793196449114695680
+86,1.433333333,BASELINE,764.913525957,743.086474043,712,673.913525957,660,633,877,784,801,649,630,650.086474043,0.401017105503,-0.00551463678203,0.0798565247677,0.99999998141,9.64625205578e-05,-0.000163107312404,3.56643921467e-05,1793196449131362304
+87,1.450000000,BASELINE,765,743,712,674,659.508558822,633,877.491441178,784,800.508558822,649,629.508558822,650.491441178,0.401017187896,-0.00551542498252,0.0798567443916,0.999999981439,9.62094706385e-05,-0.000163006267074,3.59755511893e-05,1793196449148029184
+88,1.466666667,BASELINE,764.933085916,743,712,673.933085916,659.066914084,633.066914084,878,784,800,649,629.066914084,650.933085916,0.401017259111,-0.00551620331288,0.079856896737,0.999999981466,9.60022900057e-05,-0.000162905962202,3.62276122933e-05,1793196449164695808
+89,1.483333333,BASELINE,764.356710731,743,712,673.356710731,659.643289269,633.643289269,878,784,800,649,629.643289269,650.356710731,0.401017118363,-0.00551524361314,0.0798564925466,0.999999981141,9.91252717233e-05,-0.00016308836116,3.59721366334e-05,1793196449181362688
+90,1.500000000,BASELINE,764,743,712,673.224771161,659.775228839,633.775228839,877.775228839,784,800.224771161,649,630,650.224771161,0.401017653909,-0.00551452441584,0.0798567024856,0.999999981084,0.000100723964554,-0.000162492360016,3.58060911824e-05,1793196449198029056
+91,1.516666667,BASELINE,764,743,712,673.814545723,659.185454277,633.185454277,877.185454277,784,800.814545723,649,630,650.814545723,0.401019287684,-0.00551419576788,0.0798579097026,0.999999981474,9.98473812281e-05,-0.000160632323547,3.57852704834e-05,1793196449214695680
+92,1.533333333,BASELINE,764,743,712,673.60284018,659.39715982,633,877,784.39715982,800.60284018,649,630,651,0.401018807227,-0.00551455440321,0.0798576780488,0.999999981616,9.7624238506e-05,-0.000161092886443,3.5880149859e-05,1793196449231362304
+93,1.550000000,BASELINE,764,743,712,673.023510407,659.976489593,633,877,784.976489593,800.023510407,649,630,651,0.40101735701,-0.0055152282828,0.0798567864113,0.999999981637,9.47834535103e-05,-0.000162617865711,3.60280987429e-05,1793196449248028928
+94,1.566666667,BASELINE,764.550953873,743,712,673.550953873,659.449046127,633,877,785,800.550953873,649,630,650.449046127,0.401017173637,-0.00551618131089,0.079856459924,0.999999981508,9.5738925035e-05,-0.000162823992209,3.61570915795e-05,1793196449264695808
+95,1.583333333,BASELINE,764.871647978,743,712,674,659,633,877,784.871647978,800.871647978,649,630,650.128352022,0.401016951082,-0.00551679901094,0.079856235721,0.999999981394,9.68037722624e-05,-0.000162877785254,3.62284725992e-05,1793196449281362176
+96,1.600000000,BASELINE,764.282989933,743,712,674,659,633,877,784.282989933,800.282989933,649,630,650.717010067,0.401016395838,-0.00551617178638,0.0798562926074,0.99999998136,9.76849994669e-05,-0.000162585331215,3.60961171987e-05,1793196449298028800
+97,1.616666667,BASELINE,764,743,712,673.398271165,659.300864417,633,877.300864417,784,800,649,630,651,0.401016680642,-0.00551599995212,0.0798567498953,0.999999981413,9.79589172416e-05,-0.000162108145903,3.60550633991e-05,1793196449314695424
+98,1.633333333,BASELINE,764,743,712,672.239457133,659.880271434,633,877.880271434,784,800,649,630,651,0.401017743169,-0.00551624972176,0.079857577878,0.999999981544,9.76705832077e-05,-0.000161459934972,3.60985373337e-05,1793196449331362048
+99,1.650000000,BASELINE,764,743,712,672.913845629,659.543077186,633,877.543077186,784,800,649,629.543077186,651,0.401015840177,-0.00551490488062,0.0798561037318,0.999999981,9.91543547889e-05,-0.000163966529862,3.5820273737e-05,1793196449348028672
+100,1.666666667,BASELINE,763.967162242,742.967162242,712,674,659.032837758,633,877,784,800,649,629,651,0.401013512419,-0.00551329154098,0.0798543034011,0.999999980349,0.000100981460472,-0.000166869471198,3.55004751745e-05,1793196449364695296
+101,1.683333333,BASELINE,763.391556261,742.391556261,712,674,659.608443739,633,877,784,800,649,629,651,0.401016930711,-0.00551410522671,0.0798570225621,0.999999981028,0.000100854347055,-0.000162741742755,3.58792704653e-05,1793196449381361920
+102,1.700000000,BASELINE,763.188788488,742.188788488,712,674,659.811211512,633.188788488,877,784,800,649,629.188788488,651,0.401018531706,-0.00551467551033,0.0798584337173,0.999999981325,0.000100812067756,-0.000160870346017,3.61515771509e-05,1793196449398028800
+103,1.716666667,BASELINE,763.779214643,742.779214643,712,674,659.220785357,633.779214643,877,784,800,649,629.779214643,651,0.401016266498,-0.00551472796852,0.0798570621579,0.999999980834,0.000100950268638,-0.000163799177904,3.61973348317e-05,1793196449414695424
+104,1.733333333,BASELINE,764,743,712,674,659,633.637663675,877,784,800,649.362336325,630,651,0.401015788921,-0.00551477294739,0.0798568972187,0.999999980783,0.000100444283989,-0.000164443623494,3.60994745812e-05,1793196449431362048
+105,1.750000000,BASELINE,764,743,712,674,659,633.058904877,877,784,800,649.941095123,630,651,0.40101637909,-0.00551481345889,0.0798574529903,0.999999980997,9.95535291364e-05,-0.000163723611823,3.59158317465e-05,1793196449448028672
+106,1.766666667,BASELINE,764.516417908,743,712,674,659,633,877.516417908,784,800.516417908,649.483582092,630,651,0.401016915148,-0.00551513148866,0.0798571799969,0.99999998119,9.86397261767e-05,-0.000163086620529,3.59461285424e-05,1793196449464695552
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,712,674,659,633,877,784,800,649,630,651,0.401015031114,-0.0055130024172,0.079855260067,0.999999981139,9.65876675941e-05,-0.000164875000419,3.47594855735e-05,1793196449507051776
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,743,712.579777572,673.420222428,659,633.579777572,877,784,801.159555144,649.579777572,630,651,0.401016360245,-0.0055127061468,0.079855960197,0.999999980911,9.95338208316e-05,-0.000164411803148,3.52164186535e-05,1793196449523718400
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,743,713,673,659.317440146,633.841279927,877,784.158720073,801.841279927,649.841279927,630,651,0.401017382462,-0.00551296214308,0.079856646835,0.999999980868,0.000101158096317,-0.000163602552865,3.55725833143e-05,1793196449540384768
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,743,713,673,660.470926723,633.264536638,877,784.735463362,801.264536638,649.264536638,630,651,0.401017596357,-0.00551467265159,0.0798572979386,0.999999981331,9.93009250237e-05,-0.00016188189796,3.56633529185e-05,1793196449557051392
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,712.6890079,673.3109921,660.6890079,633.3109921,876.6890079,784.6890079,800.6890079,649,630,651,0.401018247468,-0.00551558404519,0.0798578743001,0.999999981576,9.86513633593e-05,-0.000160710267976,3.58892505087e-05,1793196449573718016
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,712.1145083,673.8854917,660.1145083,633.8854917,876.1145083,784.1145083,800.1145083,649,630,651,0.401019269038,-0.00551581833861,0.0798583873317,0.99999998164,9.90250245654e-05,-0.000160003833785,3.6229643728e-05,1793196449590384640
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,743,712.469618292,674,660,634,876.469618292,784,800.469618292,649,629.530381708,651,0.40101862113,-0.00551532850276,0.0798582517682,0.999999981319,0.000100412882093,-0.000161154165644,3.61618754296e-05,1793196449607051264
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,743,712.944138543,674,659.944138543,634,876.944138543,784,800.944138543,649,629,651,0.401017912247,-0.00551477430359,0.0798581056189,0.999999980968,0.00010155526416,-0.000162647591472,3.5994201464e-05,1793196449623717888
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,743,712.360539909,674,659.360539909,634,876.360539909,784,800.360539909,649,629,651,0.401020553527,-0.00551531502548,0.0798593848009,0.999999981269,9.79934330349e-05,-0.000163015646201,3.58425910677e-05,1793196449640384512
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,743,712,674,659,633.780784574,876.219215426,784,800.219215426,649,629.219215426,651,0.401026669699,-0.0055154654859,0.079862118472,0.999999981507,9.6862857089e-05,-0.000162212600706,3.59156601201e-05,1793196449657051392
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659,633.207241393,876.792758607,784,800.792758607,649,629.792758607,651,0.401038402497,-0.00551498514908,0.0798672030994,0.99999998165,9.96620286099e-05,-0.000159516653196,3.63518886883e-05,1793196449673718016
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659.367484695,633.367484695,877.367484695,784,801,649,630,650.632515305,0.401063707225,-0.00551649761462,0.0798763219253,0.999999982976,9.83787080685e-05,-0.000151702827334,3.6809177084e-05,1793196449690384640
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,743,712,674,659.942880086,633.942880086,877.942880086,784,801,649,630,650.057119914,0.401096690503,-0.00551913754183,0.0798877231679,0.999999984873,9.47856486774e-05,-0.00014099347475,3.72783804718e-05,1793196449707051264
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.530977581,743,712,674,660,633.469022419,877.469022419,784.530977581,800.469022419,649,630,650.530977581,0.401152266616,-0.00551886405758,0.0799003607,0.999999986971,9.59992589438e-05,-0.000124589016697,3.63407979457e-05,1793196449723717888
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.881556875,743,712,674,659.881556875,633.118443125,877,785,800,649,630,651,0.401214642061,-0.00551891565161,0.079912425597,0.999999988817,9.68495286578e-05,-0.000108417492153,3.5111256455e-05,1793196449740384512
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.302001455,743,712,674,659.302001455,633.697998545,877,785,800,649,630,651,0.401293794274,-0.00552148285627,0.0799217307162,0.999999990436,9.42228969096e-05,-9.55963728666e-05,3.33486893447e-05,1793196449757051392
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,743,712,673.724351356,659.551297288,633.724351356,877,784.724351356,800.275648644,649.275648644,630,651,0.401379913739,-0.00552239382822,0.0799281378266,0.999999991359,9.3106483958e-05,-8.75724597768e-05,3.0737803792e-05,1793196449773718016
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,743,712,673.148774437,660.702451125,633.148774437,877,784.148774437,800.851225563,649.851225563,630,651,0.401473614139,-0.00552150268333,0.0799313916657,0.999999991654,9.36333127765e-05,-8.47683002656e-05,2.72038784839e-05,1793196449790384640
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,743,712.434731085,673.434731085,660.13053783,633,877,784,801,649.565268915,630,651,0.401585527243,-0.00552349176997,0.0799352257409,0.999999992633,8.90500032649e-05,-7.93050476783e-05,2.2681293621e-05,1793196449807051264
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,743,712.979222794,674,659,633.020777206,877,784,800.979222794,649,630,651,0.401705168162,-0.00552644183781,0.0799394035422,0.999999993782,8.27054961598e-05,-7.26557254361e-05,1.77899904338e-05,1793196449823717888
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,743,712.399182847,674,659,633.600817153,877,784,800.399182847,649,630,651,0.401861934517,-0.0055282342713,0.0799473892557,0.999999995226,7.69017504842e-05,-5.90304139813e-05,1.2250190953e-05,1793196449840384512
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.180410336,743,712,674,659.180410336,633.819589664,877.180410336,784,800.180410336,649,629.819589664,651,0.402027840768,-0.00552982613606,0.0799541346903,0.999999996397,6.97280360441e-05,-4.80452499124e-05,6.00253746121e-06,1793196449857051392
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.759017356,743,712,674,659.759017356,633.240982644,877.759017356,784,800.759017356,649,629.240982644,651,0.402213920328,-0.00553097531087,0.0799581426146,0.999999997307,5.95305653931e-05,-4.28873476481e-05,-1.80747100466e-06,1793196449873718016
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633,877.66537986,784,801,649,629.33462014,651,0.402408107288,-0.00553222815825,0.0799578247305,0.99999999799,4.12791202845e-05,-4.70624849423e-05,-1.00364470843e-05,1793196449890384896
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633,877.091921319,784,801,649,629.908078681,651,0.402608081005,-0.00553355500305,0.0799544192589,0.999999998002,1.72790709815e-05,-5.78991700451e-05,-1.85644661987e-05,1793196449907052544
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,743,712,674,659.504863914,633.495136086,877,784,800.504863914,649,630,651,0.402829308521,-0.00553559753955,0.0799474642673,0.999999996585,-2.5535931639e-05,-7.45125830056e-05,-2.50197440354e-05,1793196449923719424
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.916451942,742.916451942,712,673.916451942,659,633.916451942,877,784,800,649,630,651,0.403063268243,-0.00553738408699,0.0799404975739,0.999999993563,-6.21727457121e-05,-8.99718911238e-05,-3.02369005081e-05,1793196449940385792
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.335431063,742.335431063,712,673.335431063,659,633.335431063,877,784,800,649,630,651,0.403348882106,-0.00553683291442,0.0799374956945,0.99999999448,-4.06369442502e-05,-9.19932786631e-05,-3.04378163597e-05,1793196449957052416
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.242841677,712,673.242841677,659,633,877,784,800,649,630,650.757158323,0.40365767746,-0.0055413961232,0.079937221463,0.999999994667,-3.54098064564e-05,-9.21731135378e-05,-3.02539029865e-05,1793196449973719040
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.817360922,712,673.817360922,659,633,877,784,800,649,630,650.182639078,0.403998134496,-0.00555294464689,0.0799406727028,0.999999994152,-5.24573387588e-05,-8.98377222702e-05,-2.95443828712e-05,1793196449990385664
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,743,712,673.600194741,659,633,877,784.399805259,800,649,630,650.399805259,0.404360948078,-0.0055627618176,0.0799448966905,0.999999993854,-6.80744433855e-05,-8.23048692632e-05,-2.97293664788e-05,1793196450007052288
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,743,712,673.014056864,659,633,877,784.985943136,800,649,630,650.985943136,0.404734181109,-0.00557177207631,0.0799494808238,0.999999993476,-8.3024884623e-05,-7.23496953663e-05,-3.03312411161e-05,1793196450023718400
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,743,712.56569063,673.56569063,659.56569063,633.56569063,877.56569063,785,800,649,630,651,0.405152216146,-0.00556784631114,0.0799459091099,0.999999993698,-7.88099298782e-05,-7.27030956409e-05,-3.32812135376e-05,1793196450040385024
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,743.143963829,712.856036171,674,660,633.856036171,878,784.856036171,800,649,630,651,0.405580114728,-0.00556420967762,0.0799416515892,0.999999993669,-7.52070982825e-05,-7.56389481729e-05,-3.58401553732e-05,1793196450057051904
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,743.718299008,712.281700992,674,660,633.281700992,878,784.281700992,800,649,630,651,0.406034208784,-0.0055623876014,0.0799359429775,0.999999992854,-7.48419660256e-05,-8.55376733633e-05,-3.7057654533e-05,1793196450073719040
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,743.705473653,712.294526347,674,660,633,878,784,800,649,629.705473653,650.705473653,0.406515701684,-0.00556281999529,0.079930736514,0.999999991908,-7.49500895163e-05,-9.50727428664e-05,-3.90933488804e-05,1793196450090385920
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,743.127424779,712.872575221,674,660,633,878,784,800,649,629.127424779,650.127424779,0.407023569829,-0.00556542262967,0.079926013437,0.999999990835,-7.55137873709e-05,-0.000104257744413,-4.1916669912e-05,1793196450107052544
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,743.459498282,713,674.459498282,660,633,877.540501718,784,800.459498282,649,629.459498282,650.459498282,0.407537066667,-0.00556442561381,0.0799222588341,0.999999989379,-7.85023067033e-05,-0.000115132732703,-4.27124032213e-05,1793196450123718912
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743.951762319,712.951762319,674.951762319,659.951762319,633.048237681,877.048237681,784,800.951762319,649,629.951762319,651,0.408057767682,-0.00556270070923,0.0799188880199,0.999999987788,-8.22348029837e-05,-0.000125720339795,-4.30754634552e-05,1793196450140385536
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743.370678115,712.370678115,674.370678115,659.370678115,633.629321885,877.629321885,784,800.370678115,649,629.370678115,651,0.408640466593,-0.00556417920848,0.0799167315123,0.999999987064,-8.66113048547e-05,-0.000127854624648,-4.49924694059e-05,1793196450157052160
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659.208132825,634,877.791867175,784,800,649,629.208132825,651,0.409252734522,-0.0055653744182,0.0799254235169,0.999999988312,-9.0579319395e-05,-0.000114069850297,-4.64655936295e-05,1793196450173718784
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659.782938862,634,877.217061138,784,800,649,629.782938862,651,0.409917094956,-0.00556607054904,0.0799532276383,0.999999991877,-9.38276904215e-05,-7.22400397326e-05,-4.71567192747e-05,1793196450190385408
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.364689767,743.364689767,712,674,660,633.635310233,877.364689767,784,800,649,629.635310233,651,0.410595561423,-0.00556850951688,0.0799764912354,0.999999993216,-9.99472763779e-05,-3.59346028576e-05,-4.78274383454e-05,1793196450207052032
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.950654439,743.950654439,712,674,660,633.049345561,877.950654439,784,800,649,629.049345561,651,0.411282586678,-0.00557200594813,0.0799969998761,0.999999993009,-0.000107808967039,-2.98107198581e-06,-4.84857757263e-05,1793196450223718656
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.469286146,743.469286146,712,674.530713854,659.469286146,633,877.469286146,784,800.530713854,649,629.530713854,650.469286146,0.411950728435,-0.00557168293053,0.0799729428447,0.999999991103,-0.000114582420287,-4.45093952267e-05,-5.18055044704e-05,1793196450240385792
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,712,675,659.110111714,633,877.110111714,784,800.889888286,649.110111714,630,650.110111714,0.412625369354,-0.00557067395589,0.0799441254887,0.999999987149,-0.000120231967298,-9.03745675061e-05,-5.54861108348e-05,1793196450257052416
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+154,2.566666667,POSE1_TO_POSE2_PRESS,764.265686561,743,712.265686561,674.734313439,660,633.265686561,878,784,800.265686561,650,629.734313439,651,0.414081885637,-0.00556580074189,0.0799048068473,0.999999982634,-0.000121384683651,-0.000127283816009,-6.16161089709e-05,1793196450290385408
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.839801345,743,712.839801345,674.160198655,660,633.839801345,878,784,800.839801345,650,629.160198655,651,0.414871781167,-0.00556335563121,0.0799249331868,0.99999998692,-0.00011958803458,-9.02150188466e-05,-6.09937174187e-05,1793196450307052032
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.575205054,743.424794946,713,674.424794946,660,633.575205054,878.424794946,784,800.575205054,649.575205054,629.424794946,650.575205054,0.415665606923,-0.00555916097517,0.0799430406326,0.999999990073,-0.000109359642479,-6.79378812281e-05,-5.72569067588e-05,1793196450323718656
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.013764023,743.986235977,712.986235977,675,660,633,878.986235977,784,800.013764023,649,629.986235977,650.013764023,0.41646114742,-0.00555434714563,0.0799596236559,0.999999992616,-9.63433809408e-05,-5.22164351248e-05,-5.253204832e-05,1793196450340384768
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.593079862,743.406920138,712.406920138,675,660,633,878.406920138,784,800.593079862,649,629.406920138,650.593079862,0.417264645497,-0.00555191466435,0.0799456755709,0.999999990605,-0.000102864240618,-7.06338838286e-05,-5.67371242373e-05,1793196450357051136
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+160,2.666666667,POSE1_TO_POSE2_PRESS,764.250482787,743,712,675,660,633,878,784,800.250482787,649.749517213,629.749517213,651,0.418993542486,-0.00555724003933,0.0799788765156,0.999999991583,-0.000115663862128,5.87618336966e-06,-5.84929279425e-05,1793196450390385152
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743.324195917,712,675,660,633,878,784,800.324195917,649.675804083,629.675804083,651,0.41984814586,-0.00555899927569,0.0799833365741,0.99999999121,-0.000117662464601,1.77304850642e-05,-5.84863702586e-05,1793196450407052032
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743.8966189,712,675,660,633,878,784,800.8966189,649.1033811,629.1033811,651,0.420669948594,-0.00555795494048,0.0799658394327,0.999999991381,-0.00011634136616,-1.4118855295e-05,-5.91816430062e-05,1793196450423718912
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.485857118,743.514142882,712,675,660,633,878,784,801.485857118,649.485857118,629.485857118,651,0.42153969183,-0.00556241758232,0.0799633474,0.999999990726,-0.000121126651555,-2.09510901346e-05,-5.86275951516e-05,1793196450440385024
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.923187313,743,712,675,660,633,878,784.076812687,801.923187313,649.923187313,630,651,0.422422156871,-0.0055675634245,0.0799672954631,0.999999990147,-0.000126671786276,-1.76876199557e-05,-5.78484924778e-05,1793196450457051392
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+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743.231242565,712,675,660,633,878.231242565,784.768757435,801,649.231242565,630,650.768757435,0.424185939013,-0.00557110112068,0.0799945943954,0.999999989565,-0.000132226350087,9.11204745086e-06,-5.74747301984e-05,1793196450490385152
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743.805428079,712,675,660,633,878.805428079,784.194571921,801,649.805428079,630,650.194571921,0.4250097836,-0.00557320644758,0.0799656526831,0.999999987052,-0.000139191297477,-5.58464786165e-05,-5.83348696001e-05,1793196450507052032
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743.621096657,712,675,660,633,878.621096657,784,801,649.621096657,630,650.378903343,0.425865925036,-0.00557393649571,0.0799331341793,0.999999983301,-0.000142894988775,-9.57348960685e-05,-6.17537064464e-05,1793196450523718656
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743.047985467,712,675,660,633,878.047985467,784,801,649.047985467,630,650.952014533,0.426738620251,-0.00557396164117,0.079898782384,0.999999979751,-0.000144927114885,-0.000122773563418,-6.64840100011e-05,1793196450540385280
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743.546449574,712,675.546449574,660,633,878.546449574,784,801,649,630,651,0.427628396977,-0.00557753405295,0.0798998341474,0.999999979377,-0.000145305002886,-0.000125747281634,-6.57285646138e-05,1793196450557052160
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+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743.286783601,712.713216399,675.286783601,660.713216399,633,879,784,801,649,630,651,0.429397579084,-0.00557819733462,0.0799289492983,0.999999983603,-0.000139548601403,-9.73336836486e-05,-6.20183431105e-05,1793196450590385152
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.288586976,743,712.711413024,675,660.711413024,633,879.288586976,784,801,649,629.711413024,651,0.430293732332,-0.0055775791562,0.0799636117304,0.999999987668,-0.00013775533856,-4.65444855704e-05,-5.9331765033e-05,1793196450607051520
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.86392125,743,712.13607875,675,660.13607875,633,879.86392125,784,801,649,629.13607875,651,0.431205487026,-0.00557819054394,0.0800119894007,0.999999988276,-0.000138932996986,3.14605312872e-05,-5.61838206366e-05,1793196450623718400
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+247,4.116666667,HOLD_POSE2,764,743,712,678,659,630,879,782,801,649,629,651,0.449490409815,-0.0055934354529,0.0796956246253,0.99999989242,-0.000141908978034,-0.000437887656424,-5.72407320786e-05,1793196451862775296
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+419,6.983333333,POSE2_TO_POSE3_RETREAT,764.620509103,743,712,674,659.379490897,633,877.620509103,784,801,649,630,651,0.400963002457,-0.00541380830584,0.0798285976918,0.999999935105,0.000214508523742,-0.00028743133583,3.40357502632e-05,1793196454745307392
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,659.449987385,633,877,784,800.449987385,649,630,651,0.400962121501,-0.00541252165616,0.0798278933003,0.999999933896,0.000218397811302,-0.000288673369188,3.43242513451e-05,1793196454778641408
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ce4cfa0a7ba8253cd21d8f799c514729ca55809a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,423 @@
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+375,6.250000000,pose2_to_pose3_retreat,0.579557675115,1.24036724476e-06,1.07001168414,0.550128909994,0.00867490649751,1.0696612221
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+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
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+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
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+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
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9ca81448db4a278a4993ba8e39a7cb4d5a1bb5ed
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ae97345d9413695e318b7c70d5a2b43ad52b2edd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_02/franka_data.csv
@@ -0,0 +1,423 @@
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+28,0.466666667,BASELINE,764,743,712,674,660,633.737096226,877.262903774,784.262903774,800.262903774,649,629,650.737096226,0.400961937065,-0.00541261763183,0.0798296161581,0.999999934874,0.000217996868544,-0.000285612185409,3.39717266392e-05,1793196455402206208
+29,0.483333333,BASELINE,764,743,712,674,660,633.161210227,877.838789773,784.838789773,800.838789773,649,629,650.161210227,0.400962032319,-0.0054132885025,0.0798300629299,0.999999934671,0.000218993650026,-0.000285502558052,3.44573199256e-05,1793196455418872832
+30,0.500000000,BASELINE,764,743,712,674,659.585482749,633.414517251,877.585482749,784.585482749,801,649,629,650.414517251,0.400962743649,-0.0054133450714,0.0798306841885,0.999999934905,0.000219194165527,-0.000284518008025,3.45502801217e-05,1793196455435539200
+31,0.516666667,BASELINE,764,743,712,674,659.00981691,633.99018309,877.00981691,784.00981691,801,649,629,650.99018309,0.400963694486,-0.00541316282306,0.079831373281,0.999999935307,0.000219085122987,-0.000283193321245,3.44905994511e-05,1793196455452205824
+32,0.533333333,BASELINE,764,743,712,673.420158352,659,634,877.579841648,784,801,649,629,650.420158352,0.400962860151,-0.00541431990136,0.0798299588487,0.999999935486,0.000216205466076,-0.000284780418717,3.43950088154e-05,1793196455468872704
+33,0.550000000,BASELINE,764.166653132,743,712,673,659.166653132,633.833346868,877.833346868,784,800.833346868,649,629.166653132,650.166653132,0.400962350956,-0.00541462573221,0.0798290878169,0.999999935477,0.000214988174291,-0.000285752009134,3.42389201554e-05,1793196455485539328
+34,0.566666667,BASELINE,764.745816377,743,712,673,659.745816377,633.254183623,877.254183623,784,800.254183623,649,629.745816377,650.745816377,0.400962723229,-0.00541276698752,0.0798296521763,0.999999935027,0.000218004651008,-0.000285075016633,3.39346251608e-05,1793196455502206208
+35,0.583333333,BASELINE,764.676220552,743,712,673.323779448,659.676220552,633,877.323779448,784,800.323779448,649,629.676220552,651,0.400962371882,-0.00541199098978,0.0798299841351,0.9999999348,0.000219044960091,-0.000285098289887,3.374523885e-05,1793196455518872832
+36,0.600000000,BASELINE,764.099196138,743,712,673.900803862,659.099196138,633,877.900803862,784,800.900803862,649,629.099196138,651,0.400961454554,-0.00541206186528,0.0798301343212,0.999999934751,0.000218539604667,-0.000285669277811,3.36457286431e-05,1793196455535539712
+37,0.616666667,BASELINE,764.474572984,743,712,674,659.474572984,633,877.525427016,784,800.525427016,649,629,651,0.40096242878,-0.00541320856254,0.0798302425777,0.999999934957,0.000218208459198,-0.000285168840151,3.38962025293e-05,1793196455552206080
+38,0.633333333,BASELINE,764.950746009,743,712,674,659.950746009,633,877.049253991,784,800.049253991,649,629.049253991,651,0.400963628601,-0.00541439099834,0.0798303622927,0.999999935178,0.000218027827327,-0.000284500493554,3.41721799172e-05,1793196455568872704
+39,0.650000000,BASELINE,764.358563585,743,712,674,659.358563585,633,877.641436415,784,800.641436415,649,629.641436415,651,0.400962986623,-0.00541350551637,0.0798307042652,0.999999934969,0.000219107656981,-0.0002844330864,3.39283944046e-05,1793196455585539328
+40,0.666666667,BASELINE,764,743,712,674,659.22748665,633,877.77251335,784,800.77251335,649,629.77251335,651,0.400962900964,-0.00541326889976,0.0798310840608,0.99999993518,0.000218745185379,-0.000283983336807,3.38276312682e-05,1793196455602205952
+41,0.683333333,BASELINE,764,743,712,674,659.804125024,633,877.195874976,784,800.195874976,649,629.195874976,651,0.400963669156,-0.00541402817662,0.0798315219083,0.99999993603,0.000216169036692,-0.000282946759279,3.39463821669e-05,1793196455618872576
+42,0.700000000,BASELINE,764.380116884,743,712,674,659.619883116,633,877,784.380116884,800,649,629.380116884,650.619883116,0.400963748357,-0.00541433435124,0.079831498976,0.999999936193,0.00021542691841,-0.000282932617573,3.39830110979e-05,1793196455635539456
+43,0.716666667,BASELINE,764.955776141,743,712,674,659.044223859,633,877,784.955776141,800,649,629.955776141,650.044223859,0.400963473122,-0.00541440743782,0.0798312390061,0.999999936005,0.000215628274894,-0.00028344444445,3.39773942708e-05,1793196455652206592
+44,0.733333333,BASELINE,764.470806191,743,712,673.470806191,659.529193809,633,877,784.470806191,800,649,630,650.529193809,0.400963404728,-0.00541516861812,0.0798309803078,0.999999935931,0.00021573600391,-0.000283621564999,3.39707894667e-05,1793196455668873216
+45,0.750000000,BASELINE,764.106491095,743,712.106491095,673.106491095,660,633,877,784.106491095,800,649,629.893508905,651,0.400963329568,-0.00541556031916,0.0798307364874,0.999999935827,0.000215950707491,-0.000283826900825,3.39525425698e-05,1793196455685539840
+46,0.766666667,BASELINE,764.702478678,743,712.702478678,673.702478678,660,633,877,784.702478678,800,649,629.297521322,651,0.400963144193,-0.00541399047076,0.0798305605682,0.999999935538,0.000216692943257,-0.000284289959231,3.38811595937e-05,1793196455702206208
+47,0.783333333,BASELINE,764.711780073,742.711780073,712.711780073,673.711780073,660,633,877,784.711780073,800.288219927,649,629,651,0.400962731319,-0.00541329849802,0.0798302673446,0.999999935311,0.000217034810674,-0.000284840072986,3.37572430064e-05,1793196455718872832
+48,0.800000000,BASELINE,764.13625265,742.13625265,712.13625265,673.13625265,660,633,877,784.13625265,800.86374735,649,629,651,0.400962091666,-0.00541348162161,0.079829857188,0.999999935148,0.000216977577294,-0.00028547696655,3.35809591075e-05,1793196455735539456
+49,0.816666667,BASELINE,764,742.439220081,712,673.439220081,660,633.439220081,877,784,800.560779919,649,629.439220081,651,0.40096234061,-0.00541236702728,0.0798298175851,0.999999934883,0.000218443544615,-0.000285307773054,3.33961094031e-05,1793196455752205824
+50,0.833333333,BASELINE,764.014974589,743,712,674,660,633.985025411,877,784,800,649,630,650.985025411,0.40096289268,-0.00541094653323,0.0798299388857,0.999999934622,0.000220273618198,-0.000284835577789,3.32227261127e-05,1793196455768872448
+51,0.850000000,BASELINE,764.602145699,743,712,674,660,633.397854301,877,784,800,649,630,650.397854301,0.400964495737,-0.0054132180636,0.0798318166132,0.999999935824,0.000217963341294,-0.000282339235949,3.35890110699e-05,1793196455785539584
+52,0.866666667,BASELINE,764.81225178,743,712.18774822,674.18774822,660,633,877,784,800,649,630,650,0.400965006168,-0.00541498126902,0.0798326046779,0.999999936478,0.000216153198588,-0.000281381581325,3.38547715752e-05,1793196455802206464
+53,0.883333333,BASELINE,764.229945728,743,712.770054272,674.770054272,660,633,877,784,800,649,630,650,0.400963220416,-0.00541567621604,0.079831102787,0.999999935997,0.000215394101222,-0.0002836575186,3.39092772731e-05,1793196455818873088
+54,0.900000000,BASELINE,764,743,712.652040152,674.652040152,660,633,877,784,800.347959848,649,630,650.347959848,0.40096245349,-0.00541447219617,0.0798303668033,0.999999935531,0.000216275629178,-0.000284642759649,3.37822169222e-05,1793196455835539712
+55,0.916666667,BASELINE,764,743,712.077006291,674.077006291,660,633,877,784,800.922993709,649,630,650.922993709,0.400962351435,-0.00541202893551,0.0798301306407,0.999999935075,0.000218227807633,-0.000284785709255,3.35366689577e-05,1793196455852206080
+56,0.933333333,BASELINE,764,743,712,674,660,633,877,784,800.50362918,649,630,651,0.400963480596,-0.00541268978647,0.0798307741082,0.999999935731,0.000216669323071,-0.000283669544339,3.35245440867e-05,1793196455868872960
+57,0.950000000,BASELINE,764,743,712,674.07166983,659.92833017,633,877,784.07166983,800.07166983,649,630,651,0.400964410523,-0.00541375221304,0.0798313600319,0.999999936361,0.000214997158631,-0.00028271731747,3.35454022008e-05,1793196455885539584
+58,0.966666667,BASELINE,764,743,712,674.662753715,659.337246285,633,877,784.662753715,800.662753715,649,630,651,0.400962516844,-0.00541424652152,0.0798305432038,0.999999935584,0.00021643516568,-0.000284364164617,3.35437248581e-05,1793196455902206208
+59,0.983333333,BASELINE,764,743,712,674.751200433,659.248799567,633,877,784.751200433,800.751200433,649,630,651,0.400961984786,-0.00541473537078,0.0798303472808,0.999999935431,0.000216597312412,-0.000284783558717,3.35002485179e-05,1793196455918872832
+60,1.000000000,BASELINE,764,743,712,674.171847984,659.828152016,633,877,784.171847984,800.171847984,649,630,651,0.400963261764,-0.00541521696703,0.0798309762866,0.999999936109,0.000215064362724,-0.000283572169896,3.34012384031e-05,1793196455935539712
+61,1.016666667,BASELINE,764,743,712,674,659.594885628,633.405114372,877.405114372,784.405114372,800.405114372,649,629.594885628,650.594885628,0.400964087331,-0.00541493289204,0.079831380416,0.999999936186,0.000215731584781,-0.000282775901424,3.35615512766e-05,1793196455952206592
+62,1.033333333,BASELINE,764,743,712,674,659.01893123,633.98106877,877.98106877,784.98106877,800.98106877,649,629.01893123,650.01893123,0.400964722534,-0.00541432592725,0.079831689713,0.999999936007,0.000217326637256,-0.000282154692653,3.38312227703e-05,1793196455968873216
+63,1.050000000,BASELINE,764.567225129,743,712,674,660.134450258,633.432774871,877.432774871,784.432774871,800.432774871,648.432774871,629.567225129,650,0.400963231412,-0.00541424367325,0.0798306863358,0.999999935917,0.000215594215247,-0.00028380943553,3.37181550747e-05,1793196455985539584
+64,1.066666667,BASELINE,764.847230372,743,712,674,660.694460745,633.152769628,877,784,800.152769628,648.305539255,629.847230372,650.152769628,0.400962333755,-0.00541449597331,0.0798301862145,0.999999935821,0.000214791989653,-0.000284748205061,3.37893744431e-05,1793196456002206208
+65,1.083333333,BASELINE,764.26438452,743,712,674,659.528769039,633.73561548,877,784,800.73561548,649.471230961,629.26438452,650.73561548,0.400963310262,-0.00541563990465,0.0798312284512,0.999999935706,0.000216926815552,-0.00028345361077,3.441601764e-05,1793196456018873088
+66,1.100000000,BASELINE,764,743,712,674,659.31414679,633.68585321,877.31414679,784,800.68585321,649.68585321,629.31414679,651,0.400963714319,-0.00541507518983,0.0798316781375,0.999999935655,0.000217913511732,-0.000282875357912,3.44322397506e-05,1793196456035539712
+67,1.116666667,BASELINE,764,743,712,674,659.889096166,633.110903834,877.889096166,784,800.110903834,649.110903834,629.889096166,651,0.400963643131,-0.00541309196823,0.0798316358924,0.99999993566,0.000217947038113,-0.000282891807033,3.39416942848e-05,1793196456052206080
+68,1.133333333,BASELINE,764,743,712,674,660,633,878.464227303,784,800,649,629.535772697,651,0.40096254331,-0.00541305192828,0.0798308179036,0.999999935342,0.000217786049265,-0.000284170047114,3.36435494425e-05,1793196456068872960
+69,1.150000000,BASELINE,764,742.959464817,712,674,660,633,878.918929634,784,800,649,629.040535183,651,0.400961475349,-0.00541338486166,0.0798300208077,0.999999935005,0.00021773282768,-0.000285422130133,3.34266257688e-05,1793196456085539840
+70,1.166666667,BASELINE,764,742.367747281,712,674,660,633,877.735494563,784,800,649,629.632252719,651,0.400964183394,-0.00541247450472,0.0798320287756,0.999999935458,0.000219777110158,-0.000282218040215,3.36888648834e-05,1793196456102206720
+71,1.183333333,BASELINE,764,742.218091776,712,674,659.781908224,633,877,784,800,649,630,651,0.400964912178,-0.00541227189073,0.0798326929343,0.999999935587,0.000220281905943,-0.000281352088392,3.38030896464e-05,1793196456118873344
+72,1.200000000,BASELINE,764,742.794278774,712,674,659.205721226,633,877,784,800,649,630,651,0.400962391119,-0.00541323135327,0.0798311506292,0.999999935194,0.000218258945892,-0.000284325235812,3.36742826727e-05,1793196456135539456
+73,1.216666667,BASELINE,764,742.628662735,712,674,659,633,877,784,800,649,629.628662735,651,0.400962733594,-0.0054137637918,0.0798311810891,0.999999935741,0.000216708503017,-0.000283602801525,3.35511784893e-05,1793196456152206080
+74,1.233333333,BASELINE,764,742.051120336,712,674,659,633,877,784,800,649,629.051120336,651,0.400964666202,-0.00541405910205,0.0798320849121,0.999999936806,0.000215420451024,-0.000280828195102,3.34312410967e-05,1793196456168872960
+75,1.250000000,BASELINE,764.535696689,742.535696689,712.535696689,674,659.535696689,633.535696689,877.535696689,784.535696689,800.535696689,649,629.535696689,651,0.400963098966,-0.00541315136352,0.0798312943903,0.999999936295,0.000216140656535,-0.000282130516091,3.31046923989e-05,1793196456185539584
+76,1.266666667,BASELINE,765,743,712.878422868,674,660,634,877.878422868,784.878422868,801,649,630,651,0.400961943848,-0.00541264593742,0.0798308578197,0.999999935913,0.000216674639292,-0.000283093928827,3.29201363663e-05,1793196456202206208
+77,1.283333333,BASELINE,765,743,712.299454389,674,660,634,877.299454389,784.299454389,801,649,630,651,0.400963617812,-0.00541409359113,0.0798323718761,0.999999936602,0.000215774330024,-0.000281292858685,3.33452610819e-05,1793196456218873088
+78,1.300000000,BASELINE,764.722348593,742.722348593,712.277651407,674,659.722348593,633.722348593,877,784,800.722348593,649,630,650.722348593,0.400964164359,-0.00541499679667,0.0798325645891,0.999999936687,0.000215285386762,-0.000281329597132,3.36563485323e-05,1793196456235539712
+79,1.316666667,BASELINE,764.147238398,742.147238398,712.852761602,674,659.147238398,633.147238398,877,784,800.147238398,649,630,650.147238398,0.40096350306,-0.00541531671356,0.079831341695,0.999999936124,0.000215237156014,-0.000283335251762,3.38452633827e-05,1793196456252206336
+80,1.333333333,BASELINE,764.427883146,742.427883146,712.572116854,673.572116854,659,633,877,784,800,649,630,650.427883146,0.400962764692,-0.00541449454484,0.0798307268002,0.999999935758,0.00021621607634,-0.000283880442389,3.38677257103e-05,1793196456268872960
+81,1.350000000,BASELINE,764.99690395,743,712,673,659,633,877,784,800,649,629.99690395,651,0.400962015779,-0.00541327924428,0.0798303311109,0.999999935463,0.000217544371594,-0.000283908204306,3.38319729556e-05,1793196456285539584
+82,1.366666667,BASELINE,764.405069798,743,712,673,659,633,877,784,800,649,629.405069798,651,0.400964304766,-0.00541204121852,0.0798318335901,0.99999993614,0.000218095609957,-0.000281110844159,3.3618276975e-05,1793196456302206208
+83,1.383333333,BASELINE,764.182497204,743,712,673.182497204,659.182497204,633,877.182497204,784,800,649,629,650.817502796,0.400965616774,-0.00541172530387,0.0798328157988,0.999999936557,0.0002180948793,-0.000279642605723,3.34749381165e-05,1793196456318872832
+84,1.400000000,BASELINE,764.760809374,743,712,673.760809374,659.760809374,633,877.760809374,784,800,649,629,650.239190626,0.400964809832,-0.00541340933949,0.0798326696023,0.999999936421,0.000216896992889,-0.000281057075379,3.3484195538e-05,1793196456335539456
+85,1.416666667,BASELINE,765,742.662936474,712,674,659.662936474,633.337063526,878,784,800,649,629,650.337063526,0.400964306073,-0.0054135665013,0.0798323102424,0.999999936296,0.000216883976103,-0.000281500309132,3.35610824695e-05,1793196456352206080
+86,1.433333333,BASELINE,765,742.088133926,712,674,659.088133926,633.911866074,878,784,800,649,629,650.911866074,0.400964016157,-0.00541264672215,0.0798318005332,0.999999936181,0.000217706676468,-0.000281258506727,3.36856701224e-05,1793196456368872704
+87,1.450000000,BASELINE,764.51423852,742.48576148,712,674,659.48576148,633.51423852,878,784,800,649,629.48576148,651,0.40096304767,-0.00541267531059,0.0798312908326,0.999999936085,0.00021648329978,-0.00028259131319,3.32804748675e-05,1793196456385540352
+88,1.466666667,BASELINE,764.06161282,743,712,674,659.93838718,633,877.93838718,784.06161282,800,649,630,651,0.400961982309,-0.00541303128416,0.0798307345505,0.999999935952,0.000215038822533,-0.00028420395352,3.28896764433e-05,1793196456402207744
+89,1.483333333,BASELINE,764.65579075,743,712,674,659.34420925,633,877.34420925,784.65579075,800,649,630,651,0.400961141797,-0.00541473256217,0.0798297756175,0.99999993552,0.000214886036095,-0.000285770591078,3.34526160151e-05,1793196456418873600
+90,1.500000000,BASELINE,765,743,712,674.242805662,659.242805662,633.242805662,877.242805662,784.757194338,800,649,630,651,0.400960853593,-0.00541531976313,0.0798295334187,0.999999935501,0.000214613351161,-0.000286015723404,3.36712845147e-05,1793196456435539712
+91,1.516666667,BASELINE,765,743,712,674.81995698,659.81995698,633.81995698,877.81995698,784.18004302,800,649,630,651,0.400961325923,-0.0054143728695,0.0798302781696,0.999999936053,0.000214175564898,-0.000284441130594,3.34158884962e-05,1793196456452206080
+92,1.533333333,BASELINE,765,743,712,674.605315921,660,634,878,784.394684079,800,649,629.605315921,651,0.400960884606,-0.00541422625718,0.079830053026,0.999999935683,0.000215245674638,-0.000284934463029,3.34037976919e-05,1793196456468872704
+93,1.550000000,BASELINE,765,743,712,674.031687878,660,634,878,784.968312122,800,649,629.031687878,651,0.400960029054,-0.00541444248058,0.0798293881467,0.999999934892,0.00021699944224,-0.000286365362257,3.35020178758e-05,1793196456485539584
+94,1.566666667,BASELINE,765.558305737,743,712,674,660,633.441694263,878,784.441694263,800.558305737,649,629.558305737,650.441694263,0.400962422848,-0.00541350198634,0.0798313692298,0.9999999356,0.000217966732739,-0.000283123978849,3.36240817359e-05,1793196456502206208
+95,1.583333333,BASELINE,765.853974057,743,712,674,660,633,877.853974057,784,800.853974057,649,630,650.146025943,0.40096417055,-0.00541298683334,0.0798328305422,0.999999936306,0.000217975159558,-0.000280609276299,3.36614864748e-05,1793196456518873088
+96,1.600000000,BASELINE,765.27581321,743,712,674,660,633,877.27581321,784,800.27581321,649,630,650.72418679,0.400963444025,-0.00541393054476,0.0798322958554,0.999999936772,0.000215282106337,-0.000281053504413,3.34442335514e-05,1793196456535540480
+97,1.616666667,BASELINE,764.69879318,743,712.30120682,674,659.69879318,633,877,784,800.30120682,649,630,650.69879318,0.400963350219,-0.00541360404502,0.0798321064678,0.999999936783,0.000215214668128,-0.000281104662358,3.31205223381e-05,1793196456552207104
+98,1.633333333,BASELINE,764.122813882,743,712.877186118,674,659.122813882,633,877,784,800.877186118,649,630,650.122813882,0.400963833602,-0.00541211880962,0.0798322320756,0.999999936379,0.000217542417372,-0.000280797246509,3.26996957793e-05,1793196456568873216
+99,1.650000000,BASELINE,764.462132486,743,712.537867514,674,659.462132486,633,877,784.462132486,800.537867514,649,629.537867514,650.462132486,0.400963138753,-0.00541120392223,0.0798314039401,0.999999935709,0.000218995416231,-0.000282035045394,3.28525511464e-05,1793196456585539584
+100,1.666666667,BASELINE,765,743,712,674,660,633,877,784.9511516,800,649,629.0488484,651,0.400962314693,-0.00541069959618,0.0798304921529,0.999999935106,0.000219906288814,-0.000283424698306,3.31590926113e-05,1793196456602206208
+101,1.683333333,BASELINE,765,743,712,674,660,633,877,784.371612941,800,649,629.628387059,651,0.400963555952,-0.00541297634558,0.0798314796744,0.999999936049,0.000217503011973,-0.000281914527792,3.34461943718e-05,1793196456618872832
+102,1.700000000,BASELINE,765,743,712,674,660,633.206748447,877.206748447,784,800,649,629.793251553,650.793251553,0.400964116867,-0.00541441094429,0.0798320887171,0.999999936671,0.000215702783323,-0.000281061343063,3.36795253352e-05,1793196456635539712
+103,1.716666667,BASELINE,765,743,712,674,660,633.78300571,877.78300571,784,800,649,629.21699429,650.21699429,0.400963461848,-0.00541434041847,0.0798320213278,0.999999936732,0.000214980345969,-0.000281382348888,3.38167550214e-05,1793196456652206848
+104,1.733333333,BASELINE,765,743,712,673.641646825,660,633.641646825,877.641646825,784,800,649,629,650.358353175,0.40096353087,-0.00541472167479,0.0798321228277,0.999999936938,0.000214433169995,-0.000281069688121,3.38017549039e-05,1793196456668873472
+105,1.750000000,BASELINE,765,743,712,673.066848822,660,633.066848822,877.066848822,784,800,649,629,650.933151178,0.400964037212,-0.00541537580689,0.0798323263365,0.999999937231,0.000213991851582,-0.000280374293628,3.36948082063e-05,1793196456685540096
+106,1.766666667,BASELINE,765,742.478391424,712.521608576,673.521608576,659.478391424,633,877,784,800,649,629,651,0.400965223382,-0.00541498807407,0.0798327265916,0.999999937564,0.000213538641055,-0.000279592409598,3.31952646208e-05,1793196456702206720
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,712,674,659,633,878,784,801,649,630,651,0.400966034309,-0.00541453462394,0.0798329911258,0.999999936679,0.000217791399969,-0.000279420841256,3.3649329896e-05,1793196456744492032
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659.576628374,633,877.423371626,784,800.423371626,649,629.423371626,650.423371626,0.400963775009,-0.00541399788764,0.0798312952571,0.99999993626,0.00021660413541,-0.000281849660655,3.35063743578e-05,1793196456761158144
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,743,712.152210035,674,659.847789965,633,877,784,800,649,629,650.152210035,0.400962303852,-0.00541367989907,0.0798302589506,0.999999935983,0.000215949905912,-0.000283349853148,3.33600848358e-05,1793196456777824256
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,743,712.724900284,674,659.275099716,633,877,784,800,649,629,650.724900284,0.400963009936,-0.00541396620096,0.079831044684,0.999999936112,0.000216768185481,-0.000282284714421,3.32045851524e-05,1793196456794491136
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,712.692062941,674,659,633.307937059,877,784,800.307937059,649,629.307937059,651,0.400964322874,-0.00541366572819,0.0798322228234,0.999999936445,0.000217343039727,-0.000280660739422,3.31827266167e-05,1793196456811157760
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,712.099461628,674,659,633.900538372,877,784,800.900538372,649,629.900538372,651,0.400966196802,-0.00541282282712,0.079833763712,0.999999936964,0.000217692865837,-0.000278520163107,3.32844091077e-05,1793196456827824128
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,743,712.479331249,674,659.479331249,633.520668751,877,784.479331249,800.520668751,649,630,651,0.400967008192,-0.00541312996819,0.0798335231262,0.999999937128,0.000217212066096,-0.000278293227314,3.34060962959e-05,1793196456844491264
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.055497195,743,712.944502805,673.944502805,660,633,877,784.944502805,800,649,630,651,0.400968234907,-0.00541386393106,0.0798333740462,0.999999937437,0.000216266083877,-0.000277902470262,3.35382047034e-05,1793196456861158400
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.63315069,743,712.36684931,673.36684931,660,633,877,784.36684931,800,649,630,651,0.400975385615,-0.00541643135871,0.0798374665229,0.999999939765,0.000212519574016,-0.000272338957187,3.3730401387e-05,1793196456877824512
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,743,712.214422112,673.214422112,660,633,877,784,800,649,630,651,0.400989895804,-0.00541760518523,0.0798442499815,0.999999942843,0.000211341506434,-0.000261717069766,3.39557342447e-05,1793196456894490880
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,743,712.801989527,673.801989527,660,633,877,784,800,649,630,651,0.401017213234,-0.00541635381514,0.0798557163861,0.999999947027,0.0002146331376,-0.000242292412464,3.42387318737e-05,1793196456911157504
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,743,712.615913444,674,660,633.384086556,877.384086556,784,800.384086556,649,630,651,0.401064348542,-0.005416639124,0.079871006126,0.999999953866,0.000214762780382,-0.000212092352459,3.40941898715e-05,1793196456927824128
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,743,712.036596941,674,660,633.963403059,877.963403059,784,800.963403059,649,630,651,0.401121557217,-0.00541770552164,0.079888239256,0.999999961125,0.000213285194852,-0.000176415188346,3.37323308591e-05,1793196456944491008
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,743,712.538620514,674,659.461379486,634,877.461379486,784,800.461379486,649.538620514,630,651,0.401188385957,-0.00541794157449,0.0799015065012,0.999999964448,0.000212606538521,-0.000157629689018,3.2473428196e-05,1793196456961157888
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.885688689,743,712.885688689,674,659,634,877,784,800,649.885688689,630,650.885688689,0.401258988179,-0.00541830920012,0.0799128577578,0.999999966993,0.000211874373913,-0.000142019130824,3.08773422448e-05,1793196456977825024
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.306951616,743,712.306951616,674,659,634,877,784,800,649.306951616,630,650.306951616,0.401342285816,-0.00541943886786,0.0799175112265,0.999999968336,0.000210705935745,-0.000134680028358,2.81571017541e-05,1793196456994491392
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742.725013062,712,674,659,633.725013062,877,784,800,649,630,650.274986938,0.401436192321,-0.00542060224476,0.0799229006539,0.999999969721,0.000209640568088,-0.000126431246287,2.49784347067e-05,1793196457011157760
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.139458823,712,674,659,633.139458823,877,784,800,649,630,650.860541177,0.401542080362,-0.00542180369236,0.0799291212648,0.999999971135,0.000208691607227,-0.000117155082258,2.1282025784e-05,1793196457027824384
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.443095505,712,674,659,633,877.443095505,784,800,649,630,651,0.401674479861,-0.00542285922693,0.079934152969,0.99999997339,0.000204005227353,-0.00010653382061,1.58732086698e-05,1793196457044491008
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659.024374992,633,877.975625008,784,800,649,630,651,0.401816260883,-0.0054239926875,0.0799389188203,0.999999975793,0.00019798426974,-9.54816498646e-05,9.93480796662e-06,1793196457061157376
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659.598059965,633,877.401940035,784,800,649,630,651,0.401982684472,-0.00542791025485,0.079946069512,0.999999978734,0.00018821826996,-8.41950299218e-05,4.12601492702e-06,1793196457077824000
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633,877.176355344,784,800,649,630,651,0.402157031328,-0.00543097995579,0.0799529063181,0.999999981414,0.000178343813184,-7.32098182015e-05,-2.29976545879e-06,1793196457094491136
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633,877.76544052,784,800,649,630,651,0.40234992123,-0.0054320653684,0.0799590085272,0.99999998382,0.000168215532602,-6.29300030185e-05,-1.01694994702e-05,1793196457111158272
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.348797228,743,712,674,660,633.348797228,878,784,800.348797228,649,629.651202772,651,0.402554912617,-0.00543327272973,0.0799563952048,0.999999985221,0.000156856062928,-6.78396577707e-05,-1.87866361431e-05,1793196457127824896
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.928363954,743,712,674,660,633.928363954,878,784,800.928363954,649,629.071636046,651,0.402767910549,-0.00543456077427,0.0799480155563,0.999999985717,0.000144682018965,-8.27988935121e-05,-2.78982664506e-05,1793196457144491520
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.493501589,743,712,674,659.493501589,633.493501589,877.493501589,784,801,649,629,651,0.403022016469,-0.00543634061454,0.0799424116166,0.99999999024,0.00010210225798,-9.19209909981e-05,-2.54167681167e-05,1793196457161157632
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,743,712,674.083712486,659,633.083712486,877,784,801,649,629.083712486,651,0.403288151664,-0.0054376503041,0.0799378044547,0.999999992715,6.50692707111e-05,-9.9127717305e-05,-2.25886954857e-05,1793196457177824256
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,743,712,674.65672783,659,633.65672783,877,784,801,649,629.65672783,651,0.403590710958,-0.0054358065299,0.0799367353246,0.999999990975,8.55225090014e-05,-9.99509047022e-05,-2.72917429217e-05,1793196457194490880
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.236969313,743,712,674.763030687,659.236969313,633.763030687,877.236969313,784,801,649,630,651,0.403914360353,-0.00543616962947,0.0799399240585,0.99999999046,9.66341878935e-05,-9.37685709569e-05,-3.08202274804e-05,1793196457211157760
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.82800774,743,712,674.17199226,659.82800774,633.17199226,877.82800774,784,801,649,630,651,0.404269521631,-0.00543983014277,0.0799494747053,0.999999992097,9.37881188616e-05,-7.71188959723e-05,-3.25937316326e-05,1793196457227824128
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.589437241,743,712,674,660,633,878,784,801,649,630,651,0.4046556712,-0.00544380953504,0.0799511155855,0.999999993682,8.04131049961e-05,-7.09503638181e-05,-3.3703170148e-05,1793196457244491264
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.010364146,743,712,674,660,633,878,784,801,649,630,651,0.405054539516,-0.0054479198071,0.079949510001,0.999999995051,6.27166177837e-05,-6.90836857293e-05,-3.4540051198e-05,1793196457261158400
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.56582332,743,712,674,660,633.56582332,877.43417668,784,800.43417668,649,629.43417668,650.43417668,0.405497793712,-0.00546991233468,0.079944416192,0.999999995568,4.76920252361e-05,-7.38575768753e-05,-3.36898891677e-05,1793196457277824768
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+141,2.350000000,POSE1_TO_POSE2_PRESS,764.268384087,743,712,674.731615913,659.268384087,633.268384087,877,784,800,649,629.731615913,650,0.406395709124,-0.00549618442896,0.0799268951457,0.999999993638,6.7587818236e-06,-0.000106746279216,-3.58332963932e-05,1793196457311158016
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.314276683,742.685723317,712,674.685723317,659.314276683,633,877,784,800,649,630,650,0.406885949996,-0.00549447455155,0.0799258364429,0.999999993111,4.66295072175e-06,-0.000111093018451,-3.7611274179e-05,1793196457327824384
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.89329536,742.10670464,712,674.10670464,659.89329536,633,877,784,800,649,630,650,0.407408474295,-0.00548493551383,0.079933100815,0.999999994086,2.08389676265e-05,-9.93664738309e-05,-3.89896906098e-05,1793196457344490752
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.529065276,742.470934724,712,674,659.529065276,633,877.470934724,784.470934724,800,649,629.529065276,650.470934724,0.407938593434,-0.005489935908,0.079921399846,0.999999991681,1.20140473044e-05,-0.000121856891056,-4.05649546899e-05,1793196457361157376
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659.048008928,633,878,784.951991072,800,649,629,651,0.408478509735,-0.00549741702163,0.0799074295489,0.999999988069,-1.65619322507e-06,-0.000148572477916,-4.22560659365e-05,1793196457377824256
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,712,674,659.622304111,633,878,784.377695889,800,649,629,651,0.409107016191,-0.00549608435273,0.0799155514747,0.999999989612,-6.52525753185e-06,-0.00013686442293,-4.47296161946e-05,1793196457394491136
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,712.202082201,674,660,633.202082201,878,784,800,649,629.202082201,650.797917799,0.409755597398,-0.00549692611306,0.0799341691242,0.999999993231,-1.08858974584e-05,-0.000106278112861,-4.60928327366e-05,1793196457411157760
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,712.792393722,674,660,633.792393722,878,784,800,649,629.792393722,650.207606278,0.410442745085,-0.0055019452685,0.0799729505862,0.999999998094,-1.42697798334e-05,-3.94239275407e-05,-4.53229363333e-05,1793196457427824384
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,743,713,674,660,634,878,784,800.375772298,649,630,650.375772298,0.411121638746,-0.00550699103548,0.0799878177691,0.999999998557,-2.22783590536e-05,-1.63855236761e-05,-4.60493542241e-05,1793196457444491008
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,743,713,674,660,634,878,784,800.955389938,649,630,650.955389938,0.411796054821,-0.00551205123828,0.0799897121628,0.999999998183,-3.27956992351e-05,-1.71158855658e-05,-4.75874783908e-05,1793196457461157632
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,743,712.468363659,674,660,633.468363659,878,784,801,649,629.468363659,650.468363659,0.412466570518,-0.0055094596034,0.0799499964025,0.99999999502,-3.5795058773e-05,-7.7036586472e-05,-5.23784465628e-05,1793196457477824256
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,712,674.107025863,660,633.107025863,878,784,801,649,629,650.107025863,0.413154714162,-0.00550800211501,0.0799133510697,0.99999998907,-4.13940232994e-05,-0.000129867647426,-5.72718797418e-05,1793196457494491136
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,743,712,674.679908986,660,633.679908986,878,784,801,649,629,650.679908986,0.413921003348,-0.00551425846028,0.0799051726305,0.999999987754,-6.10370186257e-05,-0.000130356581893,-6.14307241299e-05,1793196457511157760
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,743,712,675,660,633.73851354,878,784.26148646,800.73851354,649,629,651,0.414699621248,-0.00551954683525,0.0799141523207,0.999999989228,-7.48128463088e-05,-0.000109187079846,-6.344040079e-05,1793196457527824128
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,712,675,660,633.145927003,878,784.854072997,800.145927003,649,629,651,0.415493850149,-0.00552360954515,0.0799448580216,0.999999992903,-8.11595360528e-05,-6.0593175024e-05,-6.27287530933e-05,1793196457544490752
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,712.436364614,675,660,633.436364614,878,784.563635386,800.436364614,649,629,651,0.41627476132,-0.00552531648697,0.0799502104767,0.999999993126,-7.76202599535e-05,-6.30519926849e-05,-6.1221222334e-05,1793196457561157376
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,713,675,660,633.984821409,878,784,800.984821409,649,629,651,0.417053360386,-0.00552637404766,0.0799474970879,0.999999992419,-7.11960406352e-05,-8.09392979344e-05,-5.95191216873e-05,1793196457577824256
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,713,675,660,633.410215611,878,784,800.410215611,649,629,651,0.417907107448,-0.0055318641703,0.0799527907619,0.999999993794,-7.74826559481e-05,-5.27260846353e-05,-6.02293023753e-05,1793196457594490880
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,712.831643359,675,660.168356641,633,878,784.168356641,800,649.168356641,629.168356641,651,0.418766995281,-0.00553714443729,0.079961661663,0.999999994325,-8.4410203084e-05,-2.39822183042e-05,-6.04084092499e-05,1793196457611157504
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,712.243173344,675,660.756826656,633,878,784.756826656,800,649.756826656,629.756826656,651,0.419642206605,-0.0055419010349,0.0799794590958,0.999999993907,-9.29371167825e-05,6.08582590302e-06,-5.92622865049e-05,1793196457627824128
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743,712,675,660.66012133,633,878,784.66012133,800.33987867,649.66012133,630,651,0.420497910325,-0.00554583615719,0.0799739812831,0.999999993694,-9.56815731638e-05,-2.53294370144e-06,-5.87372954984e-05,1793196457644490752
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,712,675,660.080884939,633,878,784.080884939,800.919115061,649.080884939,630,651,0.421339875884,-0.0055491927597,0.0799521120036,0.999999993092,-9.43537647237e-05,-3.8396694754e-05,-5.86497331893e-05,1793196457661157632
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712,674.503876434,660,633,877.503876434,784,800.503876434,649,629.503876434,651,0.422232837875,-0.00555469193466,0.0799713786945,0.999999993,-0.000102633184154,-9.63184937057e-06,-5.80763636233e-05,1793196457677824000
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,712,674.072765823,660,633,877.072765823,784,800.145531647,649,629,651,0.423131260732,-0.00556036406168,0.079995048099,0.999999991812,-0.000111661061925,2.482000985e-05,-5.7371013063e-05,1793196457694490880
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,712,674.649375604,660,633,877.649375604,784,801.298751209,649,629,651,0.424010183892,-0.00556482585101,0.0800029728629,0.999999991456,-0.000115074510347,2.60182390484e-05,-5.62977673039e-05,1793196457711157248
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.23056072,743,712,675.23056072,660.23056072,633,878.23056072,784,801.76943928,649.23056072,629.23056072,651,0.424867505524,-0.00556784568504,0.0799865195121,0.999999991202,-0.000119371294501,-1.06596817973e-05,-5.68569083245e-05,1793196457727824128
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.818844722,743,712,675.818844722,660.818844722,633,878.818844722,784,801.181155278,649.818844722,629.818844722,651,0.425691311743,-0.00556862827405,0.0799322426375,0.999999984757,-0.000125038605705,-0.000106103816844,-5.99487558504e-05,1793196457744490752
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743,712,675.599013125,660.599013125,633,878.599013125,784,801,649.599013125,629.599013125,650.599013125,0.426576105757,-0.00556049956205,0.079909129442,0.999999982929,-0.00011843816687,-0.000127269050242,-6.25849016203e-05,1793196457761157376
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743,712,675.019603872,660.019603872,633,878.019603872,784,801,649.019603872,629.019603872,650.019603872,0.427488036739,-0.00554840569403,0.0798998827826,0.999999985571,-0.000106379092687,-0.000115383275873,-6.50182791437e-05,1793196457777824000
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,712,675.555214695,660.555214695,633,878,784,801,649,629.555214695,650.555214695,0.428344302105,-0.00553399019967,0.0799068534212,0.999999986772,-8.46247727405e-05,-0.00012364725522,-6.32876736672e-05,1793196457794491648
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743,712,675.867269896,661,633,878,784,801,649,630,650.867269896,0.429213754562,-0.00552553614965,0.0799202386242,0.999999988658,-7.04451046035e-05,-0.000118094225588,-6.14363443368e-05,1793196457811158784
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,743,712,675.279967849,661,633,878,784,801,649,630,650.279967849,0.43013504604,-0.00553777719915,0.0799536473387,0.999999992772,-8.33697625024e-05,-6.28043066998e-05,-5.96709601232e-05,1793196457827824384
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743,712,675.303293316,661,633,878.303293316,784,801,649,630,650.303293316,0.431043174587,-0.00554906885866,0.0799880099925,0.999999993494,-9.82046523604e-05,-8.34698803098e-06,-5.74258418783e-05,1793196457844490496
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743,712,675.882873385,661,633,878.882873385,784,801,649,630,650.882873385,0.431939312236,-0.00555949566535,0.0800232416409,0.999999990886,-0.000114779678015,4.53518657019e-05,-5.47437073053e-05,1793196457861157120
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743,712,676,661,633,878.540354584,784,801,649.459645416,629.540354584,650.540354584,0.432734194542,-0.00555963120633,0.0799905322134,0.99999999214,-0.000111815507669,-1.15091752729e-05,-5.55462487407e-05,1793196457877823744
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743,712,676,660.964284061,633,878.035715939,784,801,649.964284061,629,650,0.433505134696,-0.00555724827035,0.0799413556175,0.999999988517,-0.000104454044423,-9.36342472862e-05,-5.73371128677e-05,1793196457894490880
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743,712,676,660.38806754,633,878.61193246,784,801,649.38806754,629,650,0.434301846197,-0.00555619729298,0.0799033840735,0.999999983575,-0.000105437756947,-0.00013432845128,-6.07283439119e-05,1793196457911158528
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743.192329976,712,676,660.192329976,633,878.807670024,784,801,649,629,650,0.435109409751,-0.00555734315775,0.0798890069567,0.999999981832,-0.000106461235715,-0.00014523002981,-6.2530885456e-05,1793196457927825664
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743.781351133,712,676,660.781351133,633,878.218648867,784,801,649,629,650,0.435939356406,-0.00556302013038,0.0799232946399,0.999999987868,-0.000107566734862,-9.46826832228e-05,-6.10566680017e-05,1793196457944491520
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.635810854,743.635810854,712,676,661,633,878.364189146,784,801,649,629,650.364189146,0.436742339442,-0.00556789460351,0.0799538581504,0.999999990075,-0.000114371030862,-5.73169440567e-05,-5.90220425305e-05,1793196457961157632
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.056623089,743.056623089,712,676,661,633,878.943376911,784,801,649,629,650.943376911,0.437529404486,-0.0055722953217,0.0799822230982,0.999999990255,-0.000124539604607,-2.77329538621e-05,-5.6656580972e-05,1793196457977824512
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,712,676,660.480462682,633,879,784,801,649,629.519537318,651,0.438293386843,-0.00557661215891,0.079999921983,0.999999990457,-0.000125906901392,4.83407081616e-06,-5.66543288466e-05,1793196457994491392
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,712,676,660.097110095,633,879,784,801.097110095,649,630,651,0.439039429909,-0.00558059283837,0.0800109394728,0.999999989891,-0.000127142189317,2.82197865842e-05,-5.70716107599e-05,1793196458011158272
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,712,676,660.683450823,633,879,784,801.683450823,649,630,651,0.439707697198,-0.00558292577924,0.0799941192499,0.999999989513,-0.000132516933652,3.72261541404e-06,-5.831241669e-05,1793196458027824640
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743.266664724,712,676,661,633,879,783.733335276,801.733335276,649,629.733335276,650.733335276,0.440342265403,-0.00558139186564,0.0799529850485,0.999999987784,-0.000131573262399,-5.93123921953e-05,-6.00204558539e-05,1793196458044491264
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743.846209846,712,676,661,633,879,783.153790154,801.153790154,649,629.153790154,650.153790154,0.440937294085,-0.00557532093268,0.0798833230133,0.999999976431,-0.000123216129239,-0.000167564228257,-6.22767038965e-05,1793196458061157888
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743.575048491,712,676,661,633,879,783.424951509,801,649,629.424951509,650,0.441521566383,-0.00556889958876,0.0798342209755,0.999999962153,-0.000119704305655,-0.000238807346812,-6.58510952889e-05,1793196458077824512
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,712,676.003382316,661,633,879.003382316,784,801,649,629.996617684,650.003382316,0.442102171735,-0.00556239503402,0.0797930398421,0.999999946804,-0.000117934838117,-0.000295977444561,-6.98578182772e-05,1793196458094491136
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,712,676.578318741,661,633,879.578318741,784,801,649,629.421681259,650.578318741,0.442719683249,-0.00556321830648,0.0798353830753,0.999999963809,-0.000114838094297,-0.000234043517651,-6.64622077838e-05,1793196458111157760
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743.15706132,712,677,660.84293868,633,879.84293868,784,801,649.15706132,629.15706132,651,0.443320271729,-0.00556419907511,0.0798745011796,0.999999975992,-0.000112558062577,-0.000176938308503,-6.3555574163e-05,1793196458127824640
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743.746276657,712,677,660.253723343,633,879.253723343,784,801,649.746276657,629.746276657,651,0.443874296648,-0.0055656131944,0.0799047453557,0.999999982887,-0.000112525213363,-0.000133119297994,-6.19943595427e-05,1793196458144491520
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.32992463,743.67007537,712,677,660,633,879,784,801,650,630,651,0.444383985652,-0.00556869044946,0.079903744618,0.99999998138,-0.000121430748469,-0.000136839583581,-6.13968380142e-05,1793196458161158400
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.909362124,743.090637876,712,677,660,633,879,784,801,650,630,651,0.444860144598,-0.00557302548797,0.079879114215,0.999999973131,-0.000137096136134,-0.000176512525301,-6.15281309624e-05,1793196458177825024
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,743,712,677.483919395,660,632.516080605,879,783.516080605,801,649.516080605,630,651,0.445282967931,-0.00557478812489,0.0798516170481,0.999999965349,-0.000124683900287,-0.000223286324619,-6.24414476994e-05,1793196458194491392
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.940870979,743,712,677.940870979,659.940870979,632,879.059129021,783,801,649,629.940870979,651,0.445694173025,-0.00557610998823,0.0798254376374,0.999999955899,-0.000111782424157,-0.000267732868599,-6.34477667874e-05,1793196458211157760
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.351701563,743,712,677.351701563,659.351701563,632,879.648298437,783,801,649,629.351701563,651,0.446089885944,-0.00557775658269,0.0798158359456,0.999999948925,-0.000141166375651,-0.000279514442399,-6.39878809667e-05,1793196458227824384
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711.187487161,677,659,632,880,783,801.812512839,649.812512839,629,651,0.446846307567,-0.00558327458613,0.0797967204201,0.999999942857,-0.000154955689841,-0.000293378507059,-6.48438773022e-05,1793196458261157632
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+247,4.116666667,HOLD_POSE2,764,743,712,677,658,631,879,782,801,649,629,651,0.449973033245,-0.00558761092741,0.0796898217183,0.999999886501,-0.000134090545163,-0.000453549341893,-5.75362955854e-05,1793196459099566592
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+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,744,711,677,657,631,879,782,802,650,629,651,0.449976934069,-0.00558752806589,0.0796901350202,0.999999887372,-0.000132026815375,-0.000452255735099,-5.73532537363e-05,1793196459386674688
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,659,633.002549457,877.997450543,784,800,649,629.997450543,651,0.402430308942,-0.00541512302085,0.0798329653481,0.999999939687,0.000187887762228,-0.000289639691256,3.78626070588e-05,1793196461253341440
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.575271249,633,877.424728751,784,800.575271249,649,630,651,0.402267431598,-0.00541632318187,0.079836435442,0.999999942544,0.000186124548624,-0.000280808089747,3.7644620881e-05,1793196461270008064
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..65963a41b908e681bcda7dcb7cabc28132da6e7e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_02/simulation_data.csv
@@ -0,0 +1,423 @@
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+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
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+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
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3562f7e46e3e19d443f2757208c2dd206eca4d04
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5811ce21638d6c460add36153fba048c36a6e9b2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_03/franka_data.csv
@@ -0,0 +1,425 @@
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+27,0.450000000,BASELINE,764.655165373,743,712,674,659.344834627,633.344834627,877,784.344834627,801.310330746,649,630,651,0.400965964832,-0.00542605201485,0.0798322290206,0.999999940493,0.000196839711248,-0.000281507894455,3.19691350264e-05,1793196462622258944
+28,0.466666667,BASELINE,765,743,712,674,659,633,877.235299015,784,802,649.235299015,630,651,0.400966097743,-0.0054259731109,0.0798324070609,0.999999940397,0.000197224193752,-0.000281581578129,3.19374704523e-05,1793196462638925312
+29,0.483333333,BASELINE,765,743,712,674,659,633,877.827547017,784,802,649.827547017,630,651,0.40096511744,-0.00542794077,0.0798326795919,0.999999940309,0.000196017981321,-0.000282685175845,3.23730580402e-05,1793196462655592448
+30,0.500000000,BASELINE,764.590444772,743,712,674,659.409555228,633,877.590444772,784,801.180889543,649.590444772,630,651,0.400964170738,-0.00542760197205,0.0798319497136,0.999999939954,0.000196134689382,-0.000283866117641,3.2289642674e-05,1793196462672259328
+31,0.516666667,BASELINE,764.012643109,743,712,674,659.987356891,633,877.012643109,784,800.025286218,649.012643109,630,651,0.400963237841,-0.00542631567505,0.0798308080427,0.999999939489,0.000196794856915,-0.000285078832574,3.19930194308e-05,1793196462688925952
+32,0.533333333,BASELINE,764,743,712.562689975,674,660,633,877,784,800.562689975,649,630,651,0.400963698262,-0.00542727167784,0.0798311080579,0.999999940225,0.000194691273994,-0.000283937262568,3.20170638442e-05,1793196462705592320
+33,0.550000000,BASELINE,764.141227562,743,712.858772438,674.141227562,659.858772438,633,877,784,801,649,629.858772438,651,0.400963966507,-0.00542783828159,0.0798312233865,0.999999940532,0.000193799489371,-0.000283455069288,3.20995322652e-05,1793196462722258688
+34,0.566666667,BASELINE,764.730097233,743,712.269902767,674.730097233,659.269902767,633,877,784,801,649,629.269902767,651,0.400963526824,-0.00542701162907,0.0798306510959,0.999999939405,0.000196944654997,-0.000285229808024,3.23444465125e-05,1793196462738925312
+35,0.583333333,BASELINE,765,743,712,674.686204936,659,633,877,784,800.686204936,649,629,651,0.400963630638,-0.00542663742105,0.0798308382273,0.999999939268,0.00019738405637,-0.000285409657196,3.23345207525e-05,1793196462755591936
+36,0.600000000,BASELINE,765,743,712,674.106883338,659,633,877,784,800.106883338,649,629,651,0.400964194346,-0.00542664606159,0.079831667965,0.999999939972,0.000195533899437,-0.000284239945826,3.21089549681e-05,1793196462772258304
+37,0.616666667,BASELINE,765,743,712,674,659,633,877,784,800.470490036,649,629,650.529509964,0.400962924497,-0.0054277522301,0.0798308869912,0.999999939815,0.000195172738739,-0.000285021754369,3.22436741915e-05,1793196462788925440
+38,0.633333333,BASELINE,764.952747518,743,712,674,659.047252482,633.047252482,877.047252482,784,800.952747518,649,629.047252482,650,0.400961503433,-0.00542893084164,0.0798299224589,0.999999939527,0.000195173801788,-0.000286008114431,3.24311385413e-05,1793196462805592064
+39,0.650000000,BASELINE,764.377884685,743,712,674,659.622115315,633.622115315,877.622115315,784,800.377884685,649,629.622115315,650,0.400963025713,-0.00542814585111,0.0798309772002,0.999999939949,0.000195457991743,-0.000284348681109,3.22974205718e-05,1793196462822258944
+40,0.666666667,BASELINE,764.202152005,743,712,674,660,633.797847995,877.797847995,784.202152005,800,649,630,650.202152005,0.400964425851,-0.00542706171688,0.0798320301187,0.99999994019,0.000196681177001,-0.000282667142816,3.21984929782e-05,1793196462838925568
+41,0.683333333,BASELINE,764.792114234,743,712,674,660,633.207885766,877.207885766,784.792114234,800,649,630,650.792114234,0.400965591669,-0.00542540370273,0.0798330795404,0.999999940077,0.000199705739267,-0.000280943198248,3.2166307562e-05,1793196462855591936
+42,0.700000000,BASELINE,765,743,712,674.3750278,660,633,877,784.6249722,800,649,629.6249722,651,0.400964576017,-0.00542558079835,0.0798325177727,0.999999940022,0.000198821105333,-0.000281780241739,3.2046978738e-05,1793196462872258304
+43,0.716666667,BASELINE,765,743,712,674.954106207,660,633,877,784.045893793,800,649,629.045893793,651,0.400962373437,-0.00542675636737,0.0798310793655,0.99999993999,0.00019580949869,-0.000284010705099,3.18802356557e-05,1793196462888924928
+44,0.733333333,BASELINE,765,743,712.529728696,674.470271304,660,633.529728696,877,784,800,649,629,651,0.400962767548,-0.00542634297852,0.0798309380971,0.999999939723,0.00019657129369,-0.000284401802284,3.20925665846e-05,1793196462905591552
+45,0.750000000,BASELINE,764.892850324,743,712.892850324,674,660,633.892850324,877,784.107149676,799.892850324,649,629,651,0.400963426032,-0.00542600238477,0.0798311222511,0.999999939529,0.000197549711844,-0.000284380603418,3.23021491926e-05,1793196462922258432
+46,0.766666667,BASELINE,764.306046991,743,712.306046991,674,660,633.306046991,877,784.693953009,799.306046991,649,629,651,0.400964267439,-0.00542659990265,0.0798322633486,0.999999939758,0.000198043900167,-0.000283222499416,3.23533669162e-05,1793196462938925568
+47,0.783333333,BASELINE,764,743,712,674.277172236,660,633.277172236,877,784.722827764,799.831516708,649,629.277172236,651,0.400964688256,-0.00542708150035,0.0798324670842,0.99999994013,0.000196877804619,-0.000282746014276,3.21517566215e-05,1793196462955592448
+48,0.800000000,BASELINE,764,743,712,674.856484571,660,633.856484571,877,784.143515429,801.569453714,649,629.856484571,651,0.400964650595,-0.00542743673578,0.0798316490198,0.999999940651,0.000193901865766,-0.000283012548544,3.16745433959e-05,1793196462972259328
+49,0.816666667,BASELINE,764,742.564079695,712.435920305,674.564079695,659.564079695,633.564079695,877,784.435920305,801.564079695,649,630,650.564079695,0.400964452206,-0.00542658225905,0.0798321446746,0.9999999406,0.000194996963448,-0.000282416448383,3.18876498573e-05,1793196462988925696
+50,0.833333333,BASELINE,764,742.015250697,712.984749303,674,659,633,877,784.984749303,801,649,630,650.015250697,0.400964217964,-0.00542539351371,0.0798330386353,0.999999940354,0.000197388229988,-0.000281576908735,3.23183957184e-05,1793196463005592064
+51,0.850000000,BASELINE,764,742.589234254,712.410765746,674,659,633,877,784.410765746,801,649,630,650.589234254,0.400964609373,-0.00542655355069,0.0798326750745,0.999999940018,0.000198149410042,-0.000282226308964,3.23939598566e-05,1793196463022258688
+52,0.866666667,BASELINE,764.164153857,743,712,674,659.164153857,633,877,784,801,649.164153857,629.835846143,651,0.400964784737,-0.00542756971148,0.0798323510082,0.999999939887,0.000198114229231,-0.00028270622647,3.24636446436e-05,1793196463038925056
+53,0.883333333,BASELINE,764.741429142,743,712,674,659.741429142,633,877,784,801,649.741429142,629.258570858,651,0.400964416391,-0.00542822378296,0.0798321263365,0.999999940272,0.000196074869213,-0.0002827596115,3.25185330272e-05,1793196463055591680
+54,0.900000000,BASELINE,765,742.67413909,712.32586091,674,660,633,877,784,801,649.67413909,629.32586091,651,0.400963948798,-0.0054282273295,0.0798320629036,0.999999940447,0.000195169730807,-0.000282793375695,3.22896453083e-05,1793196463072258304
+55,0.916666667,BASELINE,765,742.083901163,712.916098837,674,660,633,877,784,801,649.083901163,629.916098837,651,0.400963400685,-0.00542770309302,0.0798321302867,0.999999940454,0.000195184807594,-0.000282811221137,3.18305247554e-05,1793196463088925184
+56,0.933333333,BASELINE,765,742.494941585,712.505058415,674,659.505058415,633,877,784,801,649,630,651,0.40096448135,-0.00542893235371,0.0798326285142,0.999999940908,0.000194127093617,-0.000281907722663,3.20573943705e-05,1793196463105592320
+57,0.950000000,BASELINE,764.928545854,743,712,674.071454146,659.071454146,633.071454146,877,784.071454146,800.928545854,649,629.928545854,651,0.400965532615,-0.00543001773999,0.0798329934832,0.999999941253,0.000193385790565,-0.000281157811139,3.23577096707e-05,1793196463122259712
+58,0.966666667,BASELINE,764.355138412,743,712,674.644861588,659.644861588,633.644861588,877,784.644861588,800.355138412,649,629.355138412,651,0.40096448139,-0.00542805130779,0.0798319208167,0.999999940325,0.000196115982634,-0.000282559294995,3.2375454784e-05,1793196463138925824
+59,0.983333333,BASELINE,764.225199226,743,712,674.774800774,660,634,877,784.774800774,800,649,629.225199226,651,0.400964238051,-0.00542702236836,0.079831649145,0.999999939972,0.000197441650239,-0.000282883435649,3.24063075106e-05,1793196463155592192
+60,1.000000000,BASELINE,764.816812854,743,712,674.183187146,660,634,877,784.183187146,800,649,629.816812854,651,0.400965309196,-0.00542751879291,0.079832680746,0.999999940562,0.000196482061788,-0.000281454666123,3.24584872153e-05,1793196463172258816
+61,1.016666667,BASELINE,764.600150939,743,712,674.399849061,660,633.600150939,877.399849061,784,800.399849061,649,629.600150939,651,0.400965450873,-0.00542738111623,0.0798327993058,0.999999940755,0.000195919177031,-0.000281172961416,3.23553592672e-05,1793196463188925184
+62,1.033333333,BASELINE,764.020961906,743,712,674.979038094,660,633.020961906,877.979038094,784,800.979038094,649,629.020961906,651,0.400965175665,-0.00542695903298,0.0798325083491,0.999999940771,0.000195534221549,-0.000281405737361,3.21825728554e-05,1793196463205592064
+63,1.050000000,BASELINE,764.554341551,743,712.554341551,675,660,633.554341551,877.445658449,784,801,648.445658449,629.554341551,651,0.400965985514,-0.00542627225615,0.079832910484,0.999999940882,0.000195832821869,-0.000280839252369,3.18664270038e-05,1793196463222258944
+64,1.066666667,BASELINE,764.867828503,743,712.867828503,674.867828503,660,633.867828503,877,784,800.867828503,648.132171497,630,651,0.40096632933,-0.00542558036165,0.0798331643753,0.999999940775,0.000196863290964,-0.00028051772515,3.17060181658e-05,1793196463238925824
+65,1.083333333,BASELINE,764.280801803,743,712.280801803,674.280801803,660,633.280801803,877,784,800.280801803,648.719198197,630,651,0.400964929121,-0.0054249050609,0.0798328185341,0.999999939899,0.000200324080164,-0.000281142482591,3.2100088946e-05,1793196463255592448
+66,1.100000000,BASELINE,764.302150062,743,712,674,660,633,876.697849938,784,800,649,630,651,0.400964607821,-0.00542495105453,0.0798325037446,0.999999939726,0.000200771156519,-0.000281439932147,3.20961991364e-05,1793196463272259072
+67,1.116666667,BASELINE,764.881365357,743,712,674,660,633,876.118634643,784,800,649,630,651,0.400965275856,-0.00542565845993,0.0798322174287,0.999999940201,0.000198454721585,-0.000281437247244,3.17273878399e-05,1793196463288925440
+68,1.133333333,BASELINE,765,743,712,674,659.53947295,633,876.46052705,784,800,649,630,651,0.400966360784,-0.00542729328327,0.0798331211195,0.999999941146,0.000195549604739,-0.000280101741302,3.18063453487e-05,1793196463305592064
+69,1.150000000,BASELINE,765,743,712,674.039283836,659.039283836,633,877,784,800.039283836,649,629.960716164,651,0.400967319764,-0.00542889712619,0.079834148324,0.999999942033,0.000192972281512,-0.000278697839909,3.19730946406e-05,1793196463322258688
+70,1.166666667,BASELINE,765,743,712,674.612722113,659.612722113,633,877,784,800.612722113,649,629.387277887,651,0.400965106086,-0.00542683158008,0.0798326871676,0.999999940618,0.000196913839023,-0.000281031943906,3.17653353476e-05,1793196463338925312
+71,1.183333333,BASELINE,764.808931607,743,712,674.808931607,660,633,877.191068393,784,801,649,629.191068393,651,0.400963660034,-0.0054259676827,0.0798316453239,0.999999939823,0.000198447504223,-0.000282788783318,3.16869532002e-05,1793196463355591680
+72,1.200000000,BASELINE,764.22037488,743,712,674.22037488,660,633,877.77962512,784,801,649,629.77962512,651,0.400963810912,-0.00542760362984,0.0798314757954,0.999999940343,0.00019497192143,-0.000283344713197,3.18777202203e-05,1793196463372258560
+73,1.216666667,BASELINE,764.364380844,743,712,674.364380844,659.635619156,633,878,784,800.635619156,649,630,651,0.400964085116,-0.00542732322668,0.0798320595641,0.999999940532,0.000194733093668,-0.000282828885292,3.19856510056e-05,1793196463388925696
+74,1.233333333,BASELINE,764.946861446,743,712,674.946861446,659.053138554,633,878,784,800.053138554,649,630,651,0.400964433138,-0.00542589579403,0.0798330942182,0.999999940524,0.000196431622325,-0.000281671557895,3.20440002409e-05,1793196463405592832
+75,1.250000000,BASELINE,765,743,712.52228872,674.47771128,659.52228872,633.52228872,878,784,800.52228872,649,630,650.47771128,0.400964473661,-0.00542615580222,0.0798326556223,0.999999940453,0.00019642456134,-0.000281959151077,3.17772509541e-05,1793196463422258944
+76,1.266666667,BASELINE,764.903127004,743,712.903127004,674,660,634,878,784,801,649,629.903127004,650.096872996,0.400964383414,-0.00542639316457,0.0798321172203,0.999999940311,0.000196574557707,-0.000282385704488,3.15493804373e-05,1793196463438925312
+77,1.283333333,BASELINE,764.329207263,743,712.329207263,674,660,634,878,784,801,649,629.329207263,650.670792737,0.400963801206,-0.00542568482784,0.0798318156232,0.999999939846,0.000198341128434,-0.000282782269766,3.16736780453e-05,1793196463455591936
+78,1.300000000,BASELINE,764.253008443,743,712.253008443,674,660,634,877.746991557,784.253008443,800.746991557,649,629.253008443,651,0.400963601818,-0.00542571056212,0.0798318509739,0.999999939806,0.000198585042021,-0.00028274363324,3.17517315705e-05,1793196463472258560
+79,1.316666667,BASELINE,764.846384515,743,712.846384515,674,660,634,877.153615485,784.846384515,800.153615485,649,629.846384515,651,0.40096391743,-0.00542672382874,0.0798323396142,0.999999940338,0.000196780552683,-0.000282119527658,3.17675737676e-05,1793196463488925184
+80,1.333333333,BASELINE,764.572012172,743,712.572012172,674,660,633.572012172,877.427987828,785,800,649,630,651,0.40096355615,-0.00542800926863,0.079832127787,0.999999940654,0.000194477109176,-0.000282581314677,3.19154512148e-05,1793196463505592064
+81,1.350000000,BASELINE,764.00542391,743,712,674,660,633.00542391,877.99457609,784.99457609,800,649,629.99457609,651,0.400962978582,-0.0054293594181,0.079831681312,0.999999940884,0.000192052569181,-0.000283401612128,3.21049667961e-05,1793196463522258944
+82,1.366666667,BASELINE,764.57713212,743,712,674,660,633.57713212,877.42286788,784.42286788,800,649,629.42286788,651,0.400964505853,-0.00542753929781,0.0798322827393,0.99999994067,0.000195182016639,-0.000282049292157,3.18263368941e-05,1793196463538925568
+83,1.383333333,BASELINE,764.845791774,743,712,674,659.845791774,633.845791774,877.154208226,784.154208226,800,649,629.154208226,651,0.400965423593,-0.00542605510496,0.07983262315,0.9999999405,0.00019719834629,-0.000281278431185,3.15470032862e-05,1793196463555592192
+84,1.400000000,BASELINE,764.25346489,743,712,674,659.25346489,633.25346489,877.74653511,784.74653511,800,649,629.74653511,651,0.400964609604,-0.00542552531003,0.0798322219903,0.999999940486,0.0001960522145,-0.000282159544272,3.12656703262e-05,1793196463572258816
+85,1.416666667,BASELINE,764,743,712,674,659.33052532,633,877.66947468,785,800,649,630,650.66947468,0.400964516114,-0.00542561955168,0.0798323728084,0.99999994056,0.000195746608561,-0.000282111664332,3.12416134475e-05,1793196463588925440
+86,1.433333333,BASELINE,764,743,712,674,659.908279758,633,877.091720242,785,800,649,630,650.091720242,0.400964961549,-0.0054261805655,0.0798329364995,0.999999940701,0.00019606970631,-0.000281368908294,3.14099961207e-05,1793196463605591808
+87,1.450000000,BASELINE,764.486163408,743,712,674,659.513836592,633,877,784.513836592,800,649,629.513836592,650.486163408,0.400964737741,-0.00542654763828,0.079833085323,0.999999940797,0.000195818063942,-0.000281189995871,3.15270513353e-05,1793196463622258688
+88,1.466666667,BASELINE,764.936825583,743,712.063174417,674.063174417,659.063174417,633.063174417,877,784,800,649,629.063174417,650.936825583,0.400964435027,-0.00542695266924,0.0798330881406,0.99999994084,0.000195583819858,-0.000281179337838,3.16983296494e-05,1793196463638925056
+89,1.483333333,BASELINE,764.367008477,743,712.632991523,674.632991523,659.632991523,633.632991523,877,784,800,649,629.632991523,650.367008477,0.400964512352,-0.00542795562891,0.0798325478953,0.99999994053,0.000196358927628,-0.000281664705934,3.23821432768e-05,1793196463655591680
+90,1.500000000,BASELINE,764.211822641,743,712.788177359,674.788177359,659.788177359,633.788177359,877.211822641,784,800,649,630,650.211822641,0.400964118314,-0.00542876545261,0.0798318664528,0.999999940451,0.000195932017004,-0.000282219302455,3.25579462088e-05,1793196463672258560
+91,1.516666667,BASELINE,764.806965716,743,712.193034284,674.193034284,659.193034284,633.193034284,877.806965716,784,800,649,630,650.806965716,0.400962871283,-0.00542922577168,0.0798309294958,0.99999994079,0.000193329898715,-0.000282899176698,3.18144380811e-05,1793196463688925696
+92,1.533333333,BASELINE,765,743,712.391094133,674,659.391094133,633.391094133,878,784,800,649,630,651,0.400963374167,-0.00542786260963,0.0798315109865,0.999999940684,0.000194659370402,-0.000282384254622,3.15977153064e-05,1793196463705592064
+93,1.550000000,BASELINE,765,743,712.969934962,674,659.969934962,633.969934962,878,784,800,649,630,651,0.400964717106,-0.00542562407639,0.0798328214154,0.999999940358,0.000197876221288,-0.000281295764658,3.16338784088e-05,1793196463722258688
+94,1.566666667,BASELINE,764.455289996,743,712.455289996,673.455289996,659.455289996,634,877.455289996,784,800.544710004,649,630,651,0.400964209249,-0.00542614676829,0.0798322687888,0.999999940267,0.00019756831643,-0.000281814562211,3.1834892317e-05,1793196463738925568
+95,1.583333333,BASELINE,764,743,712,673.122021409,659.122021409,634,877.122021409,784,801,649,630,651,0.400963872269,-0.00542684238229,0.0798318946752,0.999999940304,0.000196824384183,-0.000282177867188,3.2044364628e-05,1793196463755592192
+96,1.600000000,BASELINE,764,743,712,673.709866026,659.709866026,634,877.709866026,784,801,649,630,651,0.400964574712,-0.00542762063345,0.0798325916974,0.999999940785,0.00019515308662,-0.000281611411606,3.22516493283e-05,1793196463772258560
+97,1.616666667,BASELINE,764.293509401,743,712,674,659.706490599,633.706490599,877.706490599,784,801,649,630,651,0.400964393305,-0.00542784700675,0.0798324948788,0.999999940769,0.000194683169243,-0.000281994942527,3.22407551337e-05,1793196463788925184
+98,1.633333333,BASELINE,764.873058418,743,712,674,659.126941582,633.126941582,877.126941582,784,801,649,630,651,0.40096335054,-0.0054275355474,0.0798316244226,0.999999940269,0.000195384057149,-0.000283304282921,3.20172346623e-05,1793196463805591808
+99,1.650000000,BASELINE,765,743,712,674,659.89912041,633,877.449560205,784,800.550439795,649,629.550439795,650.550439795,0.400964039805,-0.0054271336762,0.0798318988459,0.999999940509,0.000195654689778,-0.000282288455323,3.18531495959e-05,1793196463822258944
+100,1.666666667,BASELINE,765,743,712,673.97496324,660.97496324,633,877.97496324,784,800,649,629.02503676,650.02503676,0.400965191292,-0.00542675228119,0.0798324963734,0.999999940945,0.000195779213335,-0.000280667993088,3.17205929863e-05,1793196463838926080
+101,1.683333333,BASELINE,765,743,712,673.403211445,660.403211445,633,877.403211445,784,800,649,629.596788555,650.596788555,0.400965828433,-0.00542737173466,0.0798331376381,0.999999941187,0.000195348292091,-0.00028008474049,3.19124997434e-05,1793196463855592448
+102,1.700000000,BASELINE,764.824729968,743,712,673.175270032,660,633,877,784,800,649,629.824729968,650.824729968,0.400965788029,-0.00542778317222,0.0798333500416,0.999999941207,0.000195098839815,-0.000280178067041,3.19789611122e-05,1793196463872258816
+103,1.716666667,BASELINE,764.230148661,743,712,673.769851339,660,633,877,784,800,649,629.230148661,650.230148661,0.400964126688,-0.00542769695803,0.0798325364495,0.999999940697,0.000195283529042,-0.000281890023294,3.17453103056e-05,1793196463888925184
+104,1.733333333,BASELINE,764.354810958,743,712,673.645189042,659.645189042,633,877.354810958,784.354810958,800,649,629.354810958,650.354810958,0.400964411395,-0.00542669366207,0.0798327161227,0.999999940585,0.000196088608724,-0.000281730112355,3.17540980278e-05,1793196463905591808
+105,1.750000000,BASELINE,764.933694288,743,712,673.066305712,659.066305712,633,877.933694288,784.933694288,800,649,629.933694288,650.933694288,0.400965925083,-0.00542511120505,0.079833523069,0.999999940721,0.000197285481174,-0.000280388068638,3.19159919797e-05,1793196463922258176
+106,1.766666667,BASELINE,764.49082385,743,712,673.50917615,659.50917615,633,878,784.49082385,800.50917615,649,629.49082385,651,0.40096560272,-0.00542624642538,0.0798333513823,0.999999940705,0.000197304695188,-0.000280440450004,3.18452224618e-05,1793196463938925312
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,712,674,659,633,877,785,801,649,629,651,0.400962101652,-0.00542706528349,0.0798323363642,0.999999940335,0.000195707412008,-0.000282874721086,3.17874700772e-05,1793196463981513984
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.420456409,743,712,673.420456409,659,633,877,784.420456409,800.420456409,649,629,650.420456409,0.400964327202,-0.00542845623872,0.0798329575215,0.999999941084,0.000194300339238,-0.000281203812582,3.16835052754e-05,1793196463998180352
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,743,712,673.158004372,659.158004372,633,877.158004372,784,800,649,629,650.158004372,0.400965564562,-0.00542907362283,0.0798332986233,0.999999941522,0.000193364060042,-0.000280293517154,3.1642864394e-05,1793196464014846976
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,743,712,673.73360349,659.73360349,633,877.73360349,784,800,649,629,650.73360349,0.400964190205,-0.00542764651168,0.0798328995576,0.99999994115,0.000193672055748,-0.000281393469684,3.17695842795e-05,1793196464031513600
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633,878.310522077,784.310522077,800.310522077,649,629.310522077,651,0.400964121346,-0.00542752027628,0.0798329852718,0.999999941279,0.000193380958771,-0.000281142855801,3.17018261137e-05,1793196464048180480
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633,878.888577433,784.888577433,800.888577433,649,629.888577433,651,0.400965177252,-0.00542851482298,0.0798334886529,0.999999941839,0.000192573707718,-0.000279728648387,3.14665135071e-05,1793196464064846848
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633,878.525715087,784.525715087,800.525715087,649,629.525715087,650.525715087,0.400967028978,-0.00542711765609,0.0798342574281,0.999999941595,0.000195570770329,-0.000278523392431,3.14282708057e-05,1793196464081513472
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,743,712.061001827,674,659.938998173,633.061001827,877.938998173,784,800.061001827,649,629,650,0.400969482683,-0.00542547913308,0.07983527955,0.999999941333,0.000198960059467,-0.000277053969589,3.14589342499e-05,1793196464098180352
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,743,712.640764682,674,659.359235318,633.640764682,877.359235318,784,800.640764682,649,629,650,0.400975439649,-0.00542664470319,0.0798379172316,0.999999942663,0.000197959848581,-0.000272913770126,3.16754089154e-05,1793196464114847232
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,743,712.781035997,674,659.218964003,633.781035997,877,784,801,649,629.218964003,650,0.400988998611,-0.00542729818109,0.0798435543833,0.999999945413,0.000196962658674,-0.000263366455829,3.18965402218e-05,1793196464131513856
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,743,712.205383698,674,659.794616302,633.205383698,877,784,801,649,629.794616302,650,0.401014941081,-0.00542711747017,0.0798540776155,0.999999950267,0.000195970389942,-0.000245011052235,3.21252570815e-05,1793196464148180480
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,743,712,673.622851086,660,633,877.377148914,784,801,649,630,650.377148914,0.401057093701,-0.00542902532163,0.079868387102,0.999999957043,0.000193582929078,-0.000217706969112,3.23137465038e-05,1793196464164847104
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,743,712,673.03650199,660,633,877.96349801,784,801,649,630,650.96349801,0.401108237908,-0.00543209167472,0.0798847967813,0.999999964148,0.000190421570882,-0.000185439154071,3.24799222247e-05,1793196464181513728
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.543054531,743,712,674.086109062,660.543054531,633,878,784.543054531,801,649,630,651,0.401175889191,-0.00543166765197,0.0798981695185,0.9999999683,0.000190655280716,-0.000161525144892,3.09995107636e-05,1793196464198180352
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,743,712.12234215,674.87765785,660.87765785,633.12234215,877.87765785,785,801,649,630,651,0.40124798989,-0.00543145333998,0.0799100695203,0.99999997136,0.000190850605604,-0.000141433694352,2.92117900558e-05,1793196464214846976
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,743,712.702310821,674.297689179,660.297689179,633.702310821,877.297689179,785,801,649,630,651,0.401332634842,-0.00543289018679,0.07991721482,0.999999972663,0.000190059290882,-0.000133566289011,2.66834429858e-05,1793196464231513600
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,743,712.721371787,674,660,634,877,785,801,649,630,651,0.401425715665,-0.00543388430342,0.0799218584271,0.999999973804,0.000188695242044,-0.00012744638756,2.33310641282e-05,1793196464248180224
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,743,712.148905032,674,660,634,877,785,801,649,630,651,0.401527692868,-0.00543441152112,0.0799238637736,0.999999974799,0.000186727193558,-0.000123169386795,1.91096696998e-05,1793196464264847360
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.564463852,877,784.564463852,800.564463852,649,630,651,0.401650204064,-0.00543609652327,0.0799287464868,0.999999976741,0.000182182439283,-0.000114562923449,1.42394890417e-05,1793196464281514496
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,743,712,674,659.976193282,633.023806718,877,784,800,649,629.976193282,651,0.40178132955,-0.00543819567866,0.0799346665803,0.999999978903,0.000176659058382,-0.000104411437051,9.11377710846e-06,1793196464298181120
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,743,712,674,659.396797102,633.603202898,877,784,800,649,629.396797102,651,0.401945021954,-0.0054404612057,0.0799411894639,0.999999981248,0.000169437309617,-9.3723627902e-05,3.34750552556e-06,1793196464314847232
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,712.181812659,674,659.181812659,633.818187341,877,784,800,649,629,651,0.402120031192,-0.00544238981242,0.0799473000831,0.999999983406,0.000161882457424,-8.35059697025e-05,-3.11138308767e-06,1793196464331513856
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,712.758713419,674,659.758713419,633.241286581,877,784,800,649,629,651,0.402319632458,-0.00544358627394,0.0799525148299,0.999999985381,0.000153603755622,-7.43099747022e-05,-1.10753627727e-05,1793196464348180480
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,712.666267314,674,659.666267314,633,877,784,800.333732686,649,629.333732686,651,0.402524613292,-0.00544594777188,0.0799515412839,0.999999986526,0.000143776111025,-7.68821503203e-05,-1.9118100198e-05,1793196464364847104
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,743,712.092600671,674,659.092600671,633,877,784,800.907399329,649,629.907399329,651,0.402733461735,-0.00544914686185,0.0799461187237,0.999999986943,0.000132834867786,-8.79149399345e-05,-2.72174605742e-05,1793196464381513728
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.505001691,743,712,673.505001691,659.494998309,633.494998309,877,784,800.505001691,649,630,651,0.40297195711,-0.00545058653483,0.0799415144047,0.999999993283,5.76205898296e-05,-9.58108661698e-05,-3.05774165323e-05,1793196464398180352
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.083701532,743,712,673.083701532,660,633.916298468,877.083701532,784,800,649,629.916298468,650.916298468,0.403224510701,-0.00545177156705,0.0799372672019,0.999999994194,-1.04620966258e-05,-0.00010230125721,-3.22002421654e-05,1793196464414847232
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.663062842,743,712,673.663062842,660,633.336937158,877.663062842,784,800,649,629.336937158,650.336937158,0.403526519679,-0.00545345420719,0.0799342020536,0.999999993486,3.69503582533e-05,-0.000104044075953,-2.89385738272e-05,1793196464431514368
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,743,712.240719329,674,660,633.240719329,877.759280671,784,800.240719329,649,629,650.240719329,0.403852862917,-0.00545701962059,0.079935032991,0.999999992438,6.46583963155e-05,-0.000100760522526,-2.8120846578e-05,1793196464448180992
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,743,712.816006305,674,660,633.816006305,877.183993695,784,800.816006305,649,629,650.816006305,0.404213027502,-0.00546320183669,0.0799412789661,0.999999993323,6.49799297951e-05,-9.04909847343e-05,-3.0699870573e-05,1793196464464847616
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,743,712.600789302,674,659.600789302,634,877.399210698,784,800.600789302,649,629.399210698,650.600789302,0.404588673098,-0.00547947949241,0.0799430648024,0.99999999485,4.5895057359e-05,-8.54949685517e-05,-2.97466748113e-05,1793196464481513984
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,743,712.013862002,674,659.013862002,634,877.986137998,784,800.013862002,649,629.986137998,650.013862002,0.404971598153,-0.0055005042192,0.0799427533948,0.999999996033,1.76849169329e-05,-8.29786646096e-05,-2.71325608111e-05,1793196464498180608
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.431016239,743,712.568983761,674.568983761,659.568983761,633.431016239,878,784,800,649.568983761,630,650.568983761,0.405407159484,-0.0055052602075,0.0799419244189,0.999999996305,8.73784310372e-06,-8.01914907767e-05,-2.97274503207e-05,1793196464514847232
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+141,2.350000000,POSE1_TO_POSE2_PRESS,764.725497187,743,712.274502813,674.274502813,660,633,878,784,800.725497187,649.274502813,630,651,0.406316708981,-0.00550183512068,0.0799304312428,0.999999994235,4.41141334978e-06,-0.000101775017571,-3.39402045801e-05,1793196464548180736
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.69327456,743,712,674.30672544,660,633.30672544,878,784,801,649,630,650.69327456,0.406801249374,-0.00550286368712,0.0799245762852,0.999999992844,7.75693579228e-07,-0.000113989654123,-3.63060024772e-05,1793196464564847360
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.106935179,743,712,674.893064821,660,633.893064821,878,784,801,649,630,650.106935179,0.407303327151,-0.00550964097939,0.0799212465801,0.999999991973,-7.58222062978e-06,-0.000120233660876,-3.92370336448e-05,1793196464581513984
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,743,712,674.526280097,660,634,878,784,800.526280097,649,629.526280097,650.473719903,0.407834292123,-0.00550798919287,0.0799119703545,0.999999989654,-8.38367201258e-06,-0.000137635504932,-4.09675711919e-05,1793196464598181120
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743,712,673.947098358,660,634,878,784,800,649,629.052901642,651,0.408377900946,-0.00550508041364,0.0799029628671,0.999999987077,-8.7225750659e-06,-0.000154818298294,-4.24472150036e-05,1793196464614847744
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,712,673.369951837,660,634,878,784,800,649,629.630048163,651,0.408982954037,-0.00550834727204,0.0799097630964,0.999999988267,-2.11810175525e-05,-0.000145166337312,-4.40942024145e-05,1793196464631514112
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,712,673.206938385,660,633.793061615,878,784,800,648.793061615,629.793061615,650.793061615,0.409619426523,-0.00551185098046,0.0799271524882,0.999999991635,-2.98791162633e-05,-0.000117465779294,-4.51666291044e-05,1793196464648180736
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,712,673.783370942,660,633.216629058,878,784,800,648.216629058,629.216629058,650.216629058,0.410311999166,-0.00551577759089,0.07996344912,0.999999996815,-3.18630170618e-05,-5.75389557938e-05,-4.52131616518e-05,1793196464664847360
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.36687365,743,712,674,660,633,878,784,800,648.36687365,629,650.36687365,0.410995722999,-0.00551742701428,0.0799801429356,0.999999997777,-3.63536200873e-05,-3.14527529962e-05,-4.62157508115e-05,1793196464681513984
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.954633106,743,712,674,660,633,878,784,800,648.954633106,629,650.954633106,0.411674119151,-0.00551770539795,0.0799850343654,0.99999999763,-4.23534482462e-05,-2.57411767328e-05,-4.77939587406e-05,1793196464698180608
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.465075165,743,712,674,660,633,877.465075165,784,800,649,629,650.465075165,0.412348259168,-0.00551990600785,0.0799502865074,0.999999994426,-4.80064837804e-05,-7.86518256341e-05,-5.15507405943e-05,1793196464714847232
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633,877.113811655,784,800,649,629,650,0.413034314809,-0.00552208271903,0.0799165202316,0.999999988834,-5.5101424837e-05,-0.000127293268537,-5.55996985032e-05,1793196464731513600
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633,877.689531483,784,800,649,629,650,0.413770175012,-0.00552350990853,0.079900193875,0.999999986251,-6.81661074914e-05,-0.000138707832374,-6.00949133712e-05,1793196464748180480
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,743,712,674.265180889,660,633,878,784,800.265180889,649,629,650.265180889,0.414537524883,-0.00552546542959,0.079905317267,0.999999987479,-7.66328734915e-05,-0.000123687970159,-6.22071458422e-05,1793196464764847104
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,712,674.840747943,660,633,878,784,800.840747943,649,629,650.840747943,0.415341732547,-0.00552803934685,0.0799355469352,0.999999991909,-7.97179194761e-05,-7.77274174466e-05,-6.15301703908e-05,1793196464781513728
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,712,675,660,633,877.572842421,784,800.572842421,649,629.427157579,651,0.416128403353,-0.00553022581173,0.0799408953475,0.99999999183,-7.82029054021e-05,-8.12036053688e-05,-6.02592388514e-05,1793196464798180352
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,712,675,660,633.017377299,877.017377299,784,800.017377299,649,630,650.982622701,0.416910665545,-0.00553235176179,0.0799370192692,0.999999990228,-7.52978951746e-05,-0.000102038050672,-5.88378637858e-05,1793196464814847232
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,712,675,660,633.596684339,877.596684339,784,800.596684339,649,630,650.403315661,0.417767295422,-0.00553731355724,0.0799426270202,0.999999992009,-8.43464012243e-05,-7.26638555071e-05,-5.98987120142e-05,1793196464831513856
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,712,675,660,633.825447079,878,784,800.825447079,649,629.825447079,650.174552921,0.418628877063,-0.00554254115977,0.0799529047861,0.999999993063,-9.24680598594e-05,-4.08852872913e-05,-6.0427240992e-05,1793196464848180480
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,712,675,660,633.25087501,878,784,800.25087501,649,629.25087501,650.74912499,0.419501806499,-0.00554837790632,0.0799738847235,0.999999993362,-9.84656818906e-05,-3.59667130648e-06,-5.97358654699e-05,1793196464864847360
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743,712,674.668659892,660,633,878.331340108,784,800.331340108,649,629.331340108,651,0.420357847665,-0.00555162758128,0.0799702905133,0.999999993041,-0.000101450153332,-8.88336347575e-06,-5.9551028207e-05,1793196464881513984
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,712,674.080521207,660,633,878.919478793,784,800.919478793,649,629.919478793,651,0.421200799871,-0.00555287219744,0.0799476505965,0.99999999189,-0.00010209934187,-4.71672053152e-05,-5.97587733839e-05,1793196464898180864
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.499966026,743,712,674.499966026,660,633.499966026,878.500033974,784,801,649,630,650.500033974,0.422092985589,-0.00555714386459,0.0799585010883,0.999999991855,-0.000108480226491,-3.07776291959e-05,-5.97869943557e-05,1793196464914847232
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.921091866,743,712,675,660,633.921091866,878,784,801,649,629.921091866,650,0.422992874724,-0.00556040772463,0.0799754923475,0.999999991767,-0.000113621566752,-5.79181565582e-06,-5.93436487942e-05,1793196464931514112
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.344241323,743,712,675,660,633.344241323,878,784,801,649,629.344241323,650,0.423892092763,-0.00555428185304,0.0799977106726,0.999999992717,-0.000105203487386,1.87120299772e-05,-5.61042293005e-05,1793196464948180736
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.232101667,743,712,675,660,633,878,784,801,649,629.232101667,650,0.424754764354,-0.00554247754929,0.0799874179677,0.999999994311,-9.07311610516e-05,-9.32571477282e-06,-5.53029777975e-05,1793196464964847360
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.807693608,743,712,675,660,633,878,784,801,649,629.807693608,650,0.425563350515,-0.00552226965902,0.0799290117702,0.999999989421,-6.72990739229e-05,-0.000115120438863,-5.8110001921e-05,1793196464981513984
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.607885638,743,712,675.392114362,660.392114362,633,878,784,801.392114362,649,630,650,0.426450141067,-0.0055237418671,0.0799044081369,0.99999998585,-6.99796520396e-05,-0.000140463633051,-6.0606456471e-05,1793196464998180864
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.019035226,743,712,675.980964774,660.980964774,633,878,784,801.980964774,649,630,650,0.427376169161,-0.00553609166034,0.0798967643116,0.999999986473,-8.57617732688e-05,-0.000125441770688,-6.29470885853e-05,1793196465014847488
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,712,675.439582279,661,633,878,784,801.439582279,649.560417721,629.439582279,650.560417721,0.428248528215,-0.0055475928111,0.0799009402667,0.999999984025,-0.000100563268772,-0.000134346144506,-6.15450254931e-05,1793196465031513856
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.139105116,743,712,675,660.860894884,633.139105116,878,784,801,649.860894884,629,651,0.42912986407,-0.00555720095464,0.079911952112,0.999999983613,-0.000111122300652,-0.000129759969658,-5.98933681254e-05,1793196465048180480
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.716369944,743,712,675,660.283630056,633.716369944,878,784,801,649.283630056,629,651,0.430045122672,-0.00556093571329,0.079943252239,0.999999989236,-0.000108421409015,-8.01630356583e-05,-5.78493472853e-05,1793196465064847104
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660,633.702605878,878,784,801,649,629,651,0.430944432407,-0.00556460657987,0.0799787761214,0.999999992019,-0.000110624765806,-2.56748662976e-05,-5.53622118557e-05,1793196465081513728
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743,712,675,660,633.117950472,878,784,801,649,629,651,0.431828336633,-0.00556821573107,0.0800183798453,0.999999991151,-0.000117565273106,3.35378809387e-05,-5.2447059745e-05,1793196465098180352
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.53737696,743,712,675,660.46262304,633,878.46262304,784,801,649,629,651,0.432649008872,-0.00555966727883,0.079987253067,0.999999992484,-0.000108089657021,-2.10600990158e-05,-5.3900796017e-05,1793196465114846976
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.042046535,743,712,675.042046535,660.957953465,633,879,784,801,649,629,650.957953465,0.433453476888,-0.00554865578564,0.0799384558801,0.999999988659,-9.51002568971e-05,-0.000102222794095,-5.64712242341e-05,1793196465131513856
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.619960515,743,712,675.619960515,660.380039485,633,879,784,801,649,629,650.380039485,0.43425509462,-0.00554541283822,0.0798922756157,0.99999998211,-9.02045769311e-05,-0.00015536376316,-5.92014908813e-05,1793196465148180736
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743.19700926,712,676,660.19700926,633,879.19700926,784,801,649,629,650.19700926,0.435069727103,-0.00554804735724,0.0798750206187,0.999999979549,-9.19252371447e-05,-0.00016962415958,-6.06613105829e-05,1793196465164847360
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743.772396328,712,676,660.772396328,633,879.772396328,784,801,649,629,650.772396328,0.435909355976,-0.00556197019218,0.07991331975,0.9999999866,-0.000106353300871,-0.000109210177855,-5.96810987129e-05,1793196465181513984
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744,712,675.644332943,661,633,879.644332943,784,801.355667057,649.355667057,629.355667057,650.644332943,0.436715813592,-0.00557046248186,0.0799474058754,0.999999989036,-0.000118825424153,-6.67728537089e-05,-5.78753537415e-05,1793196465198180608
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744,712,675.055902861,661,633,879.055902861,784,801.944097139,649.944097139,629.944097139,650.055902861,0.437500562533,-0.00557540080043,0.0799787348357,0.999999989354,-0.000130017499475,-3.61001910736e-05,-5.55293463575e-05,1793196465214846976
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.475547955,743.475547955,712,675.524452045,660.475547955,633,879,784,801.475547955,649.475547955,630,650,0.438297620914,-0.00558075480221,0.0799979620444,0.999999990024,-0.00013000355296,5.26187667097e-08,-5.52396836611e-05,1793196465231513600
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.103253445,743.103253445,712,676,660.103253445,633,879,784,801,649.103253445,630,650.103253445,0.439077036367,-0.00558637557047,0.0800091075915,0.999999989492,-0.000131561618569,2.50528482044e-05,-5.55029868748e-05,1793196465248180224
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+185,3.083333333,POSE1_TO_POSE2_PRESS,764.7458296,743.7458296,712,676,661,633,879.2541704,784,801,650,630,651,0.440414772559,-0.00559624244952,0.0799469193483,0.99999998487,-0.000148775824777,-6.86942030248e-05,-5.83726441972e-05,1793196465281513984
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.170774093,743.170774093,712,676,661,633,879.829225907,784,801,650,630,651,0.440999284569,-0.00559515523771,0.0798767600489,0.999999972612,-0.000137914309962,-0.000179814232157,-5.85015262927e-05,1793196465298180864
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764.677536112,743.322463888,712,677,659.677536112,632.677536112,879.322463888,783.677536112,801.322463888,649,629.677536112,650.322463888,0.444542812905,-0.00555751830415,0.0798981168879,0.999999981447,-0.00010649589968,-0.000148151334118,-6.1766846117e-05,1793196465398180608
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.665464415,743,712,674,659.665464415,634,877.66907117,784,800.334535585,649,630,651,0.403318692609,-0.00541309798427,0.0798252811979,0.999999937338,0.000189316939535,-0.000296890246699,3.65945896685e-05,1793196468452290560
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.755162863,743,712,673.755162863,659.755162863,633.755162863,877.244837137,784,800.244837137,649,629.755162863,651,0.403072224123,-0.00541434346316,0.0798288916597,0.9999999381,0.000191232763849,-0.000293022757267,3.69776898157e-05,1793196468468957440
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.163833709,743,712,673.163833709,659.163833709,633.163833709,877.836166291,784,800.836166291,649,629.163833709,651,0.402838629659,-0.00541493405403,0.0798348130291,0.99999993925,0.000190603772339,-0.000289380027976,3.78042338855e-05,1793196468485624320
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.418913831,743,712,673,659.418913831,633,878,784,801,649,629.418913831,651,0.402631860681,-0.00541437703542,0.0798390121185,0.999999941026,0.000189334109051,-0.00028403204777,3.77807044113e-05,1793196468502290944
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.998372532,743,712,673,659.998372532,633,878,784,801,649,629.998372532,651,0.40243537233,-0.00541338020602,0.0798425511597,0.999999943011,0.000187818914207,-0.000278030545916,3.7431392053e-05,1793196468518957568
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,743,712.617690948,674,659,633,877.617690948,784,800.617690948,649,629.617690948,651,0.401196249964,-0.00542456689823,0.0798268016114,0.99999993411,0.000211483000928,-0.00029342249861,3.0953540602e-05,1793196468702291456
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+410,6.833333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,634,877.139885452,784,800.860114548,649,629.860114548,651,0.400965041444,-0.00542923786381,0.079829997924,0.999999939418,0.000191723161226,-0.000288679746113,3.27202185578e-05,1793196469068957696
+411,6.850000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,634,877.712340685,784,800.287659315,649,629.287659315,651,0.400964156473,-0.00542909490988,0.0798292799356,0.999999938845,0.000193352039683,-0.000289597626197,3.25222877866e-05,1793196469085624320
+412,6.866666667,POSE2_TO_POSE3_RETREAT,764.29468356,743,712,674,659.29468356,633.70531644,877.70531644,784.29468356,800,649,629.29468356,651,0.40096388798,-0.00542875833686,0.079829388308,0.999999938689,0.000194141543572,-0.000289608624791,3.25124434785e-05,1793196469102290944
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+414,6.900000000,POSE2_TO_POSE3_RETREAT,764.531881802,743,712,674,659.531881802,633.468118198,877,785,800,649.468118198,630,651,0.40096459748,-0.00542899777721,0.0798305177495,0.999999939468,0.000192846267839,-0.000287783840242,3.24740343393e-05,1793196469135623680
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+418,6.966666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,659.21143372,633,877,784,800.21143372,649,629.21143372,651,0.400963951453,-0.00542839572691,0.0798297792637,0.99999993915,0.000193418064324,-0.00028849170488,3.26023146899e-05,1793196469202290944
+419,6.983333333,POSE2_TO_POSE3_RETREAT,764,742.627624164,712,674,659.372375836,633,877.372375836,784,800,649,629.372375836,651,0.40096466123,-0.00542846367851,0.0798303801908,0.999999939646,0.000193022042224,-0.000287049552011,3.24625638233e-05,1793196469218957568
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+422,7.033333333,POSE2_TO_POSE3_RETREAT,764.896088434,743,712.896088434,674,659,633,877.896088434,784,800,649,629.896088434,651,0.400964006625,-0.0054307075157,0.0798300248803,0.99999994031,0.000188806670151,-0.000287563534088,3.22516262245e-05,1793196469268957440
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ef513bd5b9fd83e1dd0c82633bdba362fee56a22
--- /dev/null
+++ b/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
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+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
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b6d3480f9af77cfc88b6b1c891dc90ddd76aceff
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5d1bfe801ad1cc8f75b6dbe300170612c71726c1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_04/franka_data.csv
@@ -0,0 +1,429 @@
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+21,0.350000000,BASELINE,764.823254994,742.823254994,712,673.823254994,659,633.823254994,878.646509988,784,800.176745006,649,630,650.823254994,0.400965057405,-0.00542865159228,0.0798333744984,0.999999940682,0.000194548560947,-0.000282478410239,3.15064592078e-05,1793196469787942144
+22,0.366666667,BASELINE,764.235304968,742.235304968,712,673.235304968,659,633.235304968,877.470609937,784,800.764695032,649,630,650.235304968,0.400965472837,-0.00542946697452,0.0798329561514,0.999999941104,0.000191789549563,-0.00028287071996,3.15138902149e-05,1793196469804609024
+23,0.383333333,BASELINE,764,742.347748005,712,673.347748005,659.347748005,633,877,784,801,649,630,650.347748005,0.400965676261,-0.00542999526277,0.0798328169201,0.999999941334,0.000190672654961,-0.00028279759491,3.16483342829e-05,1793196469821275904
+24,0.400000000,BASELINE,764,742.927533443,712,673.927533443,659.927533443,633,877,784,801,649,630,650.927533443,0.400965738222,-0.00543033198549,0.0798328639309,0.999999941439,0.000190651474675,-0.000282413905099,3.18675287579e-05,1793196469837942528
+25,0.416666667,BASELINE,764,743,712,674,660,633,877,784,800.495005887,649,629.495005887,651,0.40096570662,-0.00542902710455,0.0798333637663,0.999999941356,0.000191782134985,-0.00028191802371,3.20956008967e-05,1793196469854608896
+26,0.433333333,BASELINE,764.081796031,743,712,674.081796031,660,633.081796031,877,784,800,649,629.081796031,651,0.400965646515,-0.00542790971575,0.0798337975856,0.99999994131,0.000192618863534,-0.000281496274543,3.2229176004e-05,1793196469871275264
+27,0.450000000,BASELINE,764.656629104,743,712,674.656629104,660,633.656629104,877,784,800,649,629.656629104,651,0.400965495166,-0.00542933588474,0.0798334436018,0.999999941659,0.000190692141254,-0.000281617964636,3.17855134265e-05,1793196469887942144
+28,0.466666667,BASELINE,765,743,712,675,660,633.762626114,877,784.237373886,800.237373886,649,630,651,0.400965468365,-0.00543027498688,0.0798334760217,0.999999941894,0.000189487751274,-0.000281608946815,3.16599152287e-05,1793196469904609024
+29,0.483333333,BASELINE,765,743,712,675,660,633.17311143,877,784.82688857,800.82688857,649,630,651,0.400965626329,-0.00543049153216,0.0798340816661,0.999999941965,0.000189354931148,-0.000281406025645,3.20061610599e-05,1793196469921275392
+30,0.500000000,BASELINE,765,743,712,674.591022873,660,633,877,784.591022873,801,649,630,650.591022873,0.400965154206,-0.00542984413872,0.0798332501573,0.999999941435,0.000190806699989,-0.000282324334659,3.18736791445e-05,1793196469937942272
+31,0.516666667,BASELINE,765,743,712,674.012021595,660,633,877,784.012021595,801,649,630,650.012021595,0.400964420137,-0.00542883757984,0.0798318211806,0.999999940649,0.000192917230347,-0.000283708772943,3.154217563e-05,1793196469954609408
+32,0.533333333,BASELINE,765,743,712,674,659.435107349,633.564892651,877,784,800.435107349,649,629.435107349,650.564892651,0.400965938414,-0.00542926114476,0.0798332294244,0.99999994145,0.000192121998634,-0.000281402530153,3.16387297861e-05,1793196469971276032
+33,0.550000000,BASELINE,764.858895863,743,712.141104137,674,659,634,877,784,800.141104137,649,629.141104137,650.858895863,0.400966906489,-0.00542943640995,0.0798341232578,0.999999941927,0.000191602882656,-0.000280049345287,3.17165687783e-05,1793196469987942656
+34,0.566666667,BASELINE,764.284705622,743,712.715294378,674,659,634,877,784,800.715294378,649,629.715294378,650.284705622,0.400966039274,-0.00542875650868,0.0798332535899,0.999999941319,0.000192120338398,-0.000281861528309,3.17091091291e-05,1793196470004609024
+35,0.583333333,BASELINE,764.297899397,743,712.702100603,674,659.297899397,634,877,784,801,649,630,650,0.400965410734,-0.00542907005972,0.0798328886604,0.999999941176,0.000191526382365,-0.00028276832438,3.17379442064e-05,1793196470021275648
+36,0.600000000,BASELINE,764.888780348,743,712.111219652,674,659.888780348,634,877,784,801,649,630,650,0.400965016928,-0.00543036066268,0.0798330201367,0.999999941491,0.000189839362247,-0.000282784680206,3.18024748415e-05,1793196470037942016
+37,0.616666667,BASELINE,764.531228165,743,712,674,660,633.531228165,877.468771835,784,800.531228165,649,629.531228165,650.468771835,0.400965679291,-0.00543057483716,0.0798334203316,0.999999941776,0.000189398194287,-0.000282078625882,3.17525099753e-05,1793196470054608640
+38,0.633333333,BASELINE,764.046109982,743,712,673.953890018,660,633,877.953890018,784,800.046109982,649,629.046109982,651,0.400966458134,-0.00543041953747,0.0798338252024,0.999999941969,0.000189532697024,-0.000281311964881,3.16667784218e-05,1793196470071275520
+39,0.650000000,BASELINE,764.621973551,743,712,673.378026449,660,633,877.378026449,784,800.621973551,649,629.621973551,651,0.400965761631,-0.00542888693105,0.0798335679417,0.999999941189,0.000192962144503,-0.000281773461711,3.14751365469e-05,1793196470087942400
+40,0.666666667,BASELINE,764.797930537,743,712,673.202069463,659.797930537,633.202069463,877,784,801,649,630,651,0.400965674758,-0.00542815360057,0.0798335908696,0.999999940864,0.000195010325224,-0.00028152365514,3.14381965827e-05,1793196470104609024
+41,0.683333333,BASELINE,764.209747511,743,712,673.790252489,659.209747511,633.790252489,877,784,801,649,630,651,0.400966752767,-0.0054289475236,0.0798341491812,0.999999941422,0.000194419186468,-0.000279914692711,3.16968604538e-05,1793196470121275904
+42,0.700000000,BASELINE,764.372695968,743,712,674,659.372695968,633.627304032,877,784,800.627304032,649,630,651,0.400966616882,-0.00542928138794,0.07983427588,0.99999994151,0.000194517007122,-0.000279489419112,3.20864739183e-05,1793196470137942528
+43,0.716666667,BASELINE,764.951958289,743,712,674,659.951958289,633.048041711,877,784,800.048041711,649,630,651,0.400965808196,-0.00542936026522,0.079834163358,0.999999941337,0.000194996682833,-0.000279720203869,3.25486660501e-05,1793196470154608896
+44,0.733333333,BASELINE,765,743,712,674,659.471483357,633,877,784,800,649,630,650.471483357,0.400965487273,-0.005430148085,0.0798337834345,0.99999994185,0.000191020728924,-0.000280704769082,3.18631727964e-05,1793196470171275520
+45,0.750000000,BASELINE,764.896014439,742.896014439,712,673.896014439,659,633,877,784,800,649,630,650.103985561,0.400965472416,-0.00543082482704,0.0798336211655,0.999999942279,0.000187905765203,-0.000281338302761,3.13409765727e-05,1793196470187941888
+46,0.766666667,BASELINE,764.324345683,742.324345683,712,673.324345683,659,633,877,784,800,649,630,650.675654317,0.400966635726,-0.00543071362914,0.0798345465787,0.999999942123,0.000190475478753,-0.000280086447908,3.2020037089e-05,1793196470204608768
+47,0.783333333,BASELINE,764.256736899,742.256736899,712,673.256736899,659.256736899,633,877.256736899,784,800,649,630,650.743263101,0.400967226894,-0.00543051253573,0.0798350326323,0.999999942117,0.00019132055572,-0.000279497474926,3.23016047951e-05,1793196470221275648
+48,0.800000000,BASELINE,764.850165093,742.850165093,712,673.850165093,659.850165093,633,877.850165093,784,800,649,630,650.149834907,0.400967067739,-0.00543019355105,0.0798349424988,0.999999942316,0.000189903900802,-0.000279777821903,3.20618904232e-05,1793196470237942784
+49,0.816666667,BASELINE,764.566749793,742.566749793,712,674,659.566749793,633,877.566749793,784,800,649,629.566749793,650.433250207,0.400966222949,-0.00542979974213,0.0798340519982,0.999999942041,0.000189425591221,-0.000281132920164,3.16198473112e-05,1793196470254609408
+50,0.833333333,BASELINE,764,742.01271767,712,674.01271767,659.01271767,633,877.01271767,784,800,649,629.01271767,651,0.400965182923,-0.00542937730689,0.0798329295038,0.999999941611,0.000189325007687,-0.000282780391376,3.11332925297e-05,1793196470271275520
+51,0.850000000,BASELINE,764,742.586713543,712,674.586713543,659.586713543,633,877.586713543,784,800,649,629.586713543,651,0.40096574735,-0.00542880691117,0.0798334995557,0.999999941516,0.000191906697852,-0.000281309748327,3.1698443321e-05,1793196470287942144
+52,0.866666667,BASELINE,764,743,712,674.835291445,659.835291445,633,877.835291445,784,800,649,629.835291445,651,0.400966039367,-0.00542886157114,0.0798337781753,0.999999941576,0.00019278919778,-0.000280451954362,3.20467230118e-05,1793196470304608768
+53,0.883333333,BASELINE,764,743,712,674.247012129,659.247012129,633,877.247012129,784,800,649,629.247012129,651,0.400965630841,-0.00543052364806,0.0798333073363,0.999999942047,0.000189301995583,-0.000281170186407,3.18372887319e-05,1793196470321275392
+54,0.900000000,BASELINE,764.335996454,743,712,674,659.335996454,633,877,784,800.335996454,649,629.335996454,651,0.400965057854,-0.00543109368857,0.0798330636422,0.999999942104,0.000188352262396,-0.000281601565622,3.1867378157e-05,1793196470337942016
+55,0.916666667,BASELINE,764.91519001,743,712,674,659.91519001,633,877,784,800.91519001,649,629.91519001,651,0.400964365828,-0.00543087330372,0.0798329843575,0.999999941867,0.000189239171103,-0.000281825318279,3.20708368945e-05,1793196470354608640
+56,0.933333333,BASELINE,765,743,712,674,659.511310093,633,877,784,800.511310093,649,629.511310093,651,0.400964147804,-0.0054303305058,0.0798329093209,0.999999941646,0.00019028354667,-0.000281927276647,3.18978436799e-05,1793196470371275520
+57,0.950000000,BASELINE,764.938305596,743,712,674,659.061694404,633,877,784,800,649,629.061694404,650.938305596,0.400964161395,-0.00542974798975,0.0798329463901,0.999999941473,0.000191277688476,-0.000281888762481,3.16992332324e-05,1793196470387942656
+58,0.966666667,BASELINE,764.361280923,743,712,674,659.638719077,633,877,784,800,649,629.638719077,650.361280923,0.400965430453,-0.00542929570363,0.0798339137854,0.999999941694,0.000191626591668,-0.00028085141005,3.18260701395e-05,1793196470404609280
+59,0.983333333,BASELINE,764,742.778543599,712,673.778543599,659.778543599,633,877.221456401,784,800,649,629.778543599,650,0.400966761543,-0.00542906617074,0.0798348923693,0.999999941864,0.000192484485074,-0.000279641847392,3.19632278369e-05,1793196470421275648
+60,1.000000000,BASELINE,764,742.18623987,712,673.18623987,659.18623987,633,877.81376013,784,800,649,629.18623987,650,0.40096819651,-0.00542920965673,0.0798358896899,0.999999941946,0.00019419472536,-0.00027814390409,3.2117668584e-05,1793196470437942272
+61,1.016666667,BASELINE,764.397328972,742.397328972,712,673.397328972,659,633,877.602671028,784,800,649,629.397328972,650.397328972,0.400966569051,-0.00542894123862,0.0798349649871,0.999999941692,0.000193664397426,-0.000279449803243,3.18943462453e-05,1793196470454608896
+62,1.033333333,BASELINE,764.976891552,742.976891552,712,673.976891552,659,633,877.023108448,784,800,649,629.976891552,650.976891552,0.400963537021,-0.00542848390207,0.0798331587546,0.999999941278,0.000192106440246,-0.000282041675475,3.14977641173e-05,1793196470471275520
+63,1.050000000,BASELINE,765,743,712,674,659,633,877,784,800,649,630,651,0.400965678274,-0.00542972064469,0.0798346349733,0.999999942402,0.000189984827264,-0.000279452995189,3.17404074852e-05,1793196470487942144
+64,1.066666667,BASELINE,765,743,712,674,659.126388193,633,877,784.126388193,800.252776385,649,629.873611807,650.873611807,0.400967535093,-0.00543080479402,0.0798358057848,0.999999943219,0.000188663401989,-0.000277391024706,3.19600487618e-05,1793196470504608768
+65,1.083333333,BASELINE,765,743,712,674,659.694121298,633,877,784.694121298,801.388242597,649,629.305878702,650.305878702,0.400967648475,-0.00543111042373,0.0798354341156,0.999999942777,0.000190217954052,-0.000277919571932,3.20066699009e-05,1793196470521275648
+66,1.100000000,BASELINE,764.72374663,743,712.27625337,674,660,633,877,784.72374663,801.447493261,649,629.27625337,650.27625337,0.400967730646,-0.00543131097159,0.0798352442693,0.999999942811,0.000189764800056,-0.000278115874989,3.19323443801e-05,1793196470537942528
+67,1.116666667,BASELINE,764.124794808,743,712.875205192,674,660,633,877,784.124794808,800.249589616,649,629.875205192,650.875205192,0.400967776357,-0.00543138877071,0.079835266815,0.999999943398,0.000186966394417,-0.000277924075302,3.17167380454e-05,1793196470554609152
+68,1.133333333,BASELINE,764,742.540706598,712.540706598,673.540706598,659.540706598,633,877,784,800.459293402,649,630,651,0.400968135686,-0.00542924982692,0.0798356454949,0.999999942823,0.000191020986343,-0.000277267615052,3.14151592511e-05,1793196470571275520
+69,1.150000000,BASELINE,764.038931265,742.038931265,712,673.038931265,659,633,877,784,800.961068735,649,630,650.961068735,0.400968429363,-0.0054268071779,0.0798360173959,0.999999941989,0.000196250883385,-0.000276654817673,3.11450560253e-05,1793196470587941888
+70,1.166666667,BASELINE,764.611193532,742.611193532,712,673.611193532,659,633,877,784,800.388806468,649,630,650.388806468,0.400966692884,-0.00542819658158,0.0798350123681,0.99999994217,0.000192872739739,-0.000278315533181,3.16161251602e-05,1793196470604608512
+71,1.183333333,BASELINE,764.811110443,743,712,674,659,633,877.188889557,784,800.377779113,649,630,650.188889557,0.400965436271,-0.00542963264892,0.0798341556126,0.999999942282,0.000190228285502,-0.000279703584024,3.18719600599e-05,1793196470621275136
+72,1.200000000,BASELINE,764.221898293,743,712,674,659,633,877.778101707,784,801.556203414,649,630,650.778101707,0.400965196662,-0.00543116761303,0.0798336130976,0.999999942268,0.000189138773388,-0.000280513764029,3.16716389284e-05,1793196470637942016
+73,1.216666667,BASELINE,764,742.636677718,712,674,659.363322282,633,877.636677718,784,801.273355435,649,629.636677718,650.636677718,0.400965715504,-0.00543072367908,0.0798339129034,0.999999942194,0.000190049056139,-0.000280166726936,3.16377829028e-05,1793196470654609152
+74,1.233333333,BASELINE,764,742.053868531,712,674,659.946131469,633,877.053868531,784,800.107737062,649,629.053868531,650.053868531,0.400966692534,-0.0054290842714,0.0798347215643,0.999999942079,0.000192167436571,-0.000279120602478,3.17044902528e-05,1793196470671276288
+75,1.250000000,BASELINE,764.520679301,742.520679301,712,673.479320699,660,633,877,784,800,649,629,650.520679301,0.400967454247,-0.00542914435616,0.079835106265,0.99999994248,0.000191435455462,-0.000278183011689,3.17325394101e-05,1793196470687942912
+76,1.266666667,BASELINE,765,743,712,673.094209292,659.905790708,633,877,784,800.094209292,649,629,651,0.400967849242,-0.00542965373298,0.0798352817133,0.999999942846,0.000190318718647,-0.000277631153616,3.17365875589e-05,1793196470704609536
+77,1.283333333,BASELINE,765,743,712,673.666843015,659.333156985,633,877,784,800.666843015,649,629,651,0.400966493288,-0.00543156580049,0.0798346137795,0.999999942776,0.000188722241884,-0.000278982035463,3.16387445564e-05,1793196470721275904
+78,1.300000000,BASELINE,764.752440956,743,712,674,659,633,877.247559044,784,800.752440956,649,629,650.752440956,0.400965451964,-0.00543260627706,0.0798338489555,0.999999942612,0.000187672073681,-0.000280274897133,3.16369392837e-05,1793196470737942528
+79,1.316666667,BASELINE,764.160480975,743,712,674,659,633,877.839519025,784,800.160480975,649,629,650.160480975,0.400964848349,-0.00543243420742,0.0798329493392,0.999999942322,0.000187381923008,-0.000281487041771,3.17687404655e-05,1793196470754609152
+80,1.333333333,BASELINE,764,743,712,674,659,633,878,784,800.422514522,649,629,650.422514522,0.400964901518,-0.00543196427254,0.0798330485858,0.999999942247,0.000187894429304,-0.000281399699721,3.18799628935e-05,1793196470771275776
+81,1.350000000,BASELINE,764,743,712,674,659,633,878,784,801,649,629.002154464,650.997845536,0.400965201543,-0.0054313811576,0.079833520356,0.999999942251,0.00018870877413,-0.000280826054536,3.19837319784e-05,1793196470787941888
+82,1.366666667,BASELINE,764,743,712,674,659,633,878,784,801,649,629.576108945,650.423891055,0.400966185684,-0.00543016258634,0.079834261305,0.999999942308,0.000190400119864,-0.000279460972486,3.21407279294e-05,1793196470804608768
+83,1.383333333,BASELINE,764.153771183,743,712,674,659.307542366,633,877.846228817,784,800.846228817,648.846228817,629.846228817,650.153771183,0.40096635161,-0.00542969211805,0.07983461344,0.999999942292,0.000191105330946,-0.00027903339702,3.21724396206e-05,1793196470821275648
+84,1.400000000,BASELINE,764.741907025,743,712,674,660.483814049,633,877.258092975,784,800.258092975,648.258092975,629.258092975,650.741907025,0.400964206289,-0.00543133485095,0.0798338672739,0.999999942076,0.000189024961698,-0.000281254039983,3.18502550352e-05,1793196470837942784
+85,1.416666667,BASELINE,764.674732455,743,712,674,660.349464911,633,877.325267545,784,800,648.325267545,629.325267545,650.674732455,0.400963728751,-0.00543118557746,0.0798335945149,0.999999941966,0.000189056372377,-0.000281650774135,3.16119664208e-05,1793196470854609152
+86,1.433333333,BASELINE,764.095106263,743,712,674,659.190212527,633,877.904893737,784,800,648.904893737,629.904893737,650.095106263,0.400964555415,-0.00542963495804,0.0798336919595,0.999999941941,0.000190739191362,-0.000280621214678,3.14392843275e-05,1793196470871275264
+87,1.450000000,BASELINE,764.482458394,743,712,674.482458394,659.482458394,633,878,784,800,649,630,650.482458394,0.400966250822,-0.00542918015042,0.0798346160914,0.99999994243,0.000190693220152,-0.000278918715199,3.13251651673e-05,1793196470887942144
+88,1.466666667,BASELINE,765,743,712,674.882102223,659.941051111,633,877.941051111,784,800,649,630,651,0.400967856043,-0.00542912041126,0.0798355567459,0.999999942907,0.00019046426883,-0.000277363299439,3.12856663624e-05,1793196470904608768
+89,1.483333333,BASELINE,765,743,712,673.740744999,659.3703725,633,877.3703725,784,800,649,630,651,0.400967198059,-0.00543062299115,0.0798352321804,0.999999942434,0.00019159269484,-0.000278231374509,3.17941501869e-05,1793196470921275392
+90,1.500000000,BASELINE,765,743,712,673.208264705,659.208264705,633,877,784,800.208264705,649,629.791735295,651,0.400966708113,-0.00543123094897,0.0798349306512,0.999999942233,0.000191768675952,-0.000278808604937,3.20092185306e-05,1793196470937942272
+91,1.516666667,BASELINE,765,743,712,673.801617539,659.801617539,633,877,784,800.801617539,649,629.198382461,651,0.400966528872,-0.00543018472168,0.0798346717172,0.999999942535,0.000190183555725,-0.000278848054185,3.16817521675e-05,1793196470954609152
+92,1.533333333,BASELINE,764.61428557,742.61428557,712.38571443,674,660,633.38571443,877.38571443,784,801,649,629,651,0.400966581921,-0.00542985367316,0.0798346419952,0.999999942494,0.000190537060718,-0.000278758196968,3.16423752885e-05,1793196470971276032
+93,1.550000000,BASELINE,764.034837627,742.034837627,712.965162373,674,660,633.965162373,877.965162373,784,801,649,629,651,0.400966751642,-0.00542988183872,0.0798347274,0.99999994228,0.000191864282515,-0.000278603392751,3.17476976284e-05,1793196470987942912
+94,1.566666667,BASELINE,764,742.541202472,712.458797528,674,660,633.458797528,877.458797528,784,801,649,629.541202472,650.458797528,0.400966935539,-0.00543127473698,0.0798351572976,0.999999942609,0.000190489341235,-0.00027836558105,3.17465219021e-05,1793196471004609024
+95,1.583333333,BASELINE,764.117207959,743,712,674,659.882792041,633,877,784.117207959,800.882792041,649,630,650.117207959,0.400966723072,-0.00543207941921,0.0798351494513,0.999999942736,0.000189373491353,-0.000278680346391,3.16578963323e-05,1793196471021275392
+96,1.600000000,BASELINE,764.693932568,743,712,674,659.306067432,633,877,784.693932568,800.306067432,649,630,650.693932568,0.400964953093,-0.00543023572798,0.0798333390245,0.999999941939,0.000189951085349,-0.000281182320655,3.1253129968e-05,1793196471037942016
+97,1.616666667,BASELINE,764.721866663,743,712,673.721866663,659.278133337,633,877,784.721866663,800,649,629.721866663,651,0.400964702737,-0.00542988683642,0.0798329978803,0.999999941821,0.000190144798779,-0.000281473153002,3.12479699289e-05,1793196471054608640
+98,1.633333333,BASELINE,764.129211657,743,712,673.129211657,659.870788343,633,877,784.129211657,800,649,629.129211657,651,0.400966170818,-0.00543122831007,0.0798343182459,0.999999942472,0.000189904408313,-0.000279263558417,3.16946969463e-05,1793196471071275264
+99,1.650000000,BASELINE,764.450138606,743,712,673.450138606,660,633.450138606,877,784.450138606,800,649,629,651,0.400964640533,-0.00543025567334,0.0798336829627,0.999999941937,0.000190755579381,-0.000280585728486,3.177057349e-05,1793196471087942144
+100,1.666666667,BASELINE,765,743,712,674,659.974268278,633.974268278,877,784.974268278,800,649,629.025731722,651,0.400962496886,-0.00542873840596,0.0798326135063,0.999999941145,0.000191823579596,-0.000282677372345,3.17457205379e-05,1793196471104609024
+101,1.683333333,BASELINE,765,743,712,674,659.39969199,633.39969199,877,784.39969199,800,649,629.60030801,651,0.400965101309,-0.00542936606531,0.07983391327,0.999999942,0.000191025104357,-0.000280178696465,3.17777434847e-05,1793196471121275648
+102,1.700000000,BASELINE,765,743,712,674,659,633,877,784,800.180004065,649,629.819995935,651,0.400967058879,-0.00542997718004,0.0798350863345,0.999999942693,0.000190329202897,-0.000278159983114,3.18861777539e-05,1793196471137942784
+103,1.716666667,BASELINE,765,743,712,674,659,633,877,784,800.771401091,649,629.228598909,651,0.400967538086,-0.00543055048254,0.0798359698319,0.999999943027,0.000189867730318,-0.000277238207594,3.21692474096e-05,1793196471154609152
+104,1.733333333,BASELINE,765,743,712,674,659,633,877,784,800.644737241,649,629.355262759,650.644737241,0.400967328249,-0.00543101228264,0.0798357474986,0.999999943029,0.000189545303963,-0.000277465351332,3.20603800328e-05,1793196471171275776
+105,1.750000000,BASELINE,765,743,712,674,659,633,877,784,800.065623542,649,629.934376458,650.065623542,0.400966684246,-0.00543140382517,0.0798348283819,0.99999994282,0.00018931049054,-0.000278416428606,3.17045532958e-05,1793196471187942400
+106,1.766666667,BASELINE,765,743,712,674,659.507766504,633.507766504,877,784,800,649,629.492233496,650.507766504,0.400966524019,-0.00542864144983,0.0798346276862,0.999999942214,0.000192488382339,-0.000278459973704,3.1297856024e-05,1793196471204608768
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,743,712,674,660,634,877,785,799,649,629,651,0.400967860197,-0.00543063911572,0.0798347057145,0.999999942675,0.000191145639039,-0.000277687862974,3.1669966458e-05,1793196471247191808
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.421255793,743,712,674,660,633.421255793,877,784.421255793,800.157488415,649,629.578744207,651,0.400968501801,-0.00542931201706,0.079836032422,0.999999942832,0.000193300373681,-0.000275596212724,3.18866464817e-05,1793196471263858688
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.842844524,743,712,674,660,633.157155476,877.157155476,784,801,649,629.842844524,651,0.400968445478,-0.00542839580201,0.0798365577024,0.999999942775,0.000194411216858,-0.000275011808523,3.19943823188e-05,1793196471280525312
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.265323684,743,712,674,660,633.734676316,877.734676316,784,801,649,629.265323684,651,0.400966522315,-0.00542857863357,0.0798349392961,0.999999942152,0.000192729820459,-0.000278459042153,3.1810710206e-05,1793196471297191936
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633.690198916,877.690198916,784,800.690198916,649,629.309801084,650.690198916,0.40096551494,-0.00542955571872,0.0798341320801,0.999999941922,0.000191428323961,-0.000280166752332,3.19057903268e-05,1793196471313858304
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633.117110506,877.117110506,784,800.117110506,649,629.882889494,650.117110506,0.400965285855,-0.00543120780764,0.0798340142617,0.999999942034,0.000190449689019,-0.00028039611217,3.22377706296e-05,1793196471330524672
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633,877,784.470686394,800,649,630,650.470686394,0.400966918432,-0.00543132519053,0.0798351646907,0.99999994273,0.000189659212368,-0.000278484785044,3.18773655584e-05,1793196471347191296
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659.939010512,633,877,784.939010512,800.060989488,649,629.939010512,651,0.400969376009,-0.00543102158739,0.0798367878113,0.999999943584,0.000189081240638,-0.000275846181124,3.14378050018e-05,1793196471363857664
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659.359516607,633,877,784.359516607,800.640483393,649,629.359516607,651,0.400974782443,-0.00543048995801,0.0798396603438,0.999999944552,0.00018989904725,-0.000271698756688,3.18371118122e-05,1793196471380524544
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,743,712,674,659,633,877,784,801,649,629.218123699,651,0.400988627363,-0.00543040633768,0.0798456872239,0.999999947106,0.000190453422574,-0.000261681414703,3.22224550176e-05,1793196471397191424
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659,633,877,784,801,649,629.792734549,651,0.401016263595,-0.00543105491418,0.0798568693638,0.99999995201,0.000190577262854,-0.000242070662582,3.25849769705e-05,1793196471413858048
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659.367686111,633.367686111,877,784,800.632313889,649,629.632313889,651,0.401059105203,-0.00543189909496,0.0798707423328,0.999999958363,0.000190105424379,-0.000214687028419,3.23003798827e-05,1793196471430524672
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,743,712,674,659.942829966,633.942829966,877,784,800.057170034,649,629.057170034,651,0.401110526068,-0.00543285364064,0.0798861335361,0.999999964853,0.000189297488865,-0.000182917736912,3.16506619839e-05,1793196471447191296
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633.466711203,877,784,800.533288797,649,629.533288797,651,0.401176209635,-0.0054329098234,0.0798984221485,0.999999969015,0.000187841107069,-0.000160521643334,3.03134361844e-05,1793196471463857664
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.122343052,743,712,674,660,633,877,784,800.877656948,649,629.877656948,651,0.401246221629,-0.00543350380728,0.079909216436,0.999999972115,0.00018628354806,-0.000142289362718,2.86641354425e-05,1793196471480524288
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.699882324,743,712,674,660,633,877,784,800.300117676,649,629.300117676,651,0.401326481132,-0.00543646768291,0.079915724963,0.99999997341,0.00018461583285,-0.000135700009414,2.61360417363e-05,1793196471497190912
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,743,712,674,659.723399415,633,877,784.276600585,800.276600585,649,629.276600585,651,0.401418921925,-0.00543799376119,0.0799202237811,0.999999974631,0.000182639735669,-0.000129835840178,2.28672375984e-05,1793196471513857792
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,743,712,674,659.147569366,633,877,784.852430634,800.852430634,649,629.852430634,651,0.401524540562,-0.00543796441477,0.0799225484742,0.999999975782,0.000180330027684,-0.0001247561832,1.87971251669e-05,1793196471530524416
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743,712,674,659.43761195,633,877,784.56238805,800.56238805,649,629.56238805,650.56238805,0.401648423877,-0.00544004579236,0.079927220723,0.999999977812,0.000175112535694,-0.000116251045288,1.40756211524e-05,1793196471547191296
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.97437751,743,712,674,660,633,877,784,800,649,629,650.02562249,0.401779986312,-0.00544281542225,0.079932766824,0.999999980049,0.000168792191539,-0.000106437444525,9.08217379612e-06,1793196471563858176
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.394862811,743,712,674,660,633,877,784,800,649,629,650.605137189,0.40194149987,-0.00544474073006,0.0799397166613,0.999999982744,0.000160290805123,-9.38542975993e-05,3.06215864338e-06,1793196471580524544
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633.183284755,877,784,800,649,629,651,0.40211237614,-0.00544647940659,0.0799457075214,0.999999984887,0.000152646650142,-8.31511696559e-05,-3.43677881625e-06,1793196471597191168
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633.758508745,877,784,800,649,629,651,0.402303273771,-0.00544781898735,0.0799496476873,0.999999986236,0.000146835614579,-7.64683079018e-05,-1.09598511007e-05,1793196471613857792
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.333642145,743,712,674,659.666357855,634,877.333642145,784,800.66728429,649,629,651,0.402508336132,-0.00545030413484,0.079948685129,0.999999987058,0.000138303962592,-7.99943130168e-05,-1.89090769752e-05,1793196471630524416
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+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659.758013891,633.758013891,877,784,800.241986109,649,629.758013891,651,0.40382835779,-0.00548837816462,0.0799312624994,0.999999993923,2.31853253972e-05,-0.000105514602626,-2.19974160437e-05,1793196471713858048
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+138,2.300000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659.988950232,633.988950232,877.988950232,784,800.011049768,649,629,651,0.40495043954,-0.0054934676772,0.0799383390287,0.999999995309,3.04817025418e-05,-8.76435924409e-05,-2.77898282376e-05,1793196471763857920
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.568113864,743,712,674,660,633.431886136,877.431886136,784,800.568113864,649,629.568113864,651,0.405383459167,-0.00549836487834,0.0799398941629,0.999999995971,1.89290197934e-05,-8.26084176756e-05,-2.95905334218e-05,1793196471780524288
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633,877.294003564,784,800.852998218,649,629.852998218,650.852998218,0.405824669964,-0.00550268697535,0.0799384588145,0.999999995951,7.85986784465e-06,-8.38362203784e-05,-3.17550130078e-05,1793196471797191168
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633,878.451141317,784,800.274429341,649,629.274429341,650.274429341,0.406287814336,-0.00550445579707,0.0799282110309,0.999999994047,-3.5697775097e-07,-0.000103377515656,-3.49262216893e-05,1793196471813858048
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633,878.699199856,784,800,649,629,650.300800144,0.406768521421,-0.00550380894485,0.0799210576719,0.999999992371,-1.25354584896e-06,-0.000117591566532,-3.77939332786e-05,1793196471830524672
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633,878.126983485,784,800,649,629,650.873016515,0.407265075646,-0.00550098239604,0.0799166964548,0.99999999111,4.45507510985e-06,-0.000126998771633,-4.03877955156e-05,1793196471847191552
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.080877817,743,712.459561091,674,660,633.459561091,877.540438909,784,800,649,629.459561091,651,0.407797028792,-0.00550500664583,0.0799125875151,0.999999989667,-4.39428912954e-06,-0.000137612082602,-4.13521037429e-05,1793196471863858176
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.049231205,743,712.950768795,674.049231205,660,633.950768795,877,784,800,649,629.950768795,651,0.408344349766,-0.0055102939786,0.0799088277616,0.999999988084,-1.65753287894e-05,-0.000147618266864,-4.20288995895e-05,1793196471880524800
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.628554636,743,712.371445364,674.628554636,660,633.371445364,877,784,800,649,629.371445364,651,0.408948434824,-0.00550814306503,0.0799080531044,0.999999987945,-1.99232072334e-05,-0.000147383405627,-4.46141926891e-05,1793196471897191168
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.206163628,743,712,674.793836372,660.206163628,633,877.206163628,784,800,649,629,651,0.409579947513,-0.00550939727539,0.0799197457214,0.999999990616,-2.50251135029e-05,-0.000126487404681,-4.62909898977e-05,1793196471913858048
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.780709155,743,712,674.219290845,660.780709155,633,877.780709155,784,800,649,629,651,0.410260469019,-0.0055167359055,0.0799537153919,0.999999996015,-3.32611906985e-05,-6.86732042712e-05,-4.63444479249e-05,1793196471930524928
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660.656323964,633,878,784,800.343676036,649,629,651,0.41093979119,-0.00552120035933,0.079969379644,0.999999997047,-4.17492410683e-05,-4.37513285025e-05,-4.74137207738e-05,1793196471947191552
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660.100504346,633,878,784,800.899495654,649,629,651,0.411618373013,-0.00552389064772,0.0799737443668,0.999999996759,-5.03928286256e-05,-3.91331562656e-05,-4.91100336083e-05,1793196471963857920
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.494542056,743,712,674,659.494542056,633,878,784,800.494542056,649,629,650.494542056,0.41230045812,-0.00552285870933,0.0799474195511,0.999999993961,-5.24980123008e-05,-8.1029918839e-05,-5.24996519023e-05,1793196471980524544
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,712,674,659.114455068,633,877.885544932,784,800,649,629,650.114455068,0.412994289734,-0.00552210930442,0.0799167534243,0.999999988882,-5.55084201549e-05,-0.000126432072585,-5.63014470521e-05,1793196471997191424
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659.691017335,633,877.308982665,784,800,649,629,650.691017335,0.413732424979,-0.00552581790418,0.0798959102998,0.999999985428,-6.80007249072e-05,-0.000144532469304,-6.02582953561e-05,1793196472013858304
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.734022089,712,674.265977911,659.734022089,633,877.265977911,784,800,649,629.265977911,651,0.414494334711,-0.00552925389143,0.0798967965233,0.999999985999,-7.69913561787e-05,-0.000134796423946,-6.24783624865e-05,1793196472030525184
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.160910963,712,674.839089037,659.160910963,633,877.839089037,784,800,649,629.839089037,651,0.415283697698,-0.00553237508476,0.0799227743185,0.999999990361,-8.19384944461e-05,-9.29167493366e-05,-6.26929132116e-05,1793196472047191296
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.413669876,712,675,659.413669876,633,878,784,800.413669876,649,629.586330124,650.586330124,0.416068409964,-0.00553606085012,0.0799317560505,0.999999990466,-8.3223795711e-05,-9.15660573014e-05,-6.12971754805e-05,1793196472063857920
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.988824413,712,675,659.988824413,633,878,784,800.988824413,649,629.011175587,650.011175587,0.416851306677,-0.00553996700775,0.0799341030133,0.99999998917,-8.30796222677e-05,-0.000106036701285,-5.92728280752e-05,1793196472080524544
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,712,675,660,633.58466465,878.58466465,784,801,649,629,650.58466465,0.417713451802,-0.00554330365607,0.0799372208567,0.999999990925,-8.9050754376e-05,-8.11199385722e-05,-6.03347305598e-05,1793196472097191168
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.174482879,743,712,675,660,633.825517121,878.825517121,784,801,649,629,650.825517121,0.418583088012,-0.00554716732045,0.0799470626302,0.99999999225,-9.61561559752e-05,-5.04329304619e-05,-6.09185758448e-05,1793196472113857792
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.749535019,743,712,675,660,633.250464981,878.250464981,784,801,649,629,650.250464981,0.419466316695,-0.00555226679031,0.0799723058047,0.999999992575,-0.000105587361964,-8.29067705851e-06,-6.02645219577e-05,1793196472130524928
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.678097241,743,712,674.678097241,660,633,878,784,801,649,629,650.321902759,0.420313793505,-0.00555590087238,0.0799673319624,0.999999992183,-0.000108470688259,-1.36516957019e-05,-6.06810102182e-05,1793196472147191552
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.107800921,743,712,674.107800921,660,633,878,784,801,649,629,650.892199079,0.421133682643,-0.00555840420004,0.0799390414117,0.999999990883,-0.000106301397696,-5.56682172606e-05,-6.1923573346e-05,1793196472163858176
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.483603193,743,712,674.483603193,660,633,878,784,801,649,629,650.516396807,0.422043423852,-0.00556310955947,0.0799525151831,0.999999991021,-0.000113605552485,-3.57698755218e-05,-6.14163416289e-05,1793196472180524544
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.922538831,743,712,675,660,633,878.077461169,784,801,649.077461169,629.077461169,650.077461169,0.422969771346,-0.00556654695867,0.0799755872102,0.999999990927,-0.000120492904408,-3.01429847952e-06,-6.01522681329e-05,1793196472197191168
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.34461393,743,712,675,660,633,878.65538607,784,801,649.65538607,629.65538607,650.65538607,0.423868098266,-0.00555847617829,0.0799977779833,0.999999992108,-0.000110421050958,1.95705214377e-05,-5.66334279579e-05,1793196472213857792
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.231900778,743,712,675,660.231900778,633,878.768099222,784,801,650,630,650.768099222,0.424734060672,-0.0055452567761,0.0799883246276,0.999999994095,-9.32435606854e-05,-8.29196946214e-06,-5.5204344124e-05,1793196472230524416
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.806332635,743,712,675,660.806332635,633,878.193667365,784,801,650,630,650.193667365,0.425552218922,-0.00552443255574,0.0799321310372,0.99999999011,-6.55706249978e-05,-0.000110668100071,-5.68619523084e-05,1793196472247191040
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743,712.378253271,675,660.621746729,633,878,784,801,649.621746729,629.621746729,650,0.426422576681,-0.00552968039654,0.0799014023986,0.99999998515,-7.38386325321e-05,-0.000143923950264,-5.94507044758e-05,1793196472263857664
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743,712.948896594,675,660.051103406,633,878,784,801,649.051103406,629.051103406,650,0.427319484502,-0.0055481892085,0.0798836259407,0.999999982922,-0.000100387197593,-0.000142023312455,-6.25130622581e-05,1793196472280524800
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.455042682,743,712.455042682,675.544957318,660,633,878,784,800.455042682,649,629,650,0.428220638731,-0.00555709389228,0.0798890369151,0.99999998066,-0.000111744337935,-0.000149730572145,-6.14400382268e-05,1793196472297191424
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,712.13815494,675.86184506,660,633,878.13815494,784,800.13815494,649,629,650.13815494,0.429126244339,-0.00556341251663,0.0799029811427,0.999999981042,-0.000117306399495,-0.000143522539944,-5.96316322463e-05,1793196472313857536
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,712.714347741,675.285652259,660,633,878.714347741,784,800.714347741,649,629,650.714347741,0.430044639236,-0.00556452696646,0.0799367496305,0.999999988354,-0.000109232201464,-9.01978666532e-05,-5.67813130693e-05,1793196472330524416
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.2902157,743,712.7097843,675,660,633.2902157,879,784,801,649,629.2902157,651,0.430961273741,-0.00556740836573,0.079973341437,0.999999991582,-0.00011268955782,-3.36396573329e-05,-5.48288487882e-05,1793196472347191040
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.86576425,743,712.13423575,675,660,633.86576425,879,784,801,649,629.86576425,651,0.431876177418,-0.00557202698563,0.0800127090582,0.999999990088,-0.000127484451706,2.60976809193e-05,-5.37591332154e-05,1793196472363857664
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743,712,675.451992878,660.451992878,633.548007122,879,784,801,649,629.548007122,651,0.432681616102,-0.00555929830823,0.0799854537244,0.999999992048,-0.000111164217084,-2.25779855519e-05,-5.51022528781e-05,1793196472380524544
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743,712,675.959202213,661,633,879,784,801.040797787,649,629.040797787,651,0.433458244521,-0.00554263529571,0.0799379585675,0.999999989339,-8.72010787181e-05,-0.000102182336834,-5.7245131732e-05,1793196472397190912
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743,712,675.379282236,661,633,879,784,801.620717764,649,629.620717764,651,0.434294153782,-0.00554370954591,0.0798907955125,0.999999982403,-8.73081814622e-05,-0.000154727275625,-6.02580304463e-05,1793196472413857536
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.801658813,743,712,675.198341187,660.801658813,633,879,784,801.801658813,649,630,651,0.435130623648,-0.00554937371934,0.0798728049651,0.999999979215,-9.30886209947e-05,-0.000170578469987,-6.16992789544e-05,1793196472430524160
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.228376654,743,712,675.771623346,660.228376654,633,879,784,801.228376654,649,630,651,0.435968153418,-0.00556371460955,0.0799099616457,0.999999985332,-0.000109593844781,-0.000117064413174,-6.01695060033e-05,1793196472447190784
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.354456971,743,712,676,660.354456971,633,879,784,801,649,629.645543029,650.645543029,0.43677916511,-0.00557083693439,0.0799433760908,0.999999988223,-0.000120444065014,-7.52787056885e-05,-5.81424908658e-05,1793196472463857664
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.943614994,743,712,676,660.943614994,633,879,784,801,649,629.056385006,650.056385006,0.437572618001,-0.00557317953886,0.0799743126401,0.999999989458,-0.000127549865662,-4.12588409668e-05,-5.57862306259e-05,1793196472480524288
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.476641439,743,712,676,661,633,879,784,801,649,629.523358561,650.523358561,0.438366693189,-0.00557988100741,0.0799931571652,0.999999990161,-0.000128760653347,-5.52982016476e-06,-5.53871588631e-05,1793196472497191168
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,712,676.101575877,660.898424123,633,879.101575877,784,801,649,629.898424123,651,0.439147886963,-0.00558663816941,0.0800038597359,0.999999989606,-0.000131697654913,1.8496798497e-05,-5.56856823253e-05,1793196472513857792
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,712,676.677319596,660.322680404,633,879.677319596,784,801,649,629.322680404,651,0.439868641354,-0.00559150185739,0.0799825286837,0.999999987618,-0.000145605198911,-1.2949131809e-05,-5.82737293199e-05,1793196472530524416
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.253029556,743.253029556,712,677,660.253029556,633,879.746970444,784,801.253029556,649,629.253029556,651,0.44053131586,-0.00559395140764,0.0799365359083,0.999999983813,-0.000147669567234,-8.40154098674e-05,-5.92406807775e-05,1793196472547191040
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.828696429,743.828696429,712,677,660.828696429,633,879.171303571,784,801.828696429,649,629.828696429,651,0.441119932806,-0.00559332269691,0.0798590970366,0.999999968111,-0.000134632731126,-0.000205601485418,-5.81405768433e-05,1793196472563857664
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.584943365,743.584943365,712,677,660.584943365,633,879,784,802,649,629.584943365,650.584943365,0.441720396694,-0.005594803372,0.0798141524506,0.999999951541,-0.000141972631975,-0.000269929714296,-6.24403700624e-05,1793196472580524544
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,712,677.005822778,660,633,879,783.994177222,802,649,629,650,0.442326559371,-0.00559713428875,0.0797838679707,0.999999937536,-0.000157687683591,-0.000308728911751,-6.89101756886e-05,1793196472597191168
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,712,677.58437131,660,633,879,783.41562869,802,649,629,650,0.442999599018,-0.00559519895257,0.0798415465966,0.999999962272,-0.000148104024695,-0.000222370675138,-6.3814008674e-05,1793196472613857792
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+191,3.183333333,POSE1_TO_POSE2_PRESS,764.736552301,743.736552301,712,676.526895397,660,632.263447699,879.736552301,783.736552301,801.263447699,649,629,650.736552301,0.444217570447,-0.00557463489466,0.0798979970824,0.999999979275,-0.000127535366875,-0.000147094690308,-5.95588036882e-05,1793196472647191040
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.681372228,743.681372228,712,676.318627772,660,632,880,783.681372228,801,649,629.318627772,651,0.444738488496,-0.00556707943032,0.0798872451534,0.999999976771,-0.000122069392322,-0.000166971390314,-6.06418712017e-05,1793196472663857920
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+255,4.250000000,HOLD_POSE2,764,743,711.481917617,678,657,630.518082383,879,781.481917617,801.481917617,649,629,650.518082383,0.450961602043,-0.00557407145467,0.0796893268216,0.999999882509,-0.000126534236324,-0.000464023151947,-6.04446223391e-05,1793196473730939136
+256,4.266666667,HOLD_POSE2,764,743,711.939490052,678,657,630,879,782,801.939490052,649,629,650,0.450962425074,-0.00557326790017,0.0796900955946,0.999999883025,-0.000124982123725,-0.000463364525204,-6.01849378425e-05,1793196473747606528
+257,4.283333333,HOLD_POSE2,764,743,711.364069963,678,657,630,879,782,801.364069963,649,629,650,0.45096130898,-0.00557444060514,0.0796892975072,0.999999882129,-0.000128111594394,-0.000464464087974,-6.00271794812e-05,1793196473764272896
+258,4.300000000,HOLD_POSE2,764,743,711,677.784273504,657,630,879,782,801,649,629,650.215726496,0.450960930649,-0.00557447748263,0.0796888258481,0.99999988187,-0.000128967714806,-0.000464776036896,-6.00837268552e-05,1793196473780939264
+259,4.316666667,HOLD_POSE2,764,743,711,677.19693841,657,630,879,782,801,649,629,650.80306159,0.450961823183,-0.00557255779341,0.0796889164914,0.99999988272,-0.000125907781384,-0.000463731248898,-6.05094354546e-05,1793196473797605632
+260,4.333333333,HOLD_POSE2,764,743.384958188,711,677.384958188,657,630,879,781.615041812,801,649,629,651,0.450962403028,-0.00557301750108,0.079689000762,0.999999882638,-0.000127494335997,-0.000463466480371,-6.05686601422e-05,1793196473814272512
+261,4.350000000,HOLD_POSE2,764,743.96411135,711,677.96411135,657,630,879,781.03588865,801,649,629,651,0.450962825134,-0.00557467751275,0.0796890818179,0.999999882077,-0.000131424845214,-0.000463595198277,-6.04430093772e-05,1793196473830938880
+262,4.366666667,HOLD_POSE2,764,744,711,678,657,630,879.542091424,781,801,649,629,650.457908576,0.450962900064,-0.00557504548754,0.0796895660279,0.999999882516,-0.00013090983119,-0.000462844310755,-6.0051640096e-05,1793196473847605504
+263,4.383333333,HOLD_POSE2,764,743.880419483,711,677.880419483,657,630,880,781.119580517,801,649,629,650.119580517,0.450962817351,-0.00557505864654,0.0796897070213,0.999999882797,-0.000129731426868,-0.000462598286923,-5.98132493186e-05,1793196473864272384
+264,4.400000000,HOLD_POSE2,764,743.304508118,711,677.304508118,657,630,880,781.695491882,801,649,629,650.695491882,0.450962220579,-0.00557404351092,0.0796884366334,0.999999882223,-0.000127142157247,-0.000464500616253,-6.02256256812e-05,1793196473880939520
+265,4.416666667,HOLD_POSE2,764,743,711.276586411,677.276586411,657,630,880,781.723413589,801,649,629,650.723413589,0.450962687667,-0.00557426184683,0.0796886553274,0.999999882256,-0.000127572295609,-0.000464295693878,-6.03586022606e-05,1793196473897606144
+266,4.433333333,HOLD_POSE2,764,743,711.863496294,677.863496294,657,630,880,781.136503706,801,649,629,650.136503706,0.450964348382,-0.00557586410894,0.0796905447365,0.999999882962,-0.000131390139123,-0.000461726484355,-6.01780988062e-05,1793196473914272512
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,744,712,678,657,630,880,782,802,650,629,651,0.450962427058,-0.00557305871469,0.0796892642248,0.999999881988,-0.000128478277593,-0.000464651336866,-6.01341434194e-05,1793196473946904576
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743.425211116,711.425211116,677.425211116,657,630,879.425211116,781.425211116,801.425211116,649.425211116,629,651,0.450963560684,-0.00557384882529,0.0796901794819,0.999999882843,-0.000127158302402,-0.00046321690656,-5.97913390016e-05,1793196473963570944
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743.148963563,711,677,657,630,879,781,801,649,629,651,0.450964529097,-0.00557436031808,0.0796909880457,0.999999883633,-0.000126234213448,-0.000461793098969,-5.95474701585e-05,1793196473980237568
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743.721392346,711,677,657,630,879,781,801,649,629,651,0.450965027856,-0.00557407977202,0.0796914933078,0.999999884248,-0.000126435527267,-0.000460399488704,-5.95848497127e-05,1793196473996904192
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.305545458,743.694454542,711.305545458,677.305545458,657.305545458,630,879,781,801,649,629,651,0.450964888585,-0.0055741375312,0.0796914083937,0.999999884134,-0.000126524389381,-0.000460612331709,-5.96586363695e-05,1793196474013570816
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.900815801,743.099184199,711.900815801,677.900815801,657.900815801,630,879,781,801,649,629,651,0.450964144322,-0.00557451607881,0.0796907638614,0.999999883329,-0.000126506622318,-0.000462348448923,-5.97669450352e-05,1793196474030237696
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.060490073,743.939509927,711.060490073,677.939509927,657,630,879,782,801,649,630,650.060490073,0.450965466709,-0.00557145983698,0.0796909994224,0.99999988477,-0.000125016013557,-0.000459599179624,-5.99920283057e-05,1793196474063570944
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.635929652,743.364070348,711.635929652,677.364070348,657,630,879,782,801,649,630,650.635929652,0.450964078293,-0.00557196962492,0.0796897486279,0.999999883407,-0.000124928727159,-0.00046256907339,-6.00687949363e-05,1793196474080237568
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.788687306,743,711.788687306,677.211312694,656.788687306,630,879,782,801,649.211312694,629.788687306,651,0.450959865396,-0.00557257557453,0.0796871054829,0.999999881211,-0.000125412117445,-0.000467161371005,-6.00868562542e-05,1793196474096903936
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.213401706,743,711.213401706,677.786598294,656.213401706,630,879,782,801,649.786598294,629.213401706,651,0.450950787509,-0.00557334715654,0.0796820641012,0.999999877553,-0.000126878462648,-0.000474548157507,-6.00038013317e-05,1793196474113570816
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.37248205,743,711,678.37248205,656.37248205,630.37248205,879,782,801,649.62751795,629,651,0.450933296003,-0.00557228837752,0.0796731305678,0.999999870677,-0.000126846349835,-0.000488767019778,-6.05156612494e-05,1793196474130237696
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,711.865253842,677.865253842,657.269492316,630,879,782,801,649,629,651,0.450641236815,-0.00556640603381,0.0795827726321,0.999999794929,-0.000123020489757,-0.00062566533737,-5.95843151007e-05,1793196474230237440
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,711.552853699,678,657,630,879.447146301,782,801,649,629,651,0.450570277483,-0.00556506647341,0.079582034574,0.999999793632,-0.000120607874646,-0.000628395726224,-5.75186328177e-05,1793196474246904064
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,711,678,657,630,879.97393694,781.97393694,801,649,629.02606306,651,0.45049483025,-0.005563844252,0.0795827195705,0.999999792191,-0.000118009095827,-0.000631386591576,-5.51525028847e-05,1793196474263570688
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,711,678,657,630,879.402373358,781.402373358,801,649,629.597626642,651,0.450405243384,-0.00556141682521,0.0795843430115,0.99999979562,-0.000113613729952,-0.000627008367366,-5.20895176887e-05,1793196474280237312
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,711.174858536,678,657,630,879,781.174858536,801,649,629.825141464,651,0.450306956105,-0.00555920525403,0.0795848224431,0.999999797341,-0.000110533297647,-0.000625069024363,-4.88866065958e-05,1793196474296904192
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,743,711.493190468,677.493190468,657,630,879.506809532,781,801,649,629,651,0.449767338836,-0.00554858371095,0.0795895805045,0.99999980402,-9.11259007019e-05,-0.000618622653686,-3.10186350579e-05,1793196474363570944
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,743,711.083924565,677,657.083924565,630,879.916075435,781.083924565,801,649.083924565,629.083924565,650.916075435,0.449604543019,-0.00554568152757,0.0795931510475,0.999999808071,-8.36105492281e-05,-0.00061338921168,-2.4933848836e-05,1793196474380237312
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,743,711.659108315,677,657.659108315,630,879.340891685,781.659108315,801,649.659108315,629.659108315,650.340891685,0.449422762901,-0.00554304878789,0.0795960114026,0.999999811962,-7.5518785212e-05,-0.000608277877967,-1.92512609686e-05,1793196474396903936
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,743,711.171909108,677.828090892,657.171909108,630,879.828090892,782,801,649.171909108,629.171909108,650,0.44899732543,-0.00553513170547,0.0795921367034,0.999999807872,-5.29684225269e-05,-0.000617595399388,-5.14486919643e-06,1793196474430237184
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.356129154,743,712.643870846,674.356129154,659.356129154,634,877,784.356129154,800.643870846,649,630,651,0.40462761853,-0.0054169010932,0.0798246788749,0.999999944664,0.000168038470238,-0.000285087533975,3.40744355192e-05,1793196475680238080
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.037179912,660,633.962820088,877.962820088,784.962820088,801,649,630,651,0.401162000754,-0.00543020265102,0.0798295696211,0.999999937955,0.000196624416801,-0.000290718417603,3.02077053561e-05,1793196476013570816
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633.463433201,877.463433201,784.463433201,801.536566799,649,630,651,0.40112052506,-0.00543230806555,0.0798285420183,0.999999938375,0.000191969485612,-0.000292288949993,3.10587684496e-05,1793196476030237440
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,742.297825909,712,674,659.297825909,633,877,784,800.595651818,649,630,651,0.401056672046,-0.00543232149835,0.0798274249772,0.999999938769,0.000187892390739,-0.00029349115011,3.19698471044e-05,1793196476063570944
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.713450959,742.286549041,712,674,659.286549041,633,877,784,800,649,630,651,0.40103234768,-0.00543142589357,0.0798261104964,0.999999938251,0.000187457838879,-0.000295508658101,3.21160066602e-05,1793196476080238080
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.1339981,742.8660019,712,674,659.8660019,633,877,784,800,649,630,651,0.401009826411,-0.00543110302453,0.0798236382637,0.999999937081,0.000186936786634,-0.000299759379184,3.2209738142e-05,1793196476096904960
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.172401553,743,712,674,659.172401553,633,877.172401553,784,800.827598447,649,629.827598447,651,0.400976049782,-0.0054329930031,0.0798282005217,0.999999939315,0.000186091603282,-0.000292686006909,3.27797342944e-05,1793196476163570944
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,764.24968015,743,712,674,659,633,877,784,800.75031985,648.75031985,630,651,0.400968523746,-0.0054334027418,0.0798305085614,0.999999940721,0.000187064918048,-0.000287256123818,3.2376045505e-05,1793196476280237568
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..803178b2a3ea6df5ddb29cbd2dea60f2ae5a7034
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_04/simulation_data.csv
@@ -0,0 +1,429 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f94532361b90be8d37dd17b3bc08ff6fff1cd08f
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..29f348d5d4d93c30a3840088dd34ef2388c59ddb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_05/franka_data.csv
@@ -0,0 +1,429 @@
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+11,0.183333333,BASELINE,765,743.61878264,712,674,659,633.38121736,877.38121736,784,801,649,629.38121736,651,0.400966724769,-0.00543484117067,0.0798342534772,0.999999943048,0.00018401152064,-0.00028115937034,3.15134198461e-05,1793196476915896064
+12,0.200000000,BASELINE,765,743.036780366,712,674,659,633.963219634,877.963219634,784,801,649,629.963219634,651,0.400965692781,-0.00543374706845,0.0798330204388,0.999999942397,0.000184466634856,-0.000283210479922,3.11315370109e-05,1793196476932562688
+13,0.216666667,BASELINE,765,743,712,674,659,633.464301855,878,784,800.464301855,649,630,651,0.400967120931,-0.0054341679288,0.0798345080808,0.999999943077,0.000184261633772,-0.00028091745923,3.12961212778e-05,1793196476949229568
+14,0.233333333,BASELINE,765,743,712,674,659.108392409,633,877.891607591,784,800,649,629.891607591,650.891607591,0.400968058514,-0.00543482660342,0.0798355167532,0.999999943619,0.00018383049964,-0.000279253699933,3.13951338477e-05,1793196476965896192
+15,0.250000000,BASELINE,765,743,712,674,659.684792406,633,877.315207594,784,800,649,629.315207594,650.315207594,0.400966161401,-0.00543607082838,0.0798336649176,0.999999943202,0.000182615259501,-0.00028157222931,3.10518567013e-05,1793196476982563328
+16,0.266666667,BASELINE,764.730765577,743,712,674,660,633,877,784,800,649,629.269234423,650.269234423,0.400965723483,-0.00543639307332,0.0798330524846,0.999999942972,0.000182807228129,-0.000282267281829,3.10140982539e-05,1793196476999229952
+17,0.283333333,BASELINE,764.136618466,743,712,674,660,633,877,784,800,649,629.863381534,650.863381534,0.400967046526,-0.0054356026707,0.0798339357655,0.999999942971,0.000184697419433,-0.000281003118802,3.13450404579e-05,1793196477015896320
+18,0.300000000,BASELINE,764.443107392,742.556892608,712,674,659.556892608,633.443107392,877,784,800,649,629.556892608,651,0.400966784167,-0.00543550032785,0.0798344952171,0.999999943105,0.000184399998951,-0.000280703038861,3.1505654803e-05,1793196477032562944
+19,0.316666667,BASELINE,764.981583204,742.018416796,712,674,659,634,877.018416796,784,800.018416796,649,629.018416796,651,0.40096608801,-0.00543561724887,0.0798349516003,0.999999943285,0.000183466660845,-0.000280662422797,3.16131858e-05,1793196477049229312
+20,0.333333333,BASELINE,764.409587563,742.590412437,712,674,659,634,877.590412437,784,800.590412437,649,629.590412437,651,0.400966582289,-0.00543614923417,0.0798352164299,0.99999994361,0.000183053489098,-0.000279767782271,3.16538881868e-05,1793196477065895936
+21,0.350000000,BASELINE,764,743,712,674,659,633.831300857,878,784,800.831300857,649,630,651,0.400966754087,-0.00543546260195,0.0798351453054,0.999999943571,0.000183619668037,-0.000279547992096,3.1550572254e-05,1793196477082562816
+22,0.366666667,BASELINE,764,743,712,674,659,633.237148393,878,784,800.237148393,649,630,651,0.400966112598,-0.00543170265903,0.0798342269164,0.999999942608,0.0001866557351,-0.000281030150952,3.10840471658e-05,1793196477099229952
+23,0.383333333,BASELINE,764,743,712,674,659,633,878,784,800.346801147,649,629.653198853,650.653198853,0.400966046563,-0.00543204314552,0.0798341469902,0.999999942628,0.000186343544556,-0.000281159873867,3.11302584434e-05,1793196477115896576
+24,0.400000000,BASELINE,764,743,712,674,659,633,878,784,800.923973212,649,629.076026788,650.076026788,0.400966362787,-0.0054351074395,0.0798346240329,0.999999943301,0.000183807194485,-0.000280391209155,3.15170670122e-05,1793196477132562944
+25,0.416666667,BASELINE,764.499187022,743,712,674,659,633,878,784,801,649,629,650.499187022,0.400966161811,-0.00543545129174,0.0798345719548,0.999999943504,0.00018234226245,-0.000280637349905,3.13866072515e-05,1793196477149229568
+26,0.433333333,BASELINE,765,743,712,674,659.075957093,633,878,784,800.924042907,649,629.075957093,651,0.400965937674,-0.00543544128494,0.0798344439485,0.999999943603,0.000181317534216,-0.000280971232043,3.12028314977e-05,1793196477165896192
+27,0.450000000,BASELINE,765,743,712,674,659.665252805,633,878,784,800.334747195,649,629.665252805,651,0.400966087275,-0.00543582899235,0.0798343452912,0.99999994348,0.000182169328289,-0.000280857643996,3.11890718514e-05,1793196477182562816
+28,0.466666667,BASELINE,765,743,712,674,659.749788905,633,878,784,800,649,630,651,0.400965934042,-0.00543537075522,0.0798342641735,0.999999943112,0.000183335371269,-0.000281403338696,3.12468144181e-05,1793196477199229184
+29,0.483333333,BASELINE,765,743,712,674,659.170534631,633,878,784,800,649,630,651,0.400965382565,-0.00543380004828,0.0798342061214,0.999999942418,0.000184914671092,-0.000282816031292,3.13985868512e-05,1793196477215896064
+30,0.500000000,BASELINE,764.594046144,743,712,674,659,633.405953856,877.594046144,784,800.405953856,649,630,651,0.400965636584,-0.0054335525063,0.0798343674659,0.999999942676,0.000184449754217,-0.000282214903461,3.132751555e-05,1793196477232562944
+31,0.516666667,BASELINE,764.018711672,743,712,674,659,633.981288328,877.018711672,784,800.981288328,649,630,651,0.400966226689,-0.0054338570431,0.0798346203517,0.999999943329,0.000183131906162,-0.000280773527023,3.11634646889e-05,1793196477249229824
+32,0.533333333,BASELINE,764.555768011,743,712,674,659,633.444231989,877.555768011,784,800.444231989,649,629.444231989,651,0.400967496134,-0.0054347981822,0.0798355078168,0.999999943787,0.00018285772783,-0.000279322927165,3.11113202931e-05,1793196477265896448
+33,0.550000000,BASELINE,765,743,712,674,659.134223605,633,877.865776395,784,800.134223605,649,629,651,0.400968097758,-0.00543523666722,0.0798360131104,0.999999943958,0.000183038419893,-0.000278590863087,3.11086771018e-05,1793196477282563072
+34,0.566666667,BASELINE,765,743,712,674,659.726340621,633,877.273659379,784,800.726340621,649,629,651,0.400966343255,-0.00543388738122,0.0798351418819,0.999999943176,0.000184651179172,-0.000280311086107,3.12620700219e-05,1793196477299229440
+35,0.583333333,BASELINE,765,743,712.311141956,674,660,633.311141956,877,784,801,649,629,650.688858044,0.400965298382,-0.00543372727013,0.079834163576,0.999999942609,0.000185489288762,-0.000281768090764,3.1333975313e-05,1793196477315896320
+36,0.600000000,BASELINE,765,743,712.88965679,674,660,633.88965679,877,784,801,649,629,650.11034321,0.400964863313,-0.00543458904974,0.0798330932555,0.99999994223,0.000185661720652,-0.000282998904802,3.13358560506e-05,1793196477332562688
+37,0.616666667,BASELINE,764.534510803,743,712.534510803,674,659.534510803,634,877,784,801,649,629.465489197,650.465489197,0.400965436437,-0.005434942884,0.0798336785169,0.999999942739,0.000184354435943,-0.00028207942502,3.10961458091e-05,1793196477349229568
+38,0.633333333,BASELINE,764.040779407,743,712,674,659,634,877.040779407,784,800.959220593,649,630,651,0.400966097864,-0.00543522398198,0.0798345478932,0.999999943376,0.00018282727685,-0.00028083779816,3.08633431561e-05,1793196477365896192
+39,0.650000000,BASELINE,764.617252671,743,712,674,659,634,877.617252671,784,800.382747329,649,630,651,0.4009647978,-0.00543612224279,0.0798340236496,0.999999942993,0.000182993126885,-0.000282021867892,3.1469273061e-05,1793196477382563072
+40,0.666666667,BASELINE,764.801656105,743,712,674,659.198343895,633.801656105,877.801656105,784,800.198343895,649,629.801656105,651,0.400964367669,-0.00543591658069,0.0798339434845,0.999999942765,0.000183661552743,-0.000282370240379,3.17063689313e-05,1793196477399229440
+41,0.683333333,BASELINE,764.211441143,743,712,674,659.788558857,633.211441143,877.211441143,784,800.788558857,649,629.211441143,651,0.400965656276,-0.00543352988114,0.0798347406921,0.999999942841,0.000185322925339,-0.000281067512955,3.1214753718e-05,1793196477415896320
+42,0.700000000,BASELINE,764,742.628135795,712,674,660,633,877.371864205,784,800.628135795,649,629,651,0.400965659895,-0.00543396080647,0.0798350894259,0.99999994334,0.000183402210274,-0.000280581975285,3.09483496275e-05,1793196477432562688
+43,0.716666667,BASELINE,764,742.04868759,712,674,660,633,877.95131241,784,800.04868759,649,629,651,0.400964946202,-0.00543596460133,0.0798351878104,0.999999944064,0.00017948188325,-0.000280552613639,3.08076640962e-05,1793196477449229312
+44,0.733333333,BASELINE,764.523798448,742.523798448,712,674,659.476201552,633,877.476201552,784,800,649,629,651,0.400964858248,-0.00543588870897,0.0798345202331,0.999999943695,0.000180605466094,-0.000281110354515,3.11176541277e-05,1793196477465896192
+45,0.750000000,BASELINE,764.903604137,743,712,673.903604137,659,633,877,784.096395863,800,649,629.096395863,650.903604137,0.400965042123,-0.00543562515357,0.079834062952,0.99999994338,0.000182016537827,-0.000281289192551,3.14018791353e-05,1793196477482563072
+46,0.766666667,BASELINE,764.327272666,743,712,673.327272666,659,633,877,784.672727334,800,649,629.672727334,650.327272666,0.400966293596,-0.00543537708362,0.0798350025192,0.999999943837,0.000182555334979,-0.000279313411531,3.13519953942e-05,1793196477499229696
+47,0.783333333,BASELINE,764.256313015,743,712,673.256313015,659.256313015,633,877,784.743686985,800.256313015,649,629.743686985,650.256313015,0.40096689719,-0.00543452610518,0.0798353436788,0.999999943862,0.00018348327138,-0.000278631065242,3.12238332146e-05,1793196477515896064
+48,0.800000000,BASELINE,764.849431085,743,712,673.849431085,659.849431085,633,877,784.150568915,800.849431085,649,629.150568915,650.849431085,0.400966649446,-0.00543288288202,0.0798348985083,0.99999994332,0.000184922551635,-0.000279648341137,3.09928101813e-05,1793196477532562688
+49,0.816666667,BASELINE,764.569705593,743,712,674,659.569705593,633,877.430294407,784,800.569705593,649,629.430294407,651,0.400966974552,-0.00543276445883,0.0798347769906,0.99999994302,0.000186038952273,-0.000279966573356,3.11206570204e-05,1793196477549229568
+50,0.833333333,BASELINE,764.006959521,742.993040479,712,674,659.006959521,633,877.993040479,784,800,649,630,651,0.400967471967,-0.00543316658155,0.0798347665561,0.999999942808,0.000187001691352,-0.000280055051292,3.13643921087e-05,1793196477565896192
+51,0.850000000,BASELINE,764.581282607,742.418717393,712,674,659.581282607,633,877.418717393,784,800,649,630,651,0.400966127554,-0.00543371233221,0.0798348349099,0.999999943091,0.000184393065815,-0.000280802401754,3.11018369808e-05,1793196477582562816
+52,0.866666667,BASELINE,765,742,712,674,660,633,877.160066099,784,800,649,630,651,0.400965399012,-0.00543389866569,0.0798348792721,0.999999943283,0.000182778122911,-0.000281191636813,3.09282378449e-05,1793196477599229440
+53,0.883333333,BASELINE,765,742,712,674,660,633,877.750852008,784,800,649,630,651,0.400966327707,-0.00543311784805,0.0798348590755,0.999999943249,0.000183837067998,-0.000280617223694,3.09940092611e-05,1793196477615896064
+54,0.900000000,BASELINE,764.665070525,742.334929475,712,674,659.665070525,633,877.665070525,784.334929475,800,649,630,651,0.400966487187,-0.00543395039862,0.0798346352228,0.999999943458,0.000182783307711,-0.000280564984327,3.0952607039e-05,1793196477632562688
+55,0.916666667,BASELINE,764.085885382,742.914114618,712,674,659.085885382,633,877.085885382,784.914114618,800,649,630,651,0.400966085698,-0.0054359595382,0.0798342628488,0.99999994384,0.000180188804324,-0.000280893553208,3.08330457665e-05,1793196477649229568
+56,0.933333333,BASELINE,764,743,712,674,659,633,877,784.510418304,800,649,629.510418304,651,0.400964939808,-0.00543636853483,0.0798339310201,0.999999943432,0.000181043398231,-0.000281758981499,3.11480665235e-05,1793196477665896192
+57,0.950000000,BASELINE,764,743,712,673.936047864,659.063952136,633.063952136,876.936047864,784,800,649,629,651,0.400964129505,-0.00543644363071,0.0798338289856,0.999999943085,0.000182127491396,-0.000282258303956,3.14558229651e-05,1793196477682562816
+58,0.966666667,BASELINE,764,743,712,673.365238775,659.634761225,633.634761225,876.365238775,784,800,649,629,651,0.40096700609,-0.00543608036567,0.0798354922528,0.999999944315,0.000180271183877,-0.00027911523241,3.11063379342e-05,1793196477699230208
+59,0.983333333,BASELINE,764,742.784945354,712,673.215054646,659.784945354,633.784945354,876.215054646,784,800.215054646,649,629.215054646,651,0.400967958271,-0.00543577453057,0.0798359405371,0.999999944555,0.000180447504744,-0.000278150245785,3.10100791404e-05,1793196477715896832
+60,1.000000000,BASELINE,764,742.187800927,712,673.812199073,659.187800927,633.187800927,876.812199073,784,800.812199073,649,629.812199073,651,0.400965491345,-0.00543557073175,0.079834230149,0.999999943041,0.000184235216866,-0.00028105508431,3.13637299239e-05,1793196477732563200
+61,1.016666667,BASELINE,764,742.39544085,712.39544085,674,659.39544085,633,877.39544085,784,800.60455915,649,629.60455915,651,0.40096579029,-0.00543465892899,0.0798346010196,0.999999943218,0.000184539447283,-0.000280230473313,3.13163114259e-05,1793196477749229568
+62,1.033333333,BASELINE,764,742.972304256,712.972304256,674,659.972304256,633,877.972304256,784,800.027695744,649,629.027695744,651,0.400967358176,-0.00543342230425,0.0798359267419,0.99999994417,0.000183245506328,-0.00027769484451,3.10848881073e-05,1793196477765896192
+63,1.050000000,BASELINE,764.547274749,743,712.452725251,674.547274749,659.452725251,633,877.452725251,784,800.547274749,649,629.547274749,651,0.400967458806,-0.00543500113724,0.0798363021395,0.999999944123,0.000183244408543,-0.000277809675482,3.15914587386e-05,1793196477782562816
+64,1.066666667,BASELINE,764.874028547,743,712,674.874028547,659,633,877,784.125971453,800.874028547,649,630,650.874028547,0.400967685616,-0.00543652116149,0.0798366590753,0.999999944162,0.000182839498477,-0.000277896329979,3.19228820161e-05,1793196477799229696
+65,1.083333333,BASELINE,764.281167552,743,712,674.281167552,659,633,877,784.718832448,800.281167552,649,630,650.281167552,0.400968654342,-0.0054372969636,0.0798371252185,0.999999944709,0.000180696278922,-0.000277383136199,3.14672104584e-05,1793196477815896576
+66,1.100000000,BASELINE,764.30237086,743,712,674,659.30237086,633,877,784.69762914,800,649,629.69762914,650.30237086,0.400968335626,-0.0054375201354,0.0798368260738,0.999999944769,0.00017969350294,-0.000277829249363,3.13603107097e-05,1793196477832563200
+67,1.116666667,BASELINE,764.877499671,743,712,674,659.877499671,633,877,784.122500329,800,649,629.122500329,650.877499671,0.400966855552,-0.00543724479911,0.0798358365904,0.999999944392,0.000179719480474,-0.000279140719074,3.15680255738e-05,1793196477849229824
+68,1.133333333,BASELINE,765,743,712,674,660,633,877.450144568,784,800,649,629,651,0.400966226453,-0.00543636080006,0.0798354627547,0.999999944012,0.000181255692039,-0.000279536719787,3.13433424898e-05,1793196477865896448
+69,1.150000000,BASELINE,765,743,712.022330821,674,660,633,877.977669179,784,800,649,629.022330821,651,0.400965832992,-0.00543540695191,0.0798352591073,0.999999943649,0.000183041384335,-0.00027970497093,3.10311548286e-05,1793196477882562816
+70,1.166666667,BASELINE,765,743,712.599826467,674,660,633,877.400173533,784,800,649,629.599826467,651,0.400965572032,-0.0054368119267,0.0798351441692,0.999999943845,0.000180867916188,-0.000280370810581,3.14528751461e-05,1793196477899229696
+71,1.183333333,BASELINE,765,743,712.816716863,674,659.816716863,633,877.183283137,784,800.183283137,649,629.816716863,651,0.400965086527,-0.00543684323472,0.0798350002975,0.999999943718,0.000180501194959,-0.000281040644898,3.1626310037e-05,1793196477915896576
+72,1.200000000,BASELINE,765,743,712.219807473,674,659.219807473,633,877.780192527,784,800.780192527,649,629.219807473,651,0.400964094278,-0.00543377450527,0.0798347911298,0.999999942862,0.000184211869439,-0.00028171949435,3.12394241215e-05,1793196477932563200
+73,1.216666667,BASELINE,765,743,712,673.636725455,659,633,877.636725455,784.363274545,800.636725455,649,629.363274545,651,0.400964244892,-0.00543332994442,0.0798345894103,0.999999942783,0.00018472167508,-0.000281670390411,3.12152917754e-05,1793196477949229824
+74,1.233333333,BASELINE,765,743,712,673.061703254,659,633,877.061703254,784.938296746,800.061703254,649,629.938296746,651,0.400965061664,-0.00543441497496,0.0798343920325,0.99999994316,0.000183365738784,-0.000281196972573,3.14026034392e-05,1793196477965896448
+75,1.250000000,BASELINE,764.485436151,742.485436151,712,673,659,633,877,784.485436151,800,649,629.485436151,651,0.400965795319,-0.00543347603434,0.0798349877018,0.999999942823,0.000186243225316,-0.000280500444292,3.14050781561e-05,1793196477982563584
+76,1.266666667,BASELINE,764,742.092752734,712,673.092752734,659,633.092752734,877.092752734,784,800,649,629.092752734,651,0.400966219089,-0.00543272034662,0.079835482494,0.999999942515,0.000188584598554,-0.000280032946384,3.14326518262e-05,1793196477999230720
+77,1.283333333,BASELINE,764,742.680397035,712,673.680397035,659,633.680397035,877.680397035,784,800,649,629.680397035,651,0.400965042749,-0.00543424052413,0.0798349304144,0.999999942859,0.000185350323143,-0.000280930558008,3.17126911286e-05,1793196478015896576
+78,1.300000000,BASELINE,764.265055012,743,712,674,659,633.734944988,878,784,800.265055012,649,630,651,0.400964822185,-0.00543481397139,0.0798346482094,0.999999943237,0.000183487504692,-0.000280824739107,3.15507174126e-05,1793196478032562944
+79,1.316666667,BASELINE,764.846152162,743,712,674,659,633.153847838,878,784,800.846152162,649,630,651,0.400965741254,-0.00543425857121,0.0798346877932,0.999999943665,0.000183259962811,-0.000279522465398,3.08617031287e-05,1793196478049229568
+80,1.333333333,BASELINE,765,743,712,674,659.423055286,633,877.576944714,784,800.576944714,649,629.576944714,651,0.400966274587,-0.00543490879325,0.079835585428,0.999999944015,0.000182561867563,-0.000278724576745,3.08749588987e-05,1793196478065895936
+81,1.350000000,BASELINE,765,743,712,674,659.998448234,633,877.001551766,784,800.001551766,649,629.001551766,651,0.40096666902,-0.00543599314684,0.0798367920378,0.999999944337,0.000181694331086,-0.000278108311624,3.11410945119e-05,1793196478082562560
+82,1.366666667,BASELINE,765,743,712,673.428498984,659.428498984,633.571501016,877,784,800.571501016,649,629.571501016,651,0.40096683172,-0.00543577058863,0.0798355910925,0.999999943931,0.000182484330623,-0.000279061482948,3.10244472851e-05,1793196478099229696
+83,1.383333333,BASELINE,765,743,712,673.149970053,659.149970053,633.850029947,877.149970053,784,800.850029947,649,630,651,0.400966781475,-0.00543547769559,0.0798347718538,0.999999943622,0.000183094117963,-0.000279777839175,3.09184237143e-05,1793196478115896320
+84,1.400000000,BASELINE,765,743,712,673.74451403,659.74451403,633.25548597,877.74451403,784,800.25548597,649,630,651,0.400966101835,-0.00543498677724,0.0798351034527,0.999999943613,0.000183156393911,-0.00027977959562,3.08469615737e-05,1793196478132563200
+85,1.416666667,BASELINE,765,743,712,674,660,633,877.671028662,784,800.328971338,649,629.671028662,651,0.400965518463,-0.00543509988098,0.0798352596413,0.999999943572,0.00018312405538,-0.000279926030032,3.10431865769e-05,1793196478149229824
+86,1.433333333,BASELINE,765,743,712,674,660,633,877.094171864,784,800.905828136,649,629.094171864,651,0.40096500763,-0.00543566812561,0.0798352836553,0.999999943507,0.000183020423238,-0.000280181481734,3.14411183681e-05,1793196478165896448
+87,1.450000000,BASELINE,764.518779105,743,712.481220895,674,660,633,877,784,801,649,629,651,0.400964731625,-0.00543668584337,0.0798346294707,0.999999943812,0.00018107690936,-0.000280370468987,3.12956314633e-05,1793196478182562816
+88,1.466666667,BASELINE,764.056061801,743,712.943938199,673.943938199,659.943938199,633.056061801,877.056061801,784,800.943938199,649,629,651,0.400964679189,-0.00543765035461,0.0798340035319,0.999999944169,0.000179073037376,-0.00028040932761,3.10698820328e-05,1793196478199229440
+89,1.483333333,BASELINE,764.628450858,743,712.371549142,673.371549142,659.371549142,633.628450858,877.628450858,784,800.371549142,649,629,651,0.40096626386,-0.00543731719305,0.0798348563674,0.999999944377,0.000179819288151,-0.00027918493438,3.10813674897e-05,1793196478215895808
+90,1.500000000,BASELINE,764.790499927,743,712,673.419000145,659,634,878,784.209500073,800.209500073,649,629.209500073,651,0.400967213215,-0.00543691177502,0.0798354875082,0.999999944461,0.000180524255242,-0.000278426064837,3.11003462745e-05,1793196478232562688
+91,1.516666667,BASELINE,764.193429689,743,712,674.613140622,659,634,878,784.806570311,800.806570311,649,629.806570311,651,0.40096698725,-0.00543637268427,0.0798357085189,0.999999944318,0.000181152848419,-0.000278528403211,3.11331875369e-05,1793196478249229824
+92,1.533333333,BASELINE,764.389154834,743,712,674.610845166,659.389154834,633.610845166,878,784.610845166,800.610845166,649,630,651,0.400966401298,-0.00543652494545,0.0798355401166,0.999999944318,0.000180134185261,-0.000279185544113,3.1172973659e-05,1793196478265896960
+93,1.550000000,BASELINE,764.964797668,743,712,674.035202332,659.964797668,633.035202332,878,784.035202332,800.035202332,649,630,651,0.400965642836,-0.00543700851133,0.0798351851025,0.999999944382,0.00017832613574,-0.00028010855353,3.12160878499e-05,1793196478282564096
+94,1.566666667,BASELINE,764.449126145,743,712,674,660,633,877.449126145,784,800,649,630,651,0.400967128991,-0.00543725264879,0.079836398543,0.999999944491,0.000180222021989,-0.000278453749399,3.16484258125e-05,1793196478299230208
+95,1.583333333,BASELINE,764,743,712,674,660,633,877.135815946,784,800.135815946,649,629.864184054,651,0.400968249042,-0.00543728708543,0.0798372161644,0.999999944582,0.000181819471152,-0.000277060431401,3.18709362915e-05,1793196478315896320
+96,1.600000000,BASELINE,764,743,712,674,660,633,877.714839592,784,800.714839592,649,629.285160408,651,0.400967697273,-0.00543668809888,0.0798364087222,0.999999944627,0.000181655726243,-0.000277068357922,3.13259844703e-05,1793196478332562688
+97,1.616666667,BASELINE,764,743,712,673.706244532,660,633.293755468,878,784,801,649,629,651,0.400967437382,-0.00543662367311,0.0798361619977,0.999999944627,0.000181533528115,-0.000277168742429,3.11268131867e-05,1793196478349229312
+98,1.633333333,BASELINE,764,743,712,673.127433269,660,633.872566731,878,784,801,649,629,651,0.400967460723,-0.00543707797696,0.0798364593852,0.999999944585,0.000181451646352,-0.000277358846745,3.12631820595e-05,1793196478365896192
+99,1.650000000,BASELINE,764.447028671,743,712,673.447028671,659.552971329,633.552971329,877.552971329,784.447028671,800.552971329,649,629.447028671,651,0.400966742927,-0.00543667721572,0.079835980128,0.9999999444,0.000180865817953,-0.000278408964444,3.12487241014e-05,1793196478382562816
+100,1.666666667,BASELINE,765,743,712,674,659.020837215,633,877.020837215,784.979162785,800.020837215,649.020837215,630,651,0.400965917085,-0.00543607294262,0.0798353488886,0.999999944201,0.000180171252171,-0.000279576980731,3.11923609318e-05,1793196478399229696
+101,1.683333333,BASELINE,765,743,712,674,659.610324334,633,877.610324334,784.389675666,800.610324334,649.610324334,630,651,0.400967852763,-0.00543650270694,0.079836553741,0.999999944786,0.000180391917117,-0.000277336439998,3.11544539677e-05,1793196478415896832
+102,1.700000000,BASELINE,765,743,712,674,660,633.196449617,877.803550383,784,800.803550383,649.803550383,629.803550383,651,0.400968793232,-0.00543605504047,0.0798373122248,0.999999944976,0.00018102609476,-0.000276245616628,3.1081690933e-05,1793196478432563456
+103,1.716666667,BASELINE,765,743,712,674,660,633.77601852,877.22398148,784,800.22398148,649.22398148,629.22398148,651,0.400967792827,-0.00543389619391,0.0798372001928,0.9999999444,0.000182466711666,-0.000277396991312,3.09409510183e-05,1793196478449229824
+104,1.733333333,BASELINE,764.647180826,743,712,673.647180826,659.647180826,633.647180826,877.352819174,784.352819174,800,649,629,651,0.400967045419,-0.00543484729696,0.0798366489492,0.99999994454,0.00018072748931,-0.000278034416933,3.08856911868e-05,1793196478465896448
+105,1.750000000,BASELINE,764.07212381,743,712,673.07212381,659.07212381,633.07212381,877.92787619,784.92787619,800,649,629,651,0.400966457371,-0.005437757331,0.0798358210497,0.999999945122,0.000176985312995,-0.000278348110456,3.0884274529e-05,1793196478482563072
+106,1.766666667,BASELINE,764.501996161,743,712.501996161,674.003992322,659.501996161,633.501996161,878,784.498003839,800.501996161,649,629.501996161,651,0.400965872992,-0.00543696606125,0.0798351322176,0.999999944323,0.000179637261908,-0.000279505214883,3.09949796098e-05,1793196478499229696
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,712,674,659,633,877,784,801,649,630,650,0.400967062182,-0.00543669889654,0.0798363586705,0.999999944209,0.000181837366639,-0.000278419508594,3.16334310265e-05,1793196478541839872
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.420558281,743,712,674,659.579441719,633.579441719,877.579441719,784,801,649,630,650.579441719,0.400966783643,-0.00543742836238,0.0798353753046,0.999999944331,0.000179242084556,-0.000279702756665,3.12425171697e-05,1793196478558506240
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.157775471,743,712,674,659.842224529,633.842224529,877.842224529,784,800.842224529,649,630,650.842224529,0.400966686477,-0.00543783307244,0.079834843775,0.999999944489,0.000177664089886,-0.000280172958582,3.09933668084e-05,1793196478575172864
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.733176603,743,712,674,659.266823397,633.266823397,877.266823397,784,800.266823397,649,630,650.266823397,0.400967069395,-0.00543737816646,0.0798355082383,0.999999944756,0.000178778815684,-0.000278491058578,3.11194589357e-05,1793196478591839488
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.685091168,743,712,673.685091168,659,633.314908832,877,784,800.314908832,649,629.685091168,650.314908832,0.400967143246,-0.00543708054398,0.0798358141108,0.99999994479,0.000179206940156,-0.000278083147832,3.12303305027e-05,1793196478608505856
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.097884552,743,712,673.097884552,659,633.902115448,877,784,800.902115448,649,629.097884552,650.902115448,0.40096694985,-0.00543691892264,0.0798358099141,0.999999944623,0.000179041368863,-0.000278776839987,3.13280410318e-05,1793196478625171712
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,743,712,673.482707957,659.482707957,633.517292043,877,784,801,649,629.482707957,651,0.400966671658,-0.00543702221923,0.079835775853,0.999999944492,0.000178964132506,-0.000279307610138,3.12401720444e-05,1793196478641838336
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.061790975,743,712,674,659.938209025,633,877.061790975,784,800.938209025,649,629.938209025,651,0.400966712061,-0.00543713862466,0.0798359052784,0.999999944433,0.000179060608135,-0.000279465605834,3.1156201211e-05,1793196478658505216
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.639318265,743,712,674,659.360681735,633,877.639318265,784,800.360681735,649,629.360681735,651,0.400969553182,-0.00543692212587,0.0798374491009,0.999999944919,0.0001804594778,-0.000276784272574,3.14146165817e-05,1793196478675171840
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.784066871,743,712.215933129,674,659.215933129,633.215933129,878,784,800,649,629.215933129,651,0.400978701442,-0.00543684431679,0.0798418324155,0.99999994674,0.000181483560424,-0.000269410587928,3.16506862066e-05,1793196478691838464
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.208969714,743,712.791030286,674,659.791030286,633.791030286,878,784,800,649,629.791030286,651,0.40099834044,-0.00543699719188,0.0798509386892,0.999999950635,0.000181884255335,-0.000254232062077,3.18495878679e-05,1793196478708505088
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.374971569,743,712.625028431,674,659.625028431,633.625028431,877.625028431,784,800.374971569,648.625028431,629.625028431,650.625028431,0.401030902396,-0.00543803649677,0.079863431513,0.999999956332,0.000181288097514,-0.000231174429877,3.20692429212e-05,1793196478725171456
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.963960754,743,712.036039246,674,659.036039246,633.036039246,877.036039246,784,800.963960754,648.036039246,629.036039246,650.036039246,0.401070840221,-0.00543958173762,0.0798778572347,0.999999962526,0.00018012297905,-0.000203619741722,3.23007431181e-05,1793196478741838080
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.457237033,743,712,674,659,633,877,784.542762967,800.457237033,648.542762967,629.542762967,650.542762967,0.401132758956,-0.0054394952832,0.0798924095769,0.999999968286,0.000181312618985,-0.000171960699004,3.13632434389e-05,1793196478758505984
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+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743,712.563412893,674,660,633.436587107,878,784,800.563412893,649,630,650.563412893,0.401557653481,-0.00544555495509,0.0799219012851,0.999999977772,0.000169580948722,-0.000124131282221,1.70301005672e-05,1793196478841838592
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,742.974688939,712,674,659.974688939,633.974688939,877.974688939,784,800,649,629.974688939,650.025311061,0.401675490078,-0.00544811257923,0.079925486303,0.999999979377,0.000164384623644,-0.000118624191699,1.23408706338e-05,1793196478858505472
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,742.395395163,712,674,659.395395163,633.395395163,877.395395163,784,800,649,629.395395163,650.604604837,0.401825206034,-0.00544829339693,0.0799316589933,0.999999981651,0.000159506701731,-0.000105895279027,6.4765993869e-06,1793196478875171840
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,742.182852699,712.182852699,674,659.182852699,633,877,784,800,649,629.182852699,651,0.401985366463,-0.00544897487806,0.0799384941417,0.999999983971,0.000152883741359,-9.31853667514e-05,2.53934047251e-07,1793196478891838720
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,742.758851699,712.758851699,674,659.758851699,633,877,784,800,649,629.758851699,651,0.402167983232,-0.00545073282112,0.0799467536212,0.999999986581,0.000142508824916,-8.05163083368e-05,-6.73930330981e-06,1793196478908505344
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,712.659252707,674,659.659252707,633.340747293,877.340747293,784.340747293,800.340747293,648.659252707,629.659252707,651,0.402360709409,-0.00545385892968,0.0799494548974,0.9999999881,0.000132864295596,-7.70869492997e-05,-1.42911038743e-05,1793196478925171712
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,743,712.073110521,674,659.073110521,633.926889479,877.926889479,784.926889479,800.926889479,648.073110521,629.073110521,651,0.402560716065,-0.00545797034582,0.079948153341,0.999999988871,0.000123745765778,-8.03117138039e-05,-2.22451638447e-05,1793196478941838080
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,743,712.508229611,674,659.508229611,634,877.491770389,784.491770389,801,648.508229611,629.508229611,651,0.402787036184,-0.00546056614626,0.0799418272521,0.999999989029,0.000111594788547,-9.26328288203e-05,-3.01426969314e-05,1793196478958504960
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.911994114,743,712.911994114,673.911994114,660,633.911994114,877.088005886,784,801,649,629.911994114,651,0.403024237554,-0.0054643825905,0.0799360039593,0.999999989666,9.36867947486e-05,-0.000103391692301,-3.46600644626e-05,1793196478975171840
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.33708375,743,712.33708375,673.33708375,660,633.33708375,877.66291625,784,801,649,629.33708375,651,0.403300894456,-0.00547614738234,0.0799369239854,0.999999993882,4.63182202787e-05,-9.83352810013e-05,-2.05207793928e-05,1793196478991838720
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.237696321,743,712,673.237696321,660,633.237696321,877.762303679,784,801,649,629.237696321,651,0.403598971751,-0.00549006774626,0.0799380365042,0.999999995294,1.38870385904e-05,-9.48315511114e-05,-1.50361232991e-05,1793196479008505856
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.812291685,743,712,673.812291685,660,633.812291685,877.187708315,784,801,649,629.812291685,651,0.403927409238,-0.00550704331104,0.0799394218527,0.999999995385,2.6273836701e-06,-9.35285158373e-05,-2.18181123697e-05,1793196479025172224
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.599748943,877.800502114,784,801,649,629.599748943,651,0.404288072338,-0.00550922432031,0.0799404754034,0.999999995627,6.13095636659e-06,-8.97722396657e-05,-2.54871778983e-05,1793196479041838592
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.005305691,878.989388618,784,801,649,629.005305691,651,0.404664370521,-0.0055042273663,0.0799413679737,0.999999995879,1.67972926523e-05,-8.48257099976e-05,-2.76459275322e-05,1793196479058504960
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633,877.857128387,784.571435807,801,649,629.571435807,651,0.405079250666,-0.00550678038539,0.0799397475105,0.99999999604,7.52711957605e-06,-8.36037599321e-05,-2.95752208452e-05,1793196479075171840
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743,712.14784723,674,660,633.14784723,877.29569446,784.85215277,801,649,629.85215277,651,0.405502213367,-0.00550923716129,0.0799374523358,0.999999995895,-1.58313416238e-06,-8.49394383262e-05,-3.15107567705e-05,1793196479091838464
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,743,712.723764446,674,660,633.723764446,878.447528892,784.276235554,801,649,629.276235554,651,0.405947571819,-0.00551121841197,0.0799332691608,0.999999995014,-9.71051572867e-06,-9.35832363091e-05,-3.347035004e-05,1793196479108505344
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,743,712.694070774,674,660,633.694070774,878.694070774,784,800.694070774,649,629,651,0.406416052609,-0.00551095620333,0.079926459228,0.99999999371,-9.20324789553e-06,-0.000105925403901,-3.5703273748e-05,1793196479125171968
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743,712.106147151,674,660,633.106147151,878.106147151,784,800.106147151,649,629,651,0.406905846775,-0.005508626056,0.0799172280452,0.999999991868,-7.3687625922e-07,-0.000121676594624,-3.8188143701e-05,1793196479141838848
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.474997158,878,784,800.474997158,649,629,651,0.407423660716,-0.00551090093831,0.079914612724,0.999999990831,-1.24417910088e-05,-0.000128789046369,-3.99582623457e-05,1793196479158505728
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.945739641,878,784,801,649,629,651,0.407951463625,-0.00551383731871,0.0799129282368,0.999999989676,-2.69851058338e-05,-0.000134854272083,-4.164473876e-05,1793196479175172096
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.370198385,878,784,801,649,629,651,0.408515922749,-0.00551338143331,0.0799061827445,0.999999987568,-2.61011924076e-05,-0.000149144076187,-4.4040551134e-05,1793196479191838720
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.209251302,878.209251302,784,801,649,629.209251302,651,0.409107265579,-0.00551461135706,0.079909950884,0.999999988074,-2.73767244799e-05,-0.00014497791057,-4.56481532655e-05,1793196479208505344
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.795747191,878.795747191,784,801,649,629.795747191,651,0.409747075132,-0.00551888050868,0.0799326733178,0.999999992638,-3.25453703606e-05,-0.000107538762597,-4.58347459164e-05,1793196479225171712
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,878.622340057,784,801,649,630,651,0.410441407186,-0.00552375966078,0.0799638630525,0.999999996449,-4.19649204113e-05,-5.70277997156e-05,-4.56962965312e-05,1793196479241838592
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,878.042876339,784,801,649,630,651,0.411164873489,-0.00552896476842,0.0799995773152,0.999999997531,-5.36559541798e-05,4.68127407397e-07,-4.53841598016e-05,1793196479258505472
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.466257343,878,784,800.466257343,649,630,651,0.411825628634,-0.00552958310325,0.0799763866298,0.999999996154,-6.04142812853e-05,-4.02381676795e-05,-4.92297982936e-05,1793196479275172608
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,743,712,674.110369594,660.110369594,633,878,784,800,649,630,650.889630406,0.412490975197,-0.00552997289405,0.0799470882515,0.999999992535,-6.61349610415e-05,-8.76799909453e-05,-5.35514791432e-05,1793196479291839488
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,743,712,674.687992312,660.687992312,633,878,784,800,649,630,650.312007688,0.413196973603,-0.00553094676318,0.0799118593073,0.999999987396,-6.91313771911e-05,-0.000130416740076,-5.84819952371e-05,1793196479308505600
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660.729885333,633.270114667,878,784,800.270114667,649,630,650.270114667,0.413929880383,-0.00553396623142,0.079898329893,0.999999985148,-7.5572149793e-05,-0.000142277371876,-6.12292539573e-05,1793196479325171968
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660.142477353,633.857522647,878,784,800.857522647,649,630,650.857522647,0.41469439549,-0.00553938858642,0.0799102900773,0.999999987465,-8.60588759502e-05,-0.000117869021607,-6.14119249015e-05,1793196479341838592
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.561434585,743,712.438565415,674.561434585,660,633.561434585,878.438565415,784,801,649,629.561434585,650.561434585,0.415505349181,-0.00554365778721,0.0799310937055,0.999999990151,-9.19388581987e-05,-8.75556751429e-05,-5.98345385784e-05,1793196479358504960
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.017507957,743,713,674.017507957,660,633,878.982492043,784,801,649,629,650,0.416330090329,-0.00554743097567,0.0799534565447,0.999999992069,-9.61469120619e-05,-5.7223573841e-05,-5.78263689167e-05,1793196479375171840
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.594472605,743,713,674.594472605,660,633,878.405527395,784,801,649,629,650,0.417120217483,-0.00554715410955,0.0799351520004,0.999999990012,-9.40682769649e-05,-8.67153710599e-05,-6.00626642273e-05,1793196479391838464
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,713,675,660,633,878,784,801,649,629,650,0.417943020142,-0.00554847405071,0.0799317629182,0.999999989782,-9.50312026138e-05,-8.75046911644e-05,-6.1216389589e-05,1793196479408505088
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743,713,675,660,633,878,784,801,649,629,650,0.418843115239,-0.00555357117,0.0799636557137,0.999999992679,-0.000103188807864,-2.03995487633e-05,-5.98093426363e-05,1793196479425171712
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.671714318,743,712.671714318,675,660,633,878,784,800.671714318,649,629,650,0.419704012906,-0.00555810969056,0.0799729211671,0.999999992113,-0.00011053001971,3.77547790159e-07,-5.96433284829e-05,1793196479441838336
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.081750132,743,712.081750132,675,660,633,878,784,800.081750132,649,629,650,0.42053366602,-0.00556220294844,0.0799641502277,0.999999991177,-0.000117220479295,-1.57737244188e-05,-6.04665492889e-05,1793196479458505472
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743.499213255,712,675,660,633,878,784,800.499213255,649,629.499213255,650.499213255,0.421424099949,-0.0055652779139,0.0799596993873,0.999999991071,-0.000116454986637,-2.67193193725e-05,-5.98567401406e-05,1793196479475172096
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743.92196802,712,675,660,633,878,784.07803198,800.92196802,649,629.92196802,651,0.422325732982,-0.00556633651643,0.0799603029918,0.999999991374,-0.000113604194117,-2.96904043152e-05,-5.88675410026e-05,1793196479491838208
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743.347581933,712,675,660,633,878,784.652418067,800.347581933,649,629.347581933,651,0.423236411105,-0.00555561113953,0.0799886371205,0.999999992773,-0.000105117940282,1.27371737847e-05,-5.69313551526e-05,1793196479508504832
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.226809528,743.226809528,712,675,660,633,878,784.773190472,800.226809528,649,629.226809528,650.773190472,0.424117733667,-0.00554407948641,0.0799942986014,0.999999994226,-9.16246103345e-05,9.86557521606e-06,-5.52818129075e-05,1793196479525171456
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.801209314,743.801209314,712,675,660,633,878,784.198790686,800.801209314,649,629.801209314,650.198790686,0.424954068366,-0.00553131219678,0.0799652137887,0.999999994107,-7.04578320298e-05,-6.24279350542e-05,-5.40715574866e-05,1793196479541838336
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.612737138,743.612737138,712,675,660,633,878,784,801,649,630,650.387262862,0.425816397491,-0.00553777748982,0.0799310306662,0.999999989132,-8.27632094441e-05,-0.000108007576615,-5.67568644412e-05,1793196479558504960
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.020515883,743.020515883,712,675,660,633,878,784,801,649,630,650.979484117,0.426692484083,-0.00555442160425,0.0798941492711,0.999999982026,-0.000112783685194,-0.000139448931837,-6.15038930626e-05,1793196479575172096
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.55783998,743,712,675.55783998,660,633,878,784,801,649.55783998,630,651,0.427613777945,-0.00555982756999,0.0798954311279,0.999999981595,-0.000116641202037,-0.000139540408603,-6.10998188041e-05,1793196479591838976
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743,712,675.865172591,660.134827409,633,878.134827409,784,801,649.865172591,629.865172591,651,0.428530853806,-0.00556392107476,0.0799021160252,0.999999982151,-0.000118665167374,-0.000134046893754,-6.04053496799e-05,1793196479608505600
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,743,712,675.291022835,660.708977165,633,878.708977165,784,801,649.291022835,629.291022835,651,0.429428899613,-0.00556505211741,0.0799219438189,0.999999984802,-0.000117773892939,-0.000114020929374,-5.93669708392e-05,1793196479625171968
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743.290757864,712,675,661,633,879,784,800.709242136,649,629.290757864,651,0.430336808371,-0.00556781847988,0.079954088881,0.999999988323,-0.000123663730381,-6.89968539296e-05,-5.74588666994e-05,1793196479641838336
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743.880382283,712,675,661,633,879,784,800.119617717,649,629.880382283,651,0.431254855086,-0.00557226576811,0.0799988947157,0.999999989185,-0.000136523791823,1.72248208669e-06,-5.46567821107e-05,1793196479658504960
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.535281684,743.535281684,712,675,660.535281684,633,879,784,800.464718316,649,630,651,0.432129466228,-0.0055626424668,0.0800018848862,0.999999991644,-0.000117329797765,2.73294001278e-06,-5.42136457443e-05,1793196479675171584
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,712.046879376,675.046879376,660.046879376,633,879,784,801,649.046879376,630,651,0.432987892625,-0.00555037183685,0.0799890275641,0.99999999402,-9.24306092276e-05,-2.06581945368e-05,-5.46820637451e-05,1793196479691838208
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,712.619737945,675.619737945,660.619737945,633,879,784,801,649.619737945,630,651,0.433788757142,-0.00554857681041,0.079917767424,0.999999986709,-9.50495822723e-05,-0.000118779444343,-5.86420622575e-05,1793196479708505344
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.193943592,743,712.806056408,676,661.193943592,633,879,784,801,650,630,651,0.43461025944,-0.00555081490702,0.0798775596207,0.999999978589,-9.98475385859e-05,-0.000170641560008,-6.11080876753e-05,1793196479725172480
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.770809009,743,712.229190991,676,661.770809009,633,879,784,801,650,630,651,0.435472509076,-0.0055610159931,0.0798986614741,0.999999983625,-0.000108947676828,-0.000131169756307,-6.06244172819e-05,1793196479741839360
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,743,712,676,661.642989311,633,879,784,801,649.642989311,630,650.642989311,0.436305085864,-0.00556706573696,0.079929165096,0.999999987293,-0.000116235656307,-9.18884155382e-05,-5.88199575935e-05,1793196479758505728
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,743,712,676,661.050633095,633,879,784,801,649.050633095,630,650.050633095,0.437118101921,-0.00557037886797,0.0799658664697,0.999999989551,-0.00012232903941,-5.27326324466e-05,-5.61448185037e-05,1793196479775171840
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,743,712,676,661,633,879,784,801.528400566,649,630,650.528400566,0.437933962621,-0.00557403925252,0.0799887505777,0.999999991049,-0.00012085062491,-1.50464957463e-05,-5.54190242224e-05,1793196479791838208
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,743.105175622,712,676,661,633,879,784,802,649,630,651,0.438739756319,-0.00557797006479,0.0800052913026,0.999999990969,-0.000121772725268,1.41833023772e-05,-5.50666980704e-05,1793196479808505088
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+243,4.050000000,POSE1_TO_POSE2_PRESS,765,743,711,678,657,630,879.071824824,781.071824824,801,649.071824824,629.071824824,650.071824824,0.451421991355,-0.00556953574351,0.079669035044,0.999999865641,-0.000124753889774,-0.000499097830283,-6.36799365705e-05,1793196480808504832
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.494339411,743,711,678,657,630,879,781,801.505660589,649.505660589,629,650.505660589,0.451420047953,-0.00556973006558,0.0796670495496,0.999999864155,-0.000126059944806,-0.000501727154533,-6.37845267592e-05,1793196480825171456
+245,4.083333333,POSE1_TO_POSE2_PRESS,764.08264465,743,711,678,657,630,879,781.08264465,801.91735535,649.91735535,629,651,0.451418135726,-0.00557009467977,0.0796652602604,0.999999862753,-0.000127329757641,-0.000504188722099,-6.3837446912e-05,1793196480841838080
+246,4.100000000,POSE1_TO_POSE2_PRESS,764.658221107,743,711,678,657,630,879,781.658221107,801.341778893,649.341778893,629,651,0.451419936902,-0.00557029554445,0.0796672156833,0.999999863923,-0.000126579354005,-0.000502086671635,-6.35584685834e-05,1793196480858504704
+247,4.116666667,POSE1_TO_POSE2_PRESS,764.760736148,743,711.239263852,677.760736148,657,630,879.239263852,781.760736148,801,649,629,650.760736148,0.451420885399,-0.00557005025348,0.0796678315733,0.999999864485,-0.000125972338072,-0.000501141303277,-6.33952156193e-05,1793196480875171328
+248,4.133333333,POSE1_TO_POSE2_PRESS,764.171702375,743,711.828297625,677.171702375,657,630,879.828297625,781.171702375,801,649,629,650.171702375,0.4514205874,-0.00556915274606,0.0796664892559,0.99999986416,-0.000125574934576,-0.000501886840297,-6.34011367338e-05,1793196480891837952
+249,4.150000000,POSE1_TO_POSE2_PRESS,764,743,711.589927392,677.410072608,657,630,879.589927392,781,801,649,629,650.410072608,0.45141966106,-0.00557007460187,0.0796658959477,0.999999863413,-0.000126294893342,-0.000503220779532,-6.31788181256e-05,1793196480908504576
+250,4.166666667,POSE1_TO_POSE2_PRESS,764,743,711.011138923,677.988861077,657,630,879.011138923,781,801,649,629,650.988861077,0.451418476201,-0.00557174499696,0.0796656108038,0.999999862489,-0.000127474567637,-0.000504796804597,-6.28625950211e-05,1793196480925171200
+251,4.183333333,HOLD_POSE2,764,743,711,677,657,630,879,782,801,650,629,650,0.451421372166,-0.00556733117564,0.0796674871146,0.999999865344,-0.00012168187897,-0.000500458124738,-6.3618787725e-05,1793196480954469376
+252,4.200000000,HOLD_POSE2,764,743.574123209,711,677.574123209,657,630,879,781.425876791,801,649.425876791,629,650,0.451422030833,-0.00556822928913,0.0796680070105,0.999999865708,-0.000121332591349,-0.000499886682565,-6.30533849812e-05,1793196480971136000
+253,4.216666667,HOLD_POSE2,764.153336153,743.846663847,711,677.846663847,657,630,879,781.153336153,801.153336153,649,629,650.153336153,0.451422516061,-0.00556882252813,0.0796681633464,0.999999865719,-0.000121502261416,-0.000499860022146,-6.27581513244e-05,1793196480987802624
+254,4.233333333,HOLD_POSE2,764.747170838,743.252829162,711,677.252829162,657,630,879,781.747170838,801.747170838,649,629,650.747170838,0.451422503043,-0.00556853993495,0.0796672752608,0.999999864716,-0.000123162774202,-0.000501398390833,-6.3239049477e-05,1793196481004469248
+255,4.250000000,HOLD_POSE2,764.669486697,743,711,677,657,630,879,781.669486697,801.669486697,649,629,651,0.451422529326,-0.00556899623049,0.079667393515,0.999999864594,-0.000124400840537,-0.000501321166436,-6.33516436695e-05,1793196481021135872
+256,4.266666667,HOLD_POSE2,764.093923433,743,711,677,657,630,879,781.093923433,801.093923433,649,629,651,0.45142258475,-0.00557000035468,0.079668257892,0.999999865127,-0.00012532569552,-0.000500046105082,-6.31911690343e-05,1793196481037802496
+257,4.283333333,HOLD_POSE2,764.480576567,743,711,677.480576567,657,630,879,781.480576567,801.480576567,649,629,651,0.451421074156,-0.00556932785526,0.0796666011936,0.999999864184,-0.000123755588052,-0.000502313582877,-6.32278933158e-05,1793196481054469120
+258,4.300000000,HOLD_POSE2,765,743.056577262,711.056577262,678,657,630,879,782,802,649,629,651,0.451419623309,-0.00556863435335,0.0796648265266,0.999999863167,-0.000122044092529,-0.000504750895298,-6.32289136485e-05,1793196481071135744
+259,4.316666667,HOLD_POSE2,765,743.648747258,711.648747258,678,657,630,879,782,802,649,629,651,0.451421629011,-0.00557083716687,0.0796665891407,0.999999864276,-0.000123599971185,-0.000502256242404,-6.25279002089e-05,1793196481087802368
+260,4.333333333,HOLD_POSE2,764.76435237,743.76435237,711.76435237,677.76435237,657,630,879,782,801.76435237,649,629.23564763,651,0.451422749562,-0.00557163287689,0.0796674442615,0.999999864962,-0.000123734526234,-0.000500904749366,-6.21289167773e-05,1793196481104469248
+261,4.350000000,HOLD_POSE2,764.185135062,743.185135062,711.185135062,677.185135062,657,630,879,782,801.185135062,649,629.814864938,651,0.451422579583,-0.00557037705708,0.0796669762744,0.999999865039,-0.000121796818863,-0.000501219961472,-6.21702873075e-05,1793196481121135872
+262,4.366666667,HOLD_POSE2,764.390847671,743,711.390847671,677.390847671,657,630,879,782,801,649,629.609152329,651,0.451422745605,-0.00557017110492,0.0796671896426,0.999999865155,-0.00012229815699,-0.000500864045006,-6.2192218146e-05,1793196481137802496
+263,4.383333333,HOLD_POSE2,764.96531089,743,711.96531089,677.96531089,657,630,879,782,801,649,629.03468911,651,0.451423069477,-0.00557045836787,0.0796677231032,0.999999865288,-0.000123945329273,-0.000500192840413,-6.22050164544e-05,1793196481154469120
+264,4.400000000,HOLD_POSE2,764.447710659,743,711.447710659,677.447710659,656.447710659,630,878.447710659,782,801.552289341,649,629,651,0.45142316411,-0.00557023733261,0.0796676591016,0.999999865185,-0.000125102201117,-0.000500070771001,-6.25258893813e-05,1793196481171135744
+265,4.416666667,HOLD_POSE2,764,743,711.138078601,677.138078601,656.138078601,630,878.138078601,782,801.861921399,649,629,651,0.451423211257,-0.00556983954131,0.0796676142415,0.999999865074,-0.000125687005196,-0.000500107658445,-6.2819057335e-05,1793196481187802624
+266,4.433333333,HOLD_POSE2,764,743,711.717496228,677.717496228,656.717496228,630,878.717496228,782,801.282503772,649,629,651,0.451423153709,-0.00556898119754,0.0796677532899,0.999999864992,-0.000124544029907,-0.000500539818537,-6.29603898851e-05,1793196481204469248
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711,678,657,630,879,781,801,649,629,651,0.451423653912,-0.00556972858556,0.0796668705408,0.999999865546,-0.000121186220175,-0.000500302605965,-6.26109138801e-05,1793196481241831168
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,677.419147797,657,630,879.580852203,781.580852203,801,649,629,651,0.451424256641,-0.00557014106201,0.0796679788444,0.999999865593,-0.000121231709284,-0.000500243973585,-6.22282715851e-05,1793196481258498816
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,677.163515509,656.836484491,630,879.836484491,781.836484491,801,649,629,650.836484491,0.45142489848,-0.00556991609444,0.0796687748186,0.999999865771,-0.000120829913354,-0.000500004932445,-6.20747433023e-05,1793196481275165952
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,677.750873434,656.249126566,630,879.249126566,781.249126566,801,649,629,650.249126566,0.451425641693,-0.00556803883223,0.0796687612157,0.999999866284,-0.000119268726675,-0.000499298260515,-6.25150927703e-05,1793196481291832064
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.335773823,743,711,677.664226177,656,630,879.335773823,781,801,649,629,650.335773823,0.451425539828,-0.0055674513583,0.0796685310805,0.999999866242,-0.000119133217855,-0.000499399187649,-6.26376398331e-05,1793196481308498432
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.918864063,743,711,677.081135937,656,630,879.918864063,781,801,649,629,650.918864063,0.451424815513,-0.00556781388654,0.0796681414569,0.999999865792,-0.00012004780153,-0.000500094957227,-6.25261074178e-05,1793196481325165312
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.505380234,743,711,677,656.494619766,630,879.505380234,781.494619766,801,649,629,651,0.451425280829,-0.00556780596848,0.0796687157918,0.999999866241,-0.000120439612636,-0.000499165595785,-6.20214086586e-05,1793196481341832192
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.069270176,743.069270176,711,677,657,630,879.069270176,782,801.069270176,649.069270176,629,651,0.451425657261,-0.00556773782547,0.079669142356,0.999999866671,-0.000120564313859,-0.000498324037336,-6.16031567768e-05,1793196481358498816
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.644506858,743.644506858,711,677,657,630,879.644506858,782,801.644506858,649.644506858,629,651,0.451423979915,-0.0055676671553,0.0796673514594,0.999999865916,-0.000119355194639,-0.000500042539523,-6.22805297203e-05,1793196481375164928
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.775133813,743.775133813,711,677,657,630,879.775133813,781.775133813,802,650,629,651,0.451422155568,-0.00556752113153,0.0796661964901,0.999999865223,-0.000118941645315,-0.000501486654122,-6.25898499283e-05,1793196481391831296
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.186487307,743.186487307,711,677,657,630,879.186487307,781.186487307,802,650,629,651,0.451420093409,-0.00556725320346,0.0796660703012,0.999999864635,-0.000119815140085,-0.000502486874317,-6.23037477726e-05,1793196481408498176
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743.39696082,711,677,656.60303918,630,879,781.39696082,801.60303918,649.60303918,629,650.60303918,0.451409878907,-0.00556700614847,0.0796606646315,0.999999860406,-0.00011991780774,-0.000510809295676,-6.23026868378e-05,1793196481425164800
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743.97799843,711,677,656.02200157,630,879,781.97799843,801.02200157,649.02200157,629,650.02200157,0.451395884039,-0.00556676877262,0.0796528107859,0.999999854374,-0.000119663031162,-0.000522527133487,-6.24338038348e-05,1793196481441831424
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.55222928,743.44777072,711,677,656.55222928,630,879,782,801,649,629,650.55222928,0.451358417423,-0.00556546758678,0.0796323090984,0.99999983691,-0.000119166030969,-0.000554958065403,-6.32522769578e-05,1793196481458498560
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+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.284037677,743.715962323,711,677,656.284037677,630,879,781.284037677,801,649,629,650.284037677,0.45126487736,-0.00556298898625,0.0795936236074,0.999999797929,-0.000118910983006,-0.000621178997546,-6.43264435639e-05,1793196481491831808
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..93cdc377dc3ce809ed74f0f237de2acd996d2994
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_04/depth_05/simulation_data.csv
@@ -0,0 +1,429 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c76478d4415ea7c917adbcd5fba1e7d47b608b8a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
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+size 26764541
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1119de623a0abf35eaea82ba96b6902c03046f06
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_01/franka_data.csv
@@ -0,0 +1,421 @@
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+57,0.950000000,BASELINE,764,743,712,674,660,634,877.920217349,784.920217349,800.079782651,649,629.079782651,650.079782651,0.400920264705,-0.0154389684729,0.0599201117021,0.999999976171,-2.39582422321e-05,-0.000212727269972,-4.2802526861e-05,1793196486556648960
+58,0.966666667,BASELINE,764,743,712,674,660,634,877.344549801,784.344549801,800.655450199,649,629.655450199,650.655450199,0.400919478396,-0.0154394714013,0.0599202295701,0.999999976146,-2.40790538168e-05,-0.000212820921512,-4.28375437163e-05,1793196486573315584
+59,0.983333333,BASELINE,764.235498728,743,712,674,660,634,877,784.235498728,801,649,630,650.764501272,0.400919010321,-0.0154400353413,0.0599203235419,0.999999976104,-2.45900084655e-05,-0.000212971954618,-4.27737500683e-05,1793196486589982208
+60,1.000000000,BASELINE,764.822078498,743,712,674,660,634,877,784.822078498,801,649,630,650.177921502,0.400919016671,-0.0154406902373,0.0599203818891,0.999999976035,-2.56825876495e-05,-0.000213208532066,-4.25626499203e-05,1793196486606649088
+61,1.016666667,BASELINE,764.596375807,743,712,674,660,634,877,784.596375807,801,649,629.596375807,650.403624193,0.40091965331,-0.0154401983431,0.0599207480533,0.999999976224,-2.43473448999e-05,-0.000212458039917,-4.26662988047e-05,1793196486623315712
+62,1.033333333,BASELINE,764.017021882,743,712,674,660,634,877,784.017021882,801,649,629.017021882,650.982978118,0.400920564363,-0.0154392071598,0.0599212482347,0.999999976519,-2.19550779866e-05,-0.000211277797802,-4.29069830034e-05,1793196486639982336
+63,1.050000000,BASELINE,764.562370862,743,712,673.437629138,659.437629138,634,876.437629138,784,800.437629138,649,629,650.437629138,0.400920065342,-0.0154409835537,0.0599206209529,0.999999976198,-2.669398336e-05,-0.000212216124682,-4.30700809913e-05,1793196486656648960
+64,1.066666667,BASELINE,764.859582826,743,712,673.140417174,659.280834347,634,876.140417174,784,800.140417174,649,629,650.140417174,0.400919913579,-0.0154418713667,0.0599203739034,0.99999997602,-2.92849282107e-05,-0.0002126950957,-4.31643205681e-05,1793196486673315584
+65,1.083333333,BASELINE,764.285696621,743,712,673.714303379,660.428606757,634,876.714303379,784,800.714303379,649,629,650.714303379,0.40092096557,-0.0154397575083,0.0599214059893,0.999999976393,-2.45787329842e-05,-0.000211558063056,-4.30532436122e-05,1793196486689982208
+66,1.100000000,BASELINE,764.295474713,742.704525287,712,673.704525287,660.704525287,634,876.704525287,784,801,649,629.295474713,650.704525287,0.400921184419,-0.0154390909087,0.0599214842073,0.99999997646,-2.28799902455e-05,-0.000211458347116,-4.29255462505e-05,1793196486706649088
+67,1.116666667,BASELINE,764.883868124,742.116131876,712,673.116131876,660.116131876,634,876.116131876,784,801,649,629.883868124,650.116131876,0.400920577334,-0.0154398590486,0.0599206168089,0.999999976239,-2.41626841828e-05,-0.000212386974598,-4.27813722656e-05,1793196486723315712
+68,1.133333333,BASELINE,764.535154069,742.464845931,712,673,659.535154069,634,876.464845931,784,800.535154069,649,630,650,0.400919740702,-0.0154403911086,0.0599203676167,0.999999976095,-2.57696311693e-05,-0.000212862040825,-4.28507002106e-05,1793196486739982080
+69,1.150000000,BASELINE,764,743,712,673,659.044278694,634,877.044278694,784,800.044278694,649,629.955721306,650,0.400919146874,-0.0154407152571,0.0599204044953,0.999999976033,-2.71113801526e-05,-0.000212959425721,-4.29747404194e-05,1793196486756648704
+70,1.166666667,BASELINE,764,743,712,673,659.627098168,634,877.627098168,784,800.627098168,649,629.372901832,650,0.400922192689,-0.0154392167527,0.0599220717647,0.999999976764,-2.42578621474e-05,-0.000209819778752,-4.31256705185e-05,1793196486773315328
+71,1.183333333,BASELINE,764.204489826,742.795510174,712,673.204489826,660.204489826,634,877.795510174,784,801,649,629.204489826,650.204489826,0.400923292135,-0.015438346654,0.0599226401258,0.999999977021,-2.23483501598e-05,-0.000208787073356,-4.32030461716e-05,1793196486789982208
+72,1.200000000,BASELINE,764.772239501,742.227760499,712,673.772239501,660.772239501,634,877.227760499,784,801,649,629.772239501,650.772239501,0.400920934012,-0.0154385928676,0.0599212563641,0.999999976459,-2.21157890214e-05,-0.000211497180935,-4.31497582502e-05,1793196486806648832
+73,1.216666667,BASELINE,765,742,712,673.646053216,660.292106431,634,876.646053216,784.353946784,801.353946784,649,629.646053216,650.646053216,0.400918832503,-0.0154383171076,0.0599201047087,0.999999975922,-2.09861916791e-05,-0.000214123553786,-4.32053978523e-05,1793196486823315456
+74,1.233333333,BASELINE,765,742,712,673.054995694,659.109991388,634,876.054995694,784.945004306,801.945004306,649,629.054995694,650.054995694,0.400916902902,-0.015437691675,0.0599191085426,0.999999975398,-1.92556652702e-05,-0.000216693832153,-4.33340085552e-05,1793196486839982080
+75,1.250000000,BASELINE,764.474278656,742.525721344,712,673.525721344,660.051442688,634,876.525721344,785,800.948557312,649,629,650.525721344,0.400918099839,-0.0154380296498,0.0599200234838,0.999999975813,-2.05739866271e-05,-0.000214688230428,-4.31327098571e-05,1793196486856648960
+76,1.266666667,BASELINE,764.104527559,743,712,674,660.895472441,633.895472441,877.104527559,785,800,649,629,650.895472441,0.400919365386,-0.015438560527,0.0599208386535,0.999999976209,-2.19742528983e-05,-0.000212734927923,-4.29284079918e-05,1793196486873315840
+77,1.283333333,BASELINE,764.67950824,743,712,674,660.32049176,633.32049176,877.67950824,785,800,649,629,650.32049176,0.400919496072,-0.015439514765,0.0599203223371,0.99999997612,-2.23355522784e-05,-0.000213129887459,-4.28629226259e-05,1793196486889982464
+78,1.300000000,BASELINE,765,743,712.261337237,673.738662763,659.738662763,633,877.738662763,784.738662763,800.261337237,649,629.261337237,650,0.400919925604,-0.0154397936955,0.0599201922617,0.999999976185,-2.20663895911e-05,-0.000212868862578,-4.27852128325e-05,1793196486906649600
+79,1.316666667,BASELINE,765,743,712.851790647,673.148209353,659.148209353,633,877.148209353,784.148209353,800.851790647,649,629.851790647,650,0.400920731491,-0.0154392221747,0.0599205486007,0.999999976442,-2.10032517595e-05,-0.000211781720871,-4.26921081585e-05,1793196486923317248
+80,1.333333333,BASELINE,765,742.566232961,712.566232961,673.433767039,659.433767039,633,877,784,801,649.433767039,629.566232961,650.433767039,0.400920740466,-0.0154390687158,0.0599209953862,0.999999976505,-2.04804092587e-05,-0.000211563590711,-4.25525197355e-05,1793196486939983360
+81,1.350000000,BASELINE,764.987167529,742,712,673.987167529,660,633.012832471,877,784,801,649.987167529,629.012832471,650.987167529,0.400920462163,-0.0154390474931,0.0599214365915,0.999999976497,-2.01352007097e-05,-0.000211667815789,-4.24063654152e-05,1793196486956649216
+82,1.366666667,BASELINE,764.411178482,742,712,673.411178482,660,633.588821518,877,784,801,649.411178482,629.588821518,650.411178482,0.400919297042,-0.0154386809365,0.0599203026827,0.999999976184,-1.96392321709e-05,-0.00021313789077,-4.26557150991e-05,1793196486973315840
+83,1.383333333,BASELINE,764.164240961,742.164240961,712,673.164240961,660,634,877,784.164240961,801,649,630,650.164240961,0.40091870511,-0.0154385431863,0.0599196963878,0.999999975997,-1.98883732071e-05,-0.000213942697354,-4.28813321677e-05,1793196486989982464
+84,1.400000000,BASELINE,764.738239443,742.738239443,712,673.738239443,660,634,877,784.738239443,801,649,630,650.738239443,0.400919543203,-0.0154389762752,0.0599204064136,0.999999976128,-2.19964551231e-05,-0.000213087755489,-4.30477398344e-05,1793196487006649344
+85,1.416666667,BASELINE,765,743,712,674,660,633.67853145,876.67853145,785,801,649,630,650.67853145,0.400919917558,-0.0154399830489,0.0599204069651,0.999999976132,-2.3614598492e-05,-0.000212949963066,-4.27942241947e-05,1793196487023316224
+86,1.433333333,BASELINE,765,743,712,674,660,633.087564004,876.087564004,785,801,649,630,650.087564004,0.400919903144,-0.0154414707636,0.0599198127381,0.999999976029,-2.48220082526e-05,-0.000213413383418,-4.21886714118e-05,1793196487039983360
+87,1.450000000,BASELINE,765,743,712,674,660,633,876.492443844,785,800.507556156,649,629.507556156,650,0.400920595685,-0.015439252485,0.0599207665223,0.999999976305,-2.37757975411e-05,-0.000212101063074,-4.28599852156e-05,1793196487056649728
+88,1.466666667,BASELINE,764.929715809,743,712,674,660,633.070284191,876.929715809,785,800.070284191,649,629,650,0.40092118651,-0.0154370871209,0.0599217137614,0.999999976563,-2.27421710722e-05,-0.000210848557108,-4.35893814569e-05,1793196487073315840
+89,1.483333333,BASELINE,764.353754325,743,712,674,660,633.646245675,876.353754325,785,800.646245675,649,629,650,0.400920160773,-0.0154399404546,0.0599206765993,0.999999976242,-2.46194546229e-05,-0.000212248711442,-4.31386885581e-05,1793196487089982208
+90,1.500000000,BASELINE,764.226912673,743,712,673.773087327,660,634,876.226912673,785,801,649,629.226912673,650.226912673,0.400919951083,-0.0154408592847,0.0599204520372,0.999999976153,-2.51347418024e-05,-0.000212656151284,-4.28831828091e-05,1793196487106648832
+91,1.516666667,BASELINE,764.815070806,743,712,673.184929194,660,634,876.815070806,785,801,649,629.815070806,650.815070806,0.400921040543,-0.0154386983808,0.0599215211359,0.99999997644,-2.34817276806e-05,-0.00021148318741,-4.29384154617e-05,1793196487123315456
+92,1.533333333,BASELINE,765,743,712,673.396919647,660,634,877,785,801,649,629.603080353,651,0.400921186297,-0.0154389036407,0.0599215532204,0.999999976486,-2.28860656907e-05,-0.000211381982862,-4.26798000377e-05,1793196487139982336
+93,1.550000000,BASELINE,765,743,712,673.975874967,660,634,877,785,801,649,629.024125033,651,0.400920899247,-0.0154401940726,0.0599211097085,0.999999976423,-2.27753274125e-05,-0.000211772309507,-4.22772473108e-05,1793196487156649216
+94,1.566666667,BASELINE,765,743,712,674,660,634,877,785,801,649,629.551806872,650.448193128,0.400922310622,-0.0154391860508,0.0599218997215,0.999999976852,-2.35720707169e-05,-0.000209566851414,-4.26953249876e-05,1793196487173316096
+95,1.583333333,BASELINE,765,743,712,674,660,634,877.127745806,785,801,649.127745806,630,650,0.400922954334,-0.0154385160979,0.0599223581444,0.999999977082,-2.41241985942e-05,-0.000208340785897,-4.29960040597e-05,1793196487189982720
+96,1.600000000,BASELINE,765,743,712,674,660,634,877.704171319,785,801,649.704171319,630,650,0.400920642404,-0.0154393845608,0.0599214635442,0.999999976555,-2.36785764412e-05,-0.000210951055564,-4.27590187268e-05,1793196487206649088
+97,1.616666667,BASELINE,765,743,712,674,659.712896075,634,877.712896075,785,800.712896075,649.712896075,630,650,0.400919735422,-0.0154397399678,0.0599212614016,0.999999976411,-2.32612732658e-05,-0.00021169770602,-4.26707565632e-05,1793196487223315712
+98,1.633333333,BASELINE,765,743,712,674,659.123103182,634,877.123103182,785,800.123103182,649.123103182,630,650,0.400920309653,-0.0154395544685,0.0599217893059,0.999999976674,-2.28738263517e-05,-0.000210479573101,-4.27392908159e-05,1793196487239982336
+99,1.650000000,BASELINE,764.542076405,743,712,674,659.457923595,634,877,785,800.457923595,649,630,650,0.400919483226,-0.0154396833383,0.0599205830442,0.999999976237,-2.33633419949e-05,-0.000212501657654,-4.2698349067e-05,1793196487256648960
+100,1.666666667,BASELINE,764.036462845,743,712,674,660,634,877,785,801,649,630,650,0.400918372944,-0.0154398186401,0.0599190291561,0.999999975655,-2.391909235e-05,-0.000215166881763,-4.26684734931e-05,1793196487273315584
+101,1.683333333,BASELINE,764.612409958,743,712,674,660,634,877,785,801,649,630,650,0.400918529294,-0.0154388222043,0.0599190999715,0.999999975774,-2.20322610767e-05,-0.00021470193009,-4.32295830187e-05,1793196487289982208
+102,1.700000000,BASELINE,764.812133558,743,712,674,660,634,877,784.812133558,801,649,630,650.187866442,0.400919219148,-0.0154383648422,0.059919595001,0.99999997603,-2.12097336897e-05,-0.000213538535978,-4.34821066438e-05,1793196487306649344
+103,1.716666667,BASELINE,764.237686733,743,712,674,660,634,877,784.237686733,801,649,630,650.762313267,0.400921006813,-0.0154390167541,0.0599209629531,0.999999976569,-2.25772677196e-05,-0.000210937928647,-4.30996405024e-05,1793196487323316736
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+108,1.800000000,POSE1_TO_POSE2_PRESS,764.410541658,742.410541658,712,674,660,634,877,784.589458342,801,649,630,650,0.400921418916,-0.0154397680948,0.059921302114,0.999999976464,-2.42310232624e-05,-0.000211339555322,-4.26601714351e-05,1793196487432909568
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+114,1.900000000,POSE1_TO_POSE2_PRESS,764.921704055,742.078295945,712,674,660,633.078295945,877,784.921704055,801,649,629,651,0.40094372216,-0.0154410878215,0.0599270486714,0.999999979436,-2.21660228105e-05,-0.000197126703972,-4.21715791261e-05,1793196487532908800
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.34296567,742.65703433,712,674,660,633.65703433,877,784.34296567,801,649,629,651,0.400967380247,-0.0154433745256,0.0599328169427,0.999999982371,-2.48677108359e-05,-0.00018139175388,-4.16665529992e-05,1793196487549575168
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.23565166,743,712,674,659.76434834,634,876.76434834,784.23565166,801,649,629.23565166,650.76434834,0.400996540908,-0.0154450177179,0.0599383292518,0.99999998526,-2.63777366279e-05,-0.000164523898995,-4.14268019473e-05,1793196487566241792
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.814092847,743,712,674,659.185907153,634,876.185907153,784.814092847,801,649,629.814092847,650.185907153,0.401033705859,-0.0154457248286,0.0599434692261,0.999999988135,-2.6154316578e-05,-0.000146008071109,-4.15729320247e-05,1793196487582908928
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,742.609553858,712,674,659.390446142,634,876.390446142,784.609553858,801,649,629.609553858,650.390446142,0.401076470481,-0.0154471494708,0.0599469108523,0.999999990022,-2.67411324119e-05,-0.000132199559389,-4.19926919998e-05,1793196487599575808
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,742.034189355,712,674,659.965810645,634,876.965810645,784.034189355,801,649,629.034189355,650.965810645,0.401121887155,-0.0154489139416,0.0599495481279,0.999999991436,-2.77116823094e-05,-0.000120620467971,-4.25420452579e-05,1793196487616242688
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.446774032,742.553225968,712,673.446774032,660,634,877,784,800.446774032,649,629,650.446774032,0.401180618881,-0.0154522046429,0.0599503720817,0.999999991534,-3.03004956076e-05,-0.000118993706248,-4.30721533414e-05,1793196487632908800
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,743,712,673.139985737,660,634,877,784.139985737,800,649,629.139985737,650.139985737,0.401247892813,-0.015455968699,0.0599521514947,0.999999991898,-3.32383370844e-05,-0.000114898908044,-4.35704151081e-05,1793196487649575680
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,743,712,673.722268896,660,634,877,784.722268896,800,649,629.722268896,650.722268896,0.401339498794,-0.0154609237103,0.0599573117246,0.999999993248,-3.69559423059e-05,-0.000101019537254,-4.3971897264e-05,1793196487666242304
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.300461602,743,712,673.699538398,660,633.699538398,877,785,800.600923205,649.300461602,630,651,0.401436797991,-0.015466668513,0.0599591836465,0.999999993659,-4.26878933315e-05,-9.41745792036e-05,-4.46108687613e-05,1793196487682908928
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.874924055,743,712,673.125075945,660,633.125075945,877,785,801.749848109,649.874924055,630,651,0.401539289016,-0.0154731335521,0.0599580568516,0.99999999331,-5.02567925449e-05,-9.374453509e-05,-4.54664146057e-05,1793196487699575296
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743,712.44580672,673,660,633.44580672,877.44580672,784.55419328,801.55419328,649.55419328,630,650.55419328,0.401663825931,-0.0154779869126,0.0599572031466,0.999999993392,-5.32617339571e-05,-9.0657326753e-05,-4.6484985213e-05,1793196487716241920
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.983635813,743,712.983635813,673,660,634,877.983635813,784.016364187,801,649,629.983635813,650,0.401795471332,-0.0154825129962,0.0599565304425,0.999999993593,-5.51957225526e-05,-8.66533473818e-05,-4.75239399605e-05,1793196487732908800
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.389376635,743,712.389376635,673,660,634,877.389376635,784.610623365,801,649,629.389376635,650,0.40196146176,-0.0154913225729,0.0599595655249,0.999999993887,-6.41684543366e-05,-7.63911509746e-05,-4.76803869335e-05,1793196487749575680
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.199695773,743,712.199695773,673.199695773,660,634,877,785,801,649,629.199695773,650.199695773,0.402141133035,-0.0155005511152,0.0599613747855,0.999999992883,-8.53651903096e-05,-6.81934487999e-05,-4.79284442641e-05,1793196487766242560
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.778910726,743,712.778910726,673.778910726,660,634,877,785,801,649,629.778910726,650.778910726,0.402346804559,-0.015510575895,0.0599608543879,0.999999988365,-0.000129793483724,-6.39192917503e-05,-4.83506058017e-05,1793196487782908928
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,712.644248793,673.644248793,659.644248793,634,877,785,801,649,630,650.644248793,0.4025704962,-0.0155211490001,0.0599608630011,0.9999999866,-0.0001448350908,-5.87723513217e-05,-4.86757747631e-05,1793196487799575296
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,743,712.06887414,673.06887414,659.06887414,634,877,785,801,649,630,650.06887414,0.402805312601,-0.0155320606157,0.0599611981997,0.999999987349,-0.000141734795209,-5.30865966326e-05,-4.89410653184e-05,1793196487816241920
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,743,712,673.516556834,659.516556834,634,877.516556834,784.483443166,801,649,629.483443166,650.516556834,0.403068260595,-0.0155413624428,0.0599633111231,0.999999988264,-0.000138011024845,-4.55290146007e-05,-4.85004372938e-05,1793196487832908800
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877.897982283,784.102017717,801.102017717,649,629,651,0.403339969483,-0.0155493858924,0.0599629062936,0.999999988803,-0.000135100165359,-4.23529642633e-05,-4.84564083838e-05,1793196487849575680
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877.318777595,784.681222405,801.681222405,649,629,651,0.403634764445,-0.0155524536474,0.0599495939821,0.999999987561,-0.000136388247342,-6.08620573074e-05,-5.0716465601e-05,1793196487866243584
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,743,712.260311352,673.739688648,660,634,877.260311352,784.739688648,801.739688648,649,629,650.739688648,0.403949912638,-0.0155497698621,0.0599356359826,0.99999998552,-0.000139090823729,-8.25666378948e-05,-5.28881891654e-05,1793196487882910464
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,743,712.839258592,673.160741408,660,634,877.839258592,784.160741408,801.160741408,649,629,650.160741408,0.404289974325,-0.0155400458645,0.0599208876252,0.999999982339,-0.000143524821558,-0.000108182675715,-5.49517871741e-05,1793196487899576064
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,743,713,673.413309676,660,634,877.586690324,784,801,649,629.413309676,650.413309676,0.40465978723,-0.0155348315716,0.0599133302344,0.999999982447,-0.000130415326784,-0.000122214236546,-5.62300211965e-05,1793196487916242176
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,743,713,673.985478861,660,634,877.014521139,784,801,649,629.985478861,650.985478861,0.40504103529,-0.0155313506269,0.0599085367603,0.999999983567,-0.000110562823427,-0.000131793192704,-5.72063930302e-05,1793196487932908800
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,743,712.424270685,674,660,634,878.151458629,784.575729315,801,649,629.424270685,650.424270685,0.405490080984,-0.0155383518289,0.0599239700856,0.999999986589,-0.000112834442692,-0.000104887642041,-5.55732859524e-05,1793196487949575680
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,878.671991591,785,801.164004205,649,629.164004205,650.164004205,0.405963322049,-0.0155447376137,0.0599443747072,0.999999989357,-0.000116999051748,-6.88326932997e-05,-5.34721155601e-05,1793196487966242304
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877.507913386,785,801.746043307,649,629.746043307,650.746043307,0.406493735298,-0.0155488590011,0.0599761082689,0.999999990909,-0.000124520288167,-1.18782155363e-05,-5.03510873294e-05,1793196487982908928
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,743.32290929,712,674,660,634,877,784.67709071,801.67709071,649,630,651,0.40702912613,-0.0155522977623,0.059996902326,0.999999990873,-0.00012490278889,1.86027931184e-05,-4.80440114869e-05,1793196487999575296
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743.895771009,712,674,660,634,877,784.104228991,801.104228991,649,630,651,0.407568369985,-0.0155552081275,0.0600092285107,0.999999991345,-0.00011975945292,2.85916506477e-05,-4.63669865721e-05,1793196488016241920
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.527658294,743.527658294,712,674,660,634,877,784.472341706,801.472341706,649,630,651,0.408100973482,-0.0155536154843,0.0599973120487,0.999999991772,-0.000119286622092,-1.33385904307e-06,-4.71755936655e-05,1793196488032909312
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660,634,877.050996153,785,801.898007693,649,629.949003847,651,0.40863605738,-0.0155514049348,0.0599805802243,0.999999990938,-0.000119476618693,-3.88249456039e-05,-4.83962900482e-05,1793196488049576192
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,634,877.643005862,785,800.713988275,649,629.356994138,651,0.409213124152,-0.0155532640824,0.0599699640486,0.999999990204,-0.000115678267209,-6.23991816176e-05,-4.81238670831e-05,1793196488066242816
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.228645634,743,712,674,660,634,877.771354366,785,800.228645634,649,629,651,0.409829947365,-0.0155550195825,0.0599675741211,0.999999990299,-0.000114665440094,-6.27366623889e-05,-4.81513956703e-05,1793196488082909184
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.804609288,743,712,674,660,634,877.195390712,785,800.804609288,649,629,651,0.410507161497,-0.0155566176394,0.059977680056,0.999999991483,-0.00011788388929,-2.77769717629e-05,-4.86345576285e-05,1793196488099575296
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877.380375433,785,801.380375433,649.380375433,629.380375433,651,0.411200186474,-0.0155594576468,0.0599809527501,0.999999991394,-0.000120107232457,-1.89199633172e-05,-4.92755778899e-05,1793196488116241664
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877.956040159,785,801.956040159,649.956040159,629.956040159,651,0.411901328907,-0.0155629352862,0.0599807171764,0.999999991055,-0.000121819676249,-2.34643848394e-05,-4.99976444951e-05,1793196488132908288
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,878,785,801.455679864,649.455679864,629.455679864,651,0.412546362522,-0.0155586323644,0.0599489242589,0.999999988049,-0.000117468658798,-8.55907866047e-05,-5.26944465929e-05,1793196488149575168
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,743,712,674.131391431,660,634,878,785,801,649.131391431,629.131391431,650.868608569,0.413208816606,-0.0155548998027,0.0599198886007,0.999999982125,-0.000113061197333,-0.000141163586289,-5.51434394563e-05,1793196488166241792
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,743,712,674.710785107,660,634,878,785,801,649.710785107,629.710785107,650.289214893,0.413946485913,-0.0155553053438,0.0599091503995,0.999999979846,-0.000110170586304,-0.00015815821797,-5.61908006156e-05,1793196488182908928
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,743,712,674.711383524,660,634,878,785,801,649.711383524,630,650,0.414746417543,-0.0155600636157,0.0599315995722,0.999999985183,-0.000114317449147,-0.000116877434664,-5.38937155528e-05,1793196488199575808
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,743,712,674.135109206,660,634,878,785,801,649.135109206,630,650,0.415608404783,-0.0155691601608,0.0599871258866,0.99999999081,-0.000125478409904,-1.75147977005e-05,-4.82632924838e-05,1793196488216242432
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743,712,674.449004833,660.449004833,634,878,785,801,649,630,650.449004833,0.416432798575,-0.0155723604569,0.0600120713816,0.999999991292,-0.000121792634302,2.23717002129e-05,-4.56273051009e-05,1793196488232908800
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660.964949895,634,878.035050105,785,801,648.964949895,630,650.964949895,0.417245722125,-0.015573603216,0.0600253387739,0.999999991636,-0.000114535895161,4.06770189925e-05,-4.42144726797e-05,1793196488249575168
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660.386190555,634,878.613809445,785,801,648.386190555,630,650.386190555,0.418059312801,-0.0155724915325,0.0600027329417,0.999999991354,-0.00012241810371,6.76332404248e-06,-4.75498541099e-05,1793196488266241792
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,712,674.80749176,660,634,878.80749176,784.80749176,801.19250824,648.19250824,630,650,0.418873775694,-0.015571957382,0.0599783664062,0.999999989894,-0.000129002700936,-3.12385207629e-05,-5.093549476e-05,1793196488282908672
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743,712,674.228914422,660,634,878.228914422,784.228914422,801.771085578,648.771085578,630,650,0.419689987742,-0.0155725814554,0.0599504688383,0.999999986678,-0.00013298497989,-7.74390168431e-05,-5.44219284886e-05,1793196488299575552
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,878,784.346375804,801.653624196,649,630,650,0.420498386349,-0.0155716729281,0.0599217479926,0.999999981483,-0.000130983556333,-0.000129035012034,-5.68080928134e-05,1793196488316242176
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,878,784.919514029,801.080485971,649,630,650,0.421301669684,-0.0155697610505,0.0598924881713,0.999999973512,-0.000125064772005,-0.000184163285532,-5.84739417254e-05,1793196488332908800
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.492194951,743,712,674,660,634,878,784.492194951,801,649,630,650,0.422173068136,-0.0155679758106,0.0598865696713,0.999999972349,-0.000123540317382,-0.00019112440966,-5.92524910268e-05,1793196488349575424
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.096679031,743,712,674.096679031,660,634,878.096679031,784,801,649,630,650,0.423069986378,-0.0155672904941,0.0598963292579,0.999999975996,-0.000123432993552,-0.000171257927235,-5.86738225536e-05,1793196488366241536
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.676102579,743,712,674.676102579,660,634,878.676102579,784,801,649,630,650,0.424038765628,-0.0155719940864,0.0599653327465,0.999999988996,-0.000126817047814,-5.672700428e-05,-5.20420257701e-05,1793196488382908160
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743.254165631,712,674.745834369,660,633.745834369,878.745834369,784,801,649,630,650,0.42497216643,-0.0155743614518,0.0600100469495,0.999999990725,-0.000126244884422,1.74938341111e-05,-4.80154373456e-05,1793196488399575552
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743.830504237,712,674.169495763,660,633.169495763,878.169495763,784,801,649,630,650,0.425860722672,-0.0155737674845,0.0600239727689,0.999999990778,-0.000120657936464,4.06187948052e-05,-4.72911351352e-05,1793196488416242944
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743.595834058,712,674.404165942,660,633.404165942,878,784,801.404165942,649,629.595834058,650,0.426735659948,-0.0155761318506,0.0600102708823,0.999999991059,-0.000121255566969,2.87351153039e-05,-4.85115911116e-05,1793196488432909056
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+171,2.850000000,POSE1_TO_POSE2_PRESS,765.842835038,743,712,674.157164962,660.842835038,633,878,784.842835038,800.842835038,649,630,650,0.429292302525,-0.0155793227175,0.0599403106993,0.999999987868,-0.000129156215668,-6.8191729026e-05,-5.41474244365e-05,1793196488482909184
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+232,3.866666667,POSE1_TO_POSE2_PRESS,764.558894608,743.558894608,712,676,660,632.558894608,878.558894608,782.441105392,801.558894608,649.558894608,629,651,0.449586069396,-0.0156178513347,0.0597664671222,0.999999915012,-0.00018130294205,-0.000365926605386,-5.65896513921e-05,1793196489499575808
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765,743,712,676,660,632.225999822,878,783,802.774000178,649,629,650,0.449586159098,-0.0156158322099,0.0597655220807,0.999999914436,-0.000180783268086,-0.000367762447318,-5.65359515397e-05,1793196489649575680
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765,743,712,675.476283386,660,632,878.476283386,782.476283386,801.476283386,649,629,650.523716614,0.449588508554,-0.0156174448202,0.0597658221807,0.999999914577,-0.000180227452882,-0.000367860656555,-5.51552246148e-05,1793196489699575552
+245,4.083333333,HOLD_POSE2,765,743,712,676,660,632,878,783,801,649,629,651,0.449585343341,-0.0156168134843,0.0597630566605,0.999999913069,-0.00017984223807,-0.0003719524119,-5.62992869859e-05,1793196489742123264
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.493242896,744,712.506757104,675,660.493242896,633,878,783,802,650,629,651,0.448347220359,-0.0155377927978,0.0596959715336,0.999999884449,-0.000133626196033,-0.000458638694455,-5.38268697552e-05,1793196490474853632
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,744,712.918550168,675.081449832,660,633,878,783,802,650,629,651,0.448180433737,-0.0155297685637,0.0597010061519,0.999999889024,-0.000127559904402,-0.000450549663705,-5.18215747302e-05,1793196490491520000
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,744,712.327581912,675.672418088,660,633,878,783,802,650,629,651,0.447999785221,-0.0155205291777,0.0597112473208,0.999999896627,-0.000120281433575,-0.000435748698103,-4.90007401124e-05,1793196490508186880
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,744,712,675.742718546,660,633,878,783.257281454,802,649.742718546,629.257281454,650.742718546,0.447805224819,-0.0155100560552,0.0597222026652,0.999999904662,-0.000111565104706,-0.000419628715418,-4.62764667826e-05,1793196490524854016
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,744,712,675.16544806,660,633,878,783.83455194,802,649.16544806,629.83455194,650.16544806,0.447593361779,-0.0154980484967,0.0597340462518,0.999999913191,-0.000101060467017,-0.00040186823059,-4.36722899307e-05,1793196490541520896
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,744,712,675,660.412910259,633,878.412910259,784,802,649.412910259,630,650,0.447355357656,-0.0154878740006,0.0597446542625,0.999999921579,-9.24933679835e-05,-0.000382947478341,-4.04659493774e-05,1793196490558187520
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,744,712,675,660.991705597,633,878.991705597,784,802,649.991705597,630,650,0.44710685146,-0.0154784359306,0.0597547658853,0.999999929639,-8.47046677418e-05,-0.000363560593528,-3.70176919682e-05,1793196490574853632
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,743.435187661,712,675.564812339,660.435187661,632.435187661,878.435187661,784,802,649.435187661,630,650.564812339,0.446807978055,-0.0154696336916,0.0597554536559,0.999999928927,-7.98948084529e-05,-0.000366790891936,-3.50442911373e-05,1793196490591520256
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.857593962,660.142406038,632.142406038,878,784.142406038,802,649,630,650.857593962,0.446502608173,-0.0154645315496,0.0597554647558,0.999999927722,-7.80660146283e-05,-0.000370634571604,-3.305270475e-05,1793196490608186624
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.265572687,660.734427313,632.734427313,878,784.734427313,802,649,630,650.265572687,0.446179039183,-0.0154710824518,0.0597537720026,0.999999925411,-8.55125318231e-05,-0.000375376667488,-3.09360015166e-05,1793196490624853504
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.680716886,633,878,784.680716886,801.680716886,649,630,650,0.445837594684,-0.0154784226721,0.0597535283755,0.999999926479,-6.26182214388e-05,-0.000377336734694,-2.71690562598e-05,1793196490641520384
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.101690283,633,878,784.101690283,801.101690283,649,630,650,0.445481608048,-0.0154864050198,0.0597544636424,0.999999928566,-1.50410141419e-05,-0.000377033563267,-2.20596043353e-05,1793196490658187264
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,743.473915916,712,675,660,633,878.473915916,784,801,649,630,650,0.4450933942,-0.0154768510608,0.0597493826812,0.999999926326,-6.60081594916e-06,-0.000383263676086,-2.03516202541e-05,1793196490674854144
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.049850727,744,712.049850727,675,660,633,878.950149273,784.049850727,801,649,630,650,0.444698526729,-0.01546405376,0.0597448281937,0.999999924715,-5.4426534472e-06,-0.000387528112467,-1.90387495367e-05,1793196490691520768
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.637185448,744,712.637185448,675,660,633,878.362814552,784.637185448,801,649,630,650,0.44430594434,-0.0154565669511,0.059759768967,0.999999936651,7.09678627409e-06,-0.000355592347418,-1.41729823476e-05,1793196490708187136
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.778553795,743.778553795,712.778553795,675,660.221446205,633,878,784.778553795,801.221446205,649,630,650,0.44390002311,-0.01545290543,0.0597793430106,0.999999948561,2.1392892619e-05,-0.000319919848135,-8.40655167147e-06,1793196490724853504
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.199260463,743.199260463,712.199260463,675,660.800739537,633,878,784.199260463,801.800739537,649,630,650,0.443472546934,-0.015455425403,0.0598064042099,0.999999960557,3.85276926247e-05,-0.000278208956031,-1.18468952085e-06,1793196490741519872
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,743,712.378721116,675,661,633,878,784.378721116,801.621278884,649,630,650,0.443004340037,-0.0154561460262,0.0598165859801,0.999999964023,4.67624127286e-05,-0.000264102867055,4.18187637297e-06,1793196490758186496
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,743,712.956014891,675,661,633,878,784.956014891,801.043985109,649,630,650,0.442514777049,-0.0154559232066,0.0598179174556,0.999999963724,5.03306047318e-05,-0.000264470646881,8.57566524853e-06,1793196490774853120
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.530502661,743,712.469497339,675,660.469497339,633,878,784.469497339,801,649,630,650,0.441958303143,-0.0154505107214,0.0597952907337,0.999999951401,6.06313288636e-05,-0.000305626744146,1.06933321793e-05,1793196490791520000
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+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.302390502,743,712,675,660.697609498,633,878,784.697609498,801,649,630,650.697609498,0.440804602078,-0.0154373684424,0.0597571881311,0.999999921287,0.000112574867924,-0.000380159210874,1.52434900665e-05,1793196490824854528
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.716858366,633,878,784.716858366,801.283141634,649,630,650.716858366,0.44022164741,-0.0154331136587,0.0597549042699,0.999999915599,0.000128774029504,-0.000389705018179,1.87144916373e-05,1793196490841521408
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,743.169594349,712,676,660.830405651,634,878,784.830405651,801,649,629.169594349,651,0.437196759295,-0.0154411805244,0.0598232984506,0.999999956286,6.81753259228e-05,-0.000287259444156,1.61640879824e-05,1793196490924853504
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,743.764287872,712,676,660.235712128,634,878,784.235712128,801,649,629.764287872,651,0.436455529695,-0.0154352371025,0.0597681260142,0.999999925557,7.26356660409e-05,-0.000378701580403,1.39455665684e-05,1793196490941520128
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.923624861,744,712,675.076375139,660,633.076375139,878,784.923624861,801,649.923624861,630,651,0.435089431936,-0.0154282804362,0.0597435472969,0.999999915817,0.000109357428142,-0.000395190609368,1.52198359792e-05,1793196490974853888
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,743,712,675.076211785,660.076211785,633.923788215,878,784.076211785,801,649,630,650,0.433736773487,-0.0154279265967,0.0597819683346,0.999999944188,0.000119900681727,-0.000311326068226,1.80124671277e-05,1793196491008186880
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,743,712,675.667298018,660.667298018,633.332701982,878,784.667298018,801,649,630,650,0.432992724446,-0.0154308710614,0.059787048375,0.999999946508,0.000106252548784,-0.000308752093554,1.9148531362e-05,1793196491024853504
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.748175575,743,712.251824425,675.748175575,660.748175575,633.251824425,878,784.748175575,801,649,630,650,0.432248347607,-0.0154307915338,0.05978934423,0.999999945755,0.00010577308387,-0.000311292026105,1.99811296047e-05,1793196491041520128
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.172095684,743,712.827904316,675.172095684,660.172095684,633.827904316,878,784.172095684,801,649,630,650,0.431503548585,-0.0154268182379,0.0597880550983,0.999999940985,0.000122249925425,-0.000320416753918,2.04229775541e-05,1793196491058186752
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,743,712.017317378,675,660,633.017317378,878,784.982682622,800.017317378,649,630,650.982682622,0.430049074616,-0.0154304856119,0.0598236296678,0.999999960724,0.000113006893084,-0.000255315905682,2.43983674348e-05,1793196491091520256
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633,878,784.447160863,800,649.552839137,630,650.447160863,0.429270019992,-0.0154295090127,0.0598136162536,0.999999952323,0.000121051728193,-0.000282960556172,2.51796337932e-05,1793196491108187136
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633.12880874,878,784,800.12880874,649.87119126,630,650.12880874,0.42848011729,-0.0154277238528,0.0597972549952,0.999999940738,0.000127730057581,-0.000318751275037,2.46458784369e-05,1793196491124854016
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633.726792089,878,784,800.726792089,649.273207911,630,650.726792089,0.427656882092,-0.0154234247475,0.0597612790895,0.999999920752,0.000127587995352,-0.000376612921808,1.94886455444e-05,1793196491141520384
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633.686904946,878.313095054,784.313095054,801,649,630,650.686904946,0.426878460423,-0.0154228695495,0.0597543479683,0.999999919805,0.000125774420862,-0.00037979982352,1.7942426207e-05,1793196491158186752
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.535940844,660,633.464059156,878.071881689,785,801,649,630,650,0.425375118412,-0.0154271056347,0.0597936364245,0.999999942904,0.000127424065645,-0.000312107773105,2.33311499358e-05,1793196491191520000
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.626676419,743,712,674,660,633.373323581,877.626676419,785,800.373323581,649.626676419,630,650,0.423849330586,-0.0154252896917,0.0598217098445,0.999999947436,0.000138900328973,-0.00029155813707,2.8767334111e-05,1793196491224853248
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.42764009,660,633.42764009,877.42764009,784.57235991,801,649,630,650,0.416337046538,-0.015420623305,0.0598219782338,0.999999945706,0.000160527372843,-0.000286311069705,2.90776559073e-05,1793196491391520000
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.003585949,743,712,675,660,634,878,784,801,649,630,650.003585949,0.415640391978,-0.0154182735428,0.0598329240136,0.999999947118,0.000167522858333,-0.000277041486066,3.0805159305e-05,1793196491408186368
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.57816342,743,712,675,660,634,878,784,801,649,630,650.57816342,0.41495204108,-0.0154170865019,0.0598240199399,0.999999941283,0.000169800024928,-0.000296173456408,2.97269251541e-05,1793196491424852992
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.841697183,743,712,674.841697183,660,634,878,784,800.841697183,649,630,650.841697183,0.414272539879,-0.0154166829663,0.059818745191,0.999999937219,0.000172214910766,-0.000308316983682,2.90719907863e-05,1793196491441519872
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.246196843,743,712,674.246196843,660,634,878,784,800.246196843,649,630,650.246196843,0.413617479435,-0.0154184432993,0.0598234938358,0.999999938899,0.000175010147483,-0.000301159974583,2.95861169935e-05,1793196491458186496
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660.337181098,634,877.662818902,784.337181098,800,649,630,650,0.412940972948,-0.0154158736444,0.0598118399377,0.999999932629,0.000173778087166,-0.000322085543503,2.83630650241e-05,1793196491474852864
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660.91201487,634,877.08798513,784.91201487,800,649,630,650,0.412249350858,-0.0154102521185,0.0597886251653,0.99999991945,0.000169707498697,-0.0003628043327,2.59156114996e-05,1793196491491519744
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660.513728834,634,877,784.513728834,800.972542333,649.486271166,629.513728834,650,0.411612303217,-0.0154060128926,0.0597624583799,0.999999903575,0.000179451043358,-0.000400168075023,2.26625717778e-05,1793196491508186368
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877,784,801.937640838,649.937640838,629.062359162,650,0.410994862628,-0.0154026523979,0.0597411889326,0.99999989027,0.000189620382373,-0.000427912910842,1.98778335286e-05,1793196491524853248
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877,784,801.34509205,649.34509205,629.65490795,650,0.410460268664,-0.0154046390754,0.0597660935093,0.999999911323,0.000182183823363,-0.000379031143754,2.23125071426e-05,1793196491541519872
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.759550106,742.759550106,712,674.240449894,660,634,877,784,801,649,630,650.240449894,0.409929604729,-0.0154069585141,0.0597947652869,0.999999928435,0.000179208718675,-0.000332205494517,2.55604163819e-05,1793196491558186496
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764.183779641,742.183779641,712,674.816220359,660,634,877,784,801,649,630,650.816220359,0.409404421482,-0.0154097420067,0.059828690631,0.999999941364,0.000182455357698,-0.00028824721906,2.99424271454e-05,1793196491574853120
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.391308875,742.391308875,712,674.608691125,660,634,877.391308875,784.391308875,801.391308875,649,629.608691125,650.608691125,0.408868365796,-0.0154105685153,0.0598425629194,0.999999945764,0.000183103668371,-0.000271868441133,3.21191940412e-05,1793196491591520000
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.966077718,742.966077718,712,674.033922282,660,634,877.966077718,784.966077718,801.966077718,649,629.033922282,650.033922282,0.408327212666,-0.0154104775183,0.0598470336018,0.999999946763,0.000182533787699,-0.000268419940654,3.32620620399e-05,1793196491608186880
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,742.443812518,712,674,660,634,877.443812518,785,801.443812518,649,629,650,0.40783180383,-0.0154091378152,0.0598368073739,0.999999943865,0.000180133993719,-0.000280778206099,3.13881008341e-05,1793196491624853504
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,742.144329959,712,674,660,633.855670041,877,784.855670041,801,649,629,650.144329959,0.407346681602,-0.0154074601371,0.0598266807822,0.999999940294,0.000180247314413,-0.000293324815686,2.97091379555e-05,1793196491641520128
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,742.723643663,712,674,660,633.276356337,877,784.276356337,801,649,629,650.723643663,0.406883914204,-0.0154049999058,0.0598196326095,0.999999935808,0.000188280602389,-0.000303451132049,2.91881304213e-05,1793196491658187008
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.301284586,742.698715414,711.698715414,674,659.698715414,633.301284586,877,784.301284586,801,649,629.301284586,651,0.406451634412,-0.0154031661554,0.0598218085318,0.99999993806,0.000190979860663,-0.000294233541533,2.88776788698e-05,1793196491674853376
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.877399569,742.122600431,711.122600431,674,659.122600431,633.877399569,877,784.877399569,801,649,629.877399569,651,0.406047165298,-0.0154019038783,0.0598323986311,0.999999946018,0.000188813441272,-0.000267370528345,2.87592955253e-05,1793196491691520000
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.54950717,742.45049283,711.45049283,674,659.45049283,634,877,785,801,649,630,651,0.405648885873,-0.0154015075917,0.0598366082862,0.999999947978,0.000189708521375,-0.000259298879281,2.86245943944e-05,1793196491708187136
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877,785,801,649,630,650.976380212,0.405253101576,-0.0154012161051,0.0598383541583,0.999999948095,0.000191546784467,-0.000257511908095,2.84059556089e-05,1793196491724854528
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877,785,801,649,630,650.382725524,0.404877151335,-0.0153978039567,0.059822266815,0.999999939857,0.000196173836901,-0.000284799682357,2.62680435299e-05,1793196491741520640
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877,785,801.205176995,649,630,650.205176995,0.404509314486,-0.0153946189478,0.0598039764389,0.999999930427,0.00019863003235,-0.000314830773678,2.39615699215e-05,1793196491758186752
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877,785,801.782642288,649,630,650.782642288,0.404156199213,-0.0153918460779,0.0597816887192,0.999999919145,0.000197147264055,-0.000349839539256,2.13492460625e-05,1793196491774853376
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,742.640456701,712,674,660,634,876.640456701,785,801.640456701,649,630,650.640456701,0.403836291209,-0.0153909913035,0.0597667187488,0.999999911474,0.000195130516291,-0.000372295957453,1.92609493141e-05,1793196491791520000
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,742.063896229,712,674,660,634,876.063896229,785,801.063896229,649,630,650.063896229,0.403536426786,-0.0153912942745,0.0597561657053,0.99999990631,0.000192791463141,-0.000387175892667,1.74889504761e-05,1793196491808186624
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.521849788,742,712,674,660,634,876.521849788,784.478150212,801,649,630,650.521849788,0.403301808181,-0.0153950416659,0.0597749144803,0.999999918994,0.000193273543244,-0.000352553826967,1.90551517927e-05,1793196491824853760
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.892711045,742,712,674,660,634,877,784.107288955,801,649,629.892711045,651,0.4030773855,-0.0153983454113,0.0597954396555,0.999999931084,0.000193931467306,-0.000315891109173,2.08766511172e-05,1793196491841521152
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.31365503,742,712,674,660,634,877,784.68634497,801,649,629.31365503,651,0.402862038361,-0.0153978106826,0.0598077172976,0.999999936757,0.000193816504497,-0.000297384534975,2.19912603215e-05,1793196491858187520
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,742.265021662,712,674,660,634,877,784.734978338,801,649.265021662,629.265021662,651,0.402658746622,-0.0153965068683,0.0598180735134,0.999999941662,0.00019274446546,-0.000281058863601,2.30532630497e-05,1793196491874853888
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,742.843250031,712,674,660,634,877,784.156749969,801,649.843250031,629.843250031,651,0.402469702154,-0.0153942941368,0.0598261589571,0.99999994583,0.000190541338949,-0.000267310618133,2.40530945665e-05,1793196491891520256
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,743,712,673.58202181,660.41797819,634,877,784.41797819,801,649.58202181,630,650.58202181,0.402293280494,-0.0153925604744,0.0598298980542,0.999999947062,0.000191231960893,-0.000262093783566,2.47638516309e-05,1793196491908187136
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,743,712,673.008595409,660.991404591,634,877,784.991404591,801,649.008595409,630,650.008595409,0.402121553324,-0.0153910049802,0.0598320207227,0.999999947241,0.00019299878263,-0.000260049824327,2.53671004181e-05,1793196491924853760
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,742.418745003,712.581254997,673.581254997,660.418745003,634,877,785,801.581254997,649,629.418745003,650.581254997,0.401963056701,-0.0153895692638,0.0598277390486,0.999999944125,0.00019722045567,-0.000268759172153,2.49372500987e-05,1793196491941520384
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,742.168230137,712.831769863,674,659.831769863,633.831769863,877,784.831769863,801.831769863,649,629.168230137,650.831769863,0.401813008862,-0.0153890353968,0.059824360001,0.999999941029,0.000201627322719,-0.000276931557561,2.44321299508e-05,1793196491958186752
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,742.747568067,712.252431933,674,659.252431933,633.252431933,877,784.252431933,801.252431933,649,629.747568067,650.252431933,0.40168311552,-0.0153907009452,0.059823424886,0.999999938262,0.000206395461546,-0.000283391863145,2.37814899262e-05,1793196491974853632
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,742.675368868,712,674,659.324631132,633,877,784,801,649,629.675368868,650.324631132,0.40157280046,-0.015395080004,0.0598248672412,0.999999938731,0.000203561048957,-0.000283811084126,2.35193991593e-05,1793196491991520512
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,742.100062357,712,674,659.899937643,633,877,784,801,649,629.100062357,650.899937643,0.401477603449,-0.0154015543957,0.0598281454439,0.99999994166,0.000194856058657,-0.000279565469244,2.35573403356e-05,1793196492008187136
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,742.484693787,712,674,660,633.484693787,877,784.484693787,801,649,629.484693787,650.515306213,0.401395661626,-0.0154025169017,0.0598310672057,0.99999994292,0.000191750917138,-0.000277205615253,2.34081497851e-05,1793196492024853760
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,742.929483286,712,673.929483286,660,634,877,785,800.929483286,649,629.929483286,650,0.401318392026,-0.0154020447224,0.0598336224612,0.999999943705,0.000190237249174,-0.000275426665122,2.32251593361e-05,1793196492041520128
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,742.350316619,712,673.350316619,660,634,877,785,800.350316619,649,629.350316619,650,0.401254692915,-0.0153995949673,0.0598340753786,0.999999943554,0.000191698505452,-0.000274973916046,2.30825667194e-05,1793196492058187008
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,742.229420006,712,673.229420006,660,634,877,785,800.229420006,649,629.229420006,650,0.401197144553,-0.0153973623581,0.059834103965,0.999999943391,0.000192968989674,-0.000274694824348,2.28919567309e-05,1793196492074853632
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,742.810029072,712,673.810029072,660,634,877,785,800.810029072,649,629.810029072,650,0.40114901157,-0.0153954621495,0.0598334829987,0.999999943211,0.000193947445834,-0.000274681562027,2.26278432412e-05,1793196492091520000
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877,785,801,649,630,650.385694302,0.401108345062,-0.015394989791,0.0598325682805,0.999999942878,0.00019358558761,-0.000276167301027,2.23677212461e-05,1793196492108186880
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.545315592,743,712,674,660,634,877,784.454684408,800.454684408,649,630,650.454684408,0.401045804543,-0.015395263055,0.0598316520619,0.999999942758,0.000192825946022,-0.000277155580679,2.20690938452e-05,1793196492141520640
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.86837764,742.86837764,712,674,660,634,877,784,800.13162236,649,630,650.13162236,0.401022717118,-0.015395178009,0.059831839387,0.999999942976,0.000192871074312,-0.000276343493058,2.19956269124e-05,1793196492158187776
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.285716278,742.285716278,712,674,660,634,877,784,800.714283722,649,630,650.714283722,0.401004867062,-0.0153946710541,0.0598318673997,0.999999942754,0.000191865349741,-0.000277860691376,2.17514653251e-05,1793196492174853888
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,742.292255294,712,674.292255294,660,634,877,784,801,649,629.707744706,650.707744706,0.400990982672,-0.0153957036023,0.059832385858,0.999999943059,0.000189295342489,-0.000278537038158,2.15984596159e-05,1793196492191520256
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,742.865714486,712,674.865714486,660,634,877,784,801,649,629.134285514,650.134285514,0.400980913989,-0.0153982174385,0.0598333762161,0.99999994386,0.00018522020451,-0.000278404329694,2.15331627706e-05,1793196492208187136
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.122500513,660,634,876.561250257,784.438749743,800.561250257,649,629.438749743,650.438749743,0.400976969171,-0.015397484469,0.0598353251284,0.999999944639,0.000186368558104,-0.000274804046859,2.17326642072e-05,1793196492224853760
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,742.987884297,712,673.012115703,659.987884297,633.987884297,876.012115703,785,800.012115703,649,629.987884297,651,0.400974856156,-0.0153958146892,0.0598375136632,0.999999945381,0.000188997345968,-0.000270249700795,2.19988537273e-05,1793196492241520128
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.803539078,742,712,674,659.196460922,633.196460922,877,785,801,649,629.196460922,651,0.400967795239,-0.0153973294116,0.0598370879602,0.999999945878,0.000185396024672,-0.000270950877207,2.14219332683e-05,1793196492274853632
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.227710681,742,712,674,659.772289319,633.772289319,877,785,801,649,629.772289319,651,0.400966898232,-0.0153967857871,0.0598377189279,0.999999945302,0.000189392291932,-0.000270282485496,2.17798046699e-05,1793196492291520512
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.348547851,742.348547851,712,674,660,634,877,785,801.348547851,649,630,651,0.40096737002,-0.0153967441837,0.059838761928,0.99999994582,0.000189243935115,-0.000268460906597,2.17824908785e-05,1793196492308187136
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..021823d9502e0037c8263966ca6855ad000b99cf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_01/simulation_data.csv
@@ -0,0 +1,421 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..74ec6b7cf31702029d28e6b188002f9952fcce8e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fece649b4008aa310466556d815c25698bd8066bfa458a6873e4cbe6bdf1016
+size 26894260
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..43ed3355003302b1fdd6f3d949f054850675129d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_02/franka_data.csv
@@ -0,0 +1,423 @@
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+6,0.100000000,BASELINE,765.481377669,743,712,674.481377669,660.518622331,634,877,784.481377669,801,649,630,651,0.400963856554,-0.0154002379441,0.0598419224257,0.999999948406,0.000182975140498,-0.000263219756274,2.0557009613e-05,1793196492915025664
+7,0.116666667,BASELINE,766,743,712,674.943230586,660,634,877,785,801,649,629.943230586,651,0.40096322525,-0.0154016295448,0.0598411569675,0.999999948332,0.000182730543615,-0.00026366224946,2.06731867032e-05,1793196492931692288
+8,0.133333333,BASELINE,766,743,712,674.369701038,660,634,877,785,801,649,629.369701038,651,0.400964814122,-0.0154014886831,0.0598424367535,0.999999948974,0.000181295379929,-0.000262195876279,2.08895053012e-05,1793196492948358912
+9,0.150000000,BASELINE,765.789555619,743,712,674,660,634,877,785,801,649,629,651,0.400965821379,-0.0154016307535,0.0598433193377,0.9999999493,0.000180761114263,-0.00026130401439,2.11098494012e-05,1793196492965025792
+10,0.166666667,BASELINE,765.197410497,743,712,674,660,634,877,785,801,649,629,651,0.400965773712,-0.0154022860018,0.0598434814837,0.999999949057,0.000181860883555,-0.000261454192295,2.13374948706e-05,1793196492981692416
+11,0.183333333,BASELINE,765,743,712,674,660,634,877,784.61380348,801,649,629.38619652,651,0.400965809157,-0.0154021372006,0.0598436507008,0.999999949158,0.000182323541146,-0.000260753191697,2.12084948666e-05,1793196492998359296
+12,0.200000000,BASELINE,765,743,712,674,660,634,877,784.034466396,801,649,629.965533604,651,0.400965886167,-0.0154015862867,0.0598438234542,0.999999949431,0.000182467573197,-0.000259626508625,2.09011330801e-05,1793196493015026688
+13,0.216666667,BASELINE,765,743,712,674,660,633.459180107,877,784.540819893,801,649,630,650.459180107,0.400966995435,-0.01540224559,0.0598444516426,0.999999950289,0.000178950678205,-0.000258760712427,2.10163847398e-05,1793196493031693056
+14,0.233333333,BASELINE,765,743,712,674,660,633.118353756,877,785,801,649,630,650.118353756,0.400967907463,-0.0154025946954,0.0598449193736,0.999999950816,0.000176876254672,-0.000258142656228,2.10764780534e-05,1793196493048359168
+15,0.250000000,BASELINE,765,743,712,674,660,633.705811841,877,785,801,649,630,650.705811841,0.400967778911,-0.0154014108815,0.059844636933,0.999999949928,0.000181437047394,-0.000258441126878,2.08119891613e-05,1793196493065025792
+16,0.266666667,BASELINE,765,742.711059443,712,674,660,634,877,785,800.711059443,649,630,651,0.400966809549,-0.0154010757885,0.0598441176299,0.999999949507,0.00018217123869,-0.000259566528504,2.06273344098e-05,1793196493081692416
+17,0.283333333,BASELINE,765,742.132273688,712,674,660,634,877,785,800.132273688,649,630,651,0.400964996744,-0.015401592074,0.0598433607227,0.99999994956,0.000179066847606,-0.000261521450123,2.05227637673e-05,1793196493098359296
+18,0.300000000,BASELINE,765,742.44449615,712.44449615,674,660,634,877,785,801.333488451,649,630,651,0.400965404583,-0.0154016883241,0.0598431209672,0.999999949551,0.00017958823037,-0.00026119577247,2.0569163174e-05,1793196493115025664
+19,0.316666667,BASELINE,765.020576988,743,712.979423012,673.979423012,660,634,876.979423012,784.979423012,802.979423012,649.020576988,630,651,0.400966456418,-0.0154016285093,0.0598430802995,0.999999949526,0.000181183963628,-0.000260179269315,2.0653092126e-05,1793196493131692544
+20,0.333333333,BASELINE,765.594190565,743,712.405809435,673.405809435,660,634,876.405809435,784.405809435,802.405809435,649.594190565,630,651,0.400967136244,-0.015400718469,0.0598442729435,0.999999949607,0.000182786678813,-0.000258753541483,2.05436861601e-05,1793196493148359680
+21,0.350000000,BASELINE,765.653351004,743,712,673.173324498,660,634,876,784.173324498,801.826675502,649.826675502,630,650.826675502,0.400968058478,-0.0154001736452,0.0598453181766,0.999999949734,0.000184199866803,-0.000257255989179,2.05306920631e-05,1793196493165026560
+22,0.366666667,BASELINE,764.468382986,743,712,673.765808507,660,634,876,784.765808507,801.234191493,649.234191493,630,650.234191493,0.400969566945,-0.0154005120434,0.059846006918,0.999999949982,0.000185154711235,-0.000255584740281,2.07508557418e-05,1793196493181692928
+23,0.383333333,BASELINE,764.350399735,742.649600265,712,674,660,634,876.350399735,785,801,649,629.649600265,650,0.400969812739,-0.0154016721859,0.0598461674933,0.999999950426,0.000182773197238,-0.00025555031369,2.0881801047e-05,1793196493198359552
+24,0.400000000,BASELINE,764.929832046,742.070167954,712,674,660,634,876.929832046,785,801,649,629.070167954,650,0.400969233209,-0.015403369447,0.0598459828421,0.999999950983,0.000178210931785,-0.000256585766817,2.09544303652e-05,1793196493215025920
+25,0.416666667,BASELINE,765,742.507264331,712,673.492735669,660,634,877,785,800.492735669,649,629.507264331,650.507264331,0.400970006931,-0.0154025580995,0.0598468326066,0.999999951269,0.00017851111106,-0.000255261059283,2.09208188115e-05,1793196493231692288
+26,0.433333333,BASELINE,765,743,712,673,660,634,876.916225122,785,800.083774878,649,630,650.916225122,0.40097050044,-0.015401712555,0.0598473578081,0.999999951382,0.000179246631565,-0.000254303539214,2.08844094991e-05,1793196493248358912
+27,0.450000000,BASELINE,765,743,712,673,660,634,876.343485791,785,800.656514209,649,630,650.343485791,0.40096827018,-0.015402684813,0.0598451567827,0.999999950706,0.00017861275335,-0.000257387181461,2.09171085491e-05,1793196493265025536
+28,0.466666667,BASELINE,765,743,712,673.236750607,660,634,876.236750607,785,801,649,630,650.236750607,0.400966752174,-0.0154037541865,0.0598438716572,0.999999950339,0.000177909524533,-0.000259283873086,2.10089102434e-05,1793196493281692416
+29,0.483333333,BASELINE,765,743,712,673.828219669,660,634,876.828219669,785,801,649,630,650.828219669,0.400966301323,-0.0154049690662,0.0598439588054,0.999999950448,0.000177102389209,-0.000259402181384,2.11892641848e-05,1793196493298359040
+30,0.500000000,BASELINE,765,742.591087819,712,674,660,634,877,785,801,649,629.591087819,650.591087819,0.40096617085,-0.0154038951348,0.0598443010142,0.99999995047,0.00017752245617,-0.000259054574257,2.09043452107e-05,1793196493315025920
+31,0.516666667,BASELINE,765,742.014806207,712,674,660,634,877,785,801,649,629.014806207,650.014806207,0.400966171508,-0.0154018843836,0.0598447476205,0.999999950455,0.000178444822072,-0.000258516266038,2.04289881225e-05,1793196493331692800
+32,0.533333333,BASELINE,765,742.562689915,711.437310085,674,660,634,876.437310085,784.437310085,801,649.562689915,629,650.562689915,0.400966164993,-0.0154017125384,0.0598443881929,0.999999950009,0.00018001930708,-0.000259147425052,2.04259781122e-05,1793196493348359168
+33,0.550000000,BASELINE,765,742.857311416,711.142688584,674,660,634,876.142688584,784,801.142688584,649.857311416,629.142688584,651,0.400966344916,-0.0154015284041,0.0598441774731,0.99999994973,0.000181338818084,-0.000259304901609,2.04209451876e-05,1793196493365025792
+34,0.566666667,BASELINE,765,742.269607836,711.730392164,674,660,634,876.730392164,784,801.730392164,649.269607836,629.730392164,651,0.400967106888,-0.0154011547063,0.0598444968315,0.999999950012,0.000181809487537,-0.000257888883968,2.03707560254e-05,1793196493381692416
+35,0.583333333,BASELINE,765,742.314706673,712.314706673,673.685293327,660,633.685293327,877,784.314706673,802,649,630,650.685293327,0.400966658191,-0.0154012812352,0.0598445951872,0.999999949875,0.000182320422806,-0.000258051569499,2.04614930926e-05,1793196493398359040
+36,0.600000000,BASELINE,765,742.896148779,712.896148779,673.103851221,660,633.103851221,877,784.896148779,802,649,630,650.103851221,0.400965183368,-0.0154018317405,0.0598445062281,0.999999949383,0.000182865486159,-0.000259552313799,2.06716747736e-05,1793196493415025664
+37,0.616666667,BASELINE,765.471725689,743,712.528274311,673.471725689,660.471725689,633.471725689,877,785,801.528274311,649,630,650.471725689,0.400966007542,-0.0154018588452,0.0598449795909,0.99999994977,0.000181902587952,-0.000258743963494,2.05820619151e-05,1793196493431692288
+38,0.633333333,BASELINE,765.953888938,743,712,674,660.953888938,634,877,785,801,649,630,651,0.400967240248,-0.0154017986997,0.0598455244154,0.999999950315,0.00018063013907,-0.000257534903992,2.04480072868e-05,1793196493448359168
+39,0.650000000,BASELINE,765.37854088,743,712,674,660.37854088,634,877,785,801,649,630,651,0.400967424153,-0.0154020434207,0.0598454860234,0.999999950516,0.000179568330941,-0.000257489644452,2.05520862324e-05,1793196493465025792
+40,0.666666667,BASELINE,765,743,712,674,660,634,877,785,801,649,630,650.797042131,0.400967464294,-0.0154024105423,0.0598454943188,0.999999950584,0.000179136776362,-0.000257513521745,2.06897903057e-05,1793196493481692160
+41,0.683333333,BASELINE,765,743,712,674,660,634,877,785,801,649,630,650.203713117,0.400967227919,-0.0154030130906,0.0598455924131,0.9999999504,0.000179917457677,-0.0002576703775,2.08921692717e-05,1793196493498358528
+42,0.700000000,BASELINE,764.62263821,743,712,674,660,634,877,785,801,649,629.62263821,650,0.400967050483,-0.0154030364685,0.0598453520938,0.999999950317,0.000179984726245,-0.000257935194786,2.10007908737e-05,1793196493515025920
+43,0.716666667,BASELINE,764.047970459,743,712,674,660,634,877,785,801,649,629.047970459,650,0.400966903863,-0.0154027570235,0.0598449348328,0.999999950288,0.000179678982492,-0.000258256460424,2.10603908474e-05,1793196493531693824
+44,0.733333333,BASELINE,764.52964068,743,712,674,660,634,877,785,801,649,629,650.52964068,0.400966483275,-0.015402939772,0.0598447233604,0.999999950071,0.000180369905066,-0.000258628921364,2.08644830862e-05,1793196493548359680
+45,0.750000000,BASELINE,765,743,712,674,660,633.890412551,877,784.890412551,800.890412551,649,629.109587449,650.890412551,0.400966214023,-0.0154028535333,0.0598446042755,0.999999949914,0.000180968413362,-0.000258835098517,2.06395982517e-05,1793196493565025536
+46,0.766666667,BASELINE,765,743,712,674,660,633.301421181,877,784.301421181,800.301421181,649,629.698578819,650.301421181,0.400966715967,-0.0154014064246,0.0598448073584,0.999999950096,0.000180765540539,-0.000258293448657,2.03897519729e-05,1793196493581692416
+47,0.783333333,BASELINE,765,742.717365229,712,674,660,633.282634771,877,784.282634771,800,649,630,650.282634771,0.400966690134,-0.0154012948807,0.0598448668727,0.999999950181,0.000180290366195,-0.000258288874984,2.04867524807e-05,1793196493598359296
+48,0.800000000,BASELINE,765,742.138482341,712,674,660,633.861517659,877,784.861517659,800,649,630,650.861517659,0.400966111102,-0.0154025832299,0.0598447759036,0.999999950164,0.000179529774664,-0.000258847246166,2.09473059162e-05,1793196493615026176
+49,0.816666667,BASELINE,765,742.43793686,712,674,660,634,877,784.56206314,800.43793686,649,630,651,0.400966271678,-0.0154020963221,0.0598452352031,0.999999950191,0.000179967122692,-0.000258450100275,2.08363599247e-05,1793196493631692800
+50,0.833333333,BASELINE,765,743,712,674,660,634,876.986164925,784.013835075,801,649,630,651,0.400966644085,-0.0154011004507,0.0598458346892,0.99999995023,0.000180728595047,-0.000257787167446,2.05519538597e-05,1793196493648359168
+51,0.850000000,BASELINE,765,743,712,674,660,634,876.399765428,784.600234572,801,649,630,651,0.400966158353,-0.015402143176,0.0598450749555,0.999999950286,0.000179314734423,-0.00025855912946,2.05260307217e-05,1793196493665025792
+52,0.866666667,BASELINE,765,743,712,674,659.815639437,634,876,785,801,649,630,650.815639437,0.400965788184,-0.0154028152335,0.0598445270056,0.99999995021,0.000178842804701,-0.000259175736573,2.05773468218e-05,1793196493681692416
+53,0.883333333,BASELINE,765,743,712,674,659.236383271,634,876,785,801,649,630,650.236383271,0.40096566555,-0.01540269333,0.0598444326913,0.999999949854,0.000180388466939,-0.000259459577415,2.07941073936e-05,1793196493698359040
+54,0.900000000,BASELINE,765,742.659897345,712,673.659897345,659.340102655,634,876.340102655,784.659897345,801.340102655,649,629.659897345,650,0.400964976395,-0.0154024116884,0.0598441889611,0.999999949585,0.000181004436237,-0.00026007150136,2.07624822368e-05,1793196493715025920
+55,0.916666667,BASELINE,765,742.0853213,712,673.0853213,659.9146787,634,876.9146787,784.0853213,801.9146787,649,629.0853213,650,0.40096389667,-0.0154020199204,0.0598438422208,0.999999949375,0.000180979457067,-0.00026090961217,2.05596151155e-05,1793196493731692800
+56,0.933333333,BASELINE,765,742.49309033,712,673,659.50690967,634,877,784.49309033,801.50690967,649,629.49309033,650.49309033,0.400966780142,-0.0154027745824,0.0598458590236,0.99999995033,0.000180299020891,-0.000257684601333,2.07527495198e-05,1793196493748359424
+57,0.950000000,BASELINE,765,743,712,673.073214876,659.073214876,634,877,785,801,649,630,651,0.40096970327,-0.0154035837299,0.0598477871666,0.999999951291,0.000179489318631,-0.000254486455903,2.09513784667e-05,1793196493765026048
+58,0.966666667,BASELINE,765,743,712,673.660672112,659.660672112,634,877,785,801,649,630,651,0.400968050516,-0.0154033713387,0.0598461975451,0.999999950957,0.000178574536573,-0.000256453814675,2.07035480963e-05,1793196493781692416
+59,0.983333333,BASELINE,765,743,712,674,660,634,877,785,801,649,629.75527805,651,0.400966820169,-0.0154035033119,0.0598451757461,0.999999950614,0.00017847198597,-0.000257868683481,2.05583130178e-05,1793196493798359040
+60,1.000000000,BASELINE,765,743,712,674,660,634,877,785,801,649,629.175887898,651,0.400966167482,-0.0154041062186,0.0598449304697,0.999999950264,0.000179480198044,-0.000258527997849,2.055338155e-05,1793196493815025408
+61,1.016666667,BASELINE,765,742.598615899,712,673.598615899,659.598615899,634,877,785,801,649.401384101,629,651,0.400965634252,-0.0154032650587,0.059844215036,0.99999994994,0.000180095018473,-0.000259354533598,2.05081407992e-05,1793196493831692288
+62,1.033333333,BASELINE,765,742.022267243,712,673.022267243,659.022267243,634,877,785,801,649.977732757,629,651,0.400965153093,-0.0154017944257,0.0598432946594,0.999999949628,0.000180538358224,-0.000260253961617,2.04453291089e-05,1793196493848359168
+63,1.050000000,BASELINE,765,742,712,673.55184,659.55184,634,877,785,801,649.44816,629.55184,650.44816,0.400965723911,-0.0154027581819,0.0598438359645,0.999999949686,0.000180879465523,-0.000259783777115,2.05889578702e-05,1793196493865025792
+64,1.066666667,BASELINE,765,742,712.129401271,674,660,634,877,785,801,649,630,650.129401271,0.400966230094,-0.0154039133608,0.0598443766892,0.999999949881,0.000180773835172,-0.00025909361207,2.07314021088e-05,1793196493881692416
+65,1.083333333,BASELINE,765,742,712.719582585,674,660,634,877,785,801,649,630,650.719582585,0.400966355584,-0.0154054018016,0.0598447061769,0.999999950511,0.000179092063523,-0.000257816122048,2.08400862221e-05,1793196493898359296
+66,1.100000000,BASELINE,765,742.30468292,713,674,660.30468292,634,877,785,801,649,629.69531708,650.69531708,0.400966721048,-0.0154046258044,0.0598451072438,0.999999950572,0.000179672429765,-0.000257176557852,2.08537797099e-05,1793196493915026176
+67,1.116666667,BASELINE,765,742.885183607,713,674,660.885183607,634,877,785,801,649,629.114816393,650.114816393,0.400967303752,-0.0154017998982,0.0598455731085,0.999999950113,0.000182300622815,-0.000257114483522,2.07814818197e-05,1793196493931692800
+68,1.133333333,BASELINE,765,743,712.539469376,673.539469376,660.539469376,634,876.539469376,785,801,649,629.460530624,650.460530624,0.400966718297,-0.0154016072856,0.0598457030221,0.999999950261,0.000180977163856,-0.000257499064098,2.04770391425e-05,1793196493948359168
+69,1.150000000,BASELINE,765,742.965515381,712,673.034484619,660,634,876.034484619,785,801,649.034484619,630,651,0.400965905227,-0.0154020541373,0.0598457127316,0.999999950528,0.00017884383032,-0.00025797947841,2.01526366161e-05,1793196493965025792
+70,1.166666667,BASELINE,765,742.393469485,712,673.606530515,660,634,876.606530515,785,801,649.606530515,630,651,0.400966033707,-0.0154023484524,0.0598451398407,0.999999950379,0.000179273575116,-0.000258237119656,2.04093154472e-05,1793196493981692416
+71,1.183333333,BASELINE,765.185055953,742.185055953,712,673.814944047,660,634,877,785,801,649.814944047,630,651,0.400966169947,-0.0154028210155,0.0598448128388,0.999999950456,0.000178743697765,-0.000258301405526,2.0480470866e-05,1793196493998359040
+72,1.200000000,BASELINE,765.77785832,742.77785832,712,673.22214168,660,634,877,785,801,649.22214168,630,651,0.400966323287,-0.0154036863245,0.0598450276207,0.999999951025,0.000176099419515,-0.000257939658346,2.01428499348e-05,1793196494015025664
+73,1.216666667,BASELINE,765.637164746,743,712.362835254,673.362835254,660,634,877,785,801,649.362835254,630,651,0.400966340992,-0.0154037857981,0.059844869709,0.999999950948,0.000176725825243,-0.000257807733266,2.01940365136e-05,1793196494031692544
+74,1.233333333,BASELINE,765.056877728,743,712.943122272,673.943122272,660,634,877,785,801,649.943122272,630,651,0.400966277407,-0.0154034262967,0.0598444884371,0.99999995048,0.000179312393467,-0.000257813543503,2.04782403782e-05,1793196494048359680
+75,1.250000000,BASELINE,765,742.483999604,712.483999604,674,660,634,877,785,801,649.483999604,629.483999604,651,0.4009663499,-0.0154033845593,0.0598445214486,0.999999950303,0.000179597457521,-0.000258300466066,2.04697408429e-05,1793196494065026048
+76,1.266666667,BASELINE,765,742.091417019,712,674,660,634,877,785,801,649,629.091417019,651,0.400966448851,-0.0154032957173,0.0598447312702,0.999999950214,0.00017980743971,-0.000258498297067,2.04721106844e-05,1793196494081692672
+77,1.283333333,BASELINE,765,742.685208127,712,674,660,634,877,785,801,649,629.685208127,651,0.400966611933,-0.0154027582557,0.0598456653365,0.999999950431,0.000180979214959,-0.000256820143273,2.07090071202e-05,1793196494098359040
+78,1.300000000,BASELINE,765,743,712,673.728230335,659.728230335,634,876.728230335,785,801,649,630,651,0.400967425131,-0.015403114459,0.0598462931633,0.99999995088,0.000180483040573,-0.000255407847063,2.07799402824e-05,1793196494115025920
+79,1.316666667,BASELINE,765,743,712,673.149825883,659.149825883,634,876.149825883,785,801,649,630,651,0.400968971848,-0.0154044789748,0.0598465754633,0.999999951593,0.000178104936498,-0.000254295515214,2.06636188546e-05,1793196494131692288
+80,1.333333333,BASELINE,765,743,712,673.427320562,659.427320562,634,876.427320562,784.572679438,800.572679438,649,630,650.572679438,0.400969143634,-0.0154038007334,0.0598463079046,0.999999951271,0.000179572370419,-0.000254527631523,2.06928249602e-05,1793196494148358912
+81,1.350000000,BASELINE,765,742.995910209,712,673.995910209,660,634,876.995910209,784,800.004089791,649.004089791,629.995910209,650,0.400968832198,-0.0154024136777,0.0598458525299,0.999999950586,0.000182355058155,-0.000255230959495,2.07695141271e-05,1793196494165025792
+82,1.366666667,BASELINE,765,742.4102504,712,673.4102504,660,634,876.4102504,784,800.5897496,649.5897496,629.4102504,650,0.400968156205,-0.0154017815439,0.0598460239672,0.999999950617,0.000180999716764,-0.000256106178453,2.03639148468e-05,1793196494181692672
+83,1.383333333,BASELINE,765,742.347051029,712,673.173525515,660,634,876.173525515,784,801,649.826474485,629.173525515,650,0.400967233325,-0.0154012122119,0.0598458681959,0.999999950453,0.000180535480067,-0.000257094200372,2.01006570839e-05,1793196494198359552
+84,1.400000000,BASELINE,765,743.50579093,712,673.752895465,660,634,876.752895465,784,801,649.247104535,629.752895465,650,0.400965733017,-0.0154007897616,0.0598449471438,0.999999949835,0.000182155373972,-0.000258346047959,2.0170310011e-05,1793196494215026176
+85,1.416666667,BASELINE,765,743.668440812,712,674,660,634,877,784.331559188,801,649,629.668440812,650.331559188,0.400966308844,-0.0154013006516,0.0598452454427,0.999999949995,0.000181949143408,-0.000257860439089,2.0308798597e-05,1793196494231692544
+86,1.433333333,BASELINE,765,743.090302342,712,674,660,634,877,784.909697658,801,649,629.090302342,650.909697658,0.400968428684,-0.015402505663,0.0598464505683,0.999999950731,0.000180384831065,-0.000256082690517,2.04984799913e-05,1793196494248359168
+87,1.450000000,BASELINE,765,742.515320358,712,673.515320358,660,634,877,785,801,649,629.484679642,651,0.400967226209,-0.0154033670729,0.059845965006,0.999999950483,0.000179735310802,-0.000257498498919,2.05662623448e-05,1793196494265025792
+88,1.466666667,BASELINE,765,742,712.060487434,673.060487434,660,633.939512566,876.939512566,785,801,649,630,650.939512566,0.400965543251,-0.0154040990165,0.0598452623072,0.999999950151,0.000179163941339,-0.000259179294064,2.06034138995e-05,1793196494281692416
+89,1.483333333,BASELINE,765,742,712.648595265,673.648595265,660,633.351404735,876.351404735,785,801,649,630,650.351404735,0.400965033544,-0.0154042564492,0.0598453954559,0.999999950697,0.000177797186964,-0.000258015005061,2.05702044941e-05,1793196494298359296
+90,1.500000000,BASELINE,765,742,712.765943491,674,660,633.234056509,876,785,801,649,630,650,0.400965400273,-0.0154039806876,0.059845511906,0.999999950943,0.000177692730546,-0.000257134403242,2.05214694029e-05,1793196494315026176
+91,1.516666667,BASELINE,765,742,712.184411369,674,660,633.815588631,876,785,801,649,630,650,0.400967068141,-0.0154030618143,0.0598456035657,0.999999950747,0.000179462256554,-0.000256674957849,2.04496851917e-05,1793196494331693056
+92,1.533333333,BASELINE,765,742.393057011,712.393057011,674,659.606942989,634,876.393057011,785,801,649,630,650.393057011,0.400966409564,-0.0154042591412,0.0598451080313,0.999999950506,0.00017897136115,-0.000257934117528,2.06762913809e-05,1793196494348359424
+93,1.550000000,BASELINE,765,742.968638357,712.968638357,674,659.031361643,634,876.968638357,785,801,649,630,650.968638357,0.400964670655,-0.0154064391702,0.059844339821,0.99999995024,0.000177430791414,-0.000259991347778,2.10414614565e-05,1793196494365026048
+94,1.566666667,BASELINE,765,743,712.45875761,674,659.54124239,634,877,785,801,649,630,651,0.400964380513,-0.0154056869031,0.0598440838888,0.99999995021,0.000177232569577,-0.00026027123843,2.06990139151e-05,1793196494381692416
+95,1.583333333,BASELINE,765,743,712,674,660,634,877,784.882472775,801,649.117527225,630,651,0.400964662119,-0.015404580194,0.0598440581375,0.999999950202,0.000177629541227,-0.000260054516398,2.03595047898e-05,1793196494398359040
+96,1.600000000,BASELINE,765,743,712,674,660,634,877,784.290640724,801,649.709359276,630,651,0.400966914193,-0.0154027250109,0.0598448421905,0.999999950229,0.00018011635362,-0.000258246960026,2.01964209253e-05,1793196494415025664
+97,1.616666667,BASELINE,765,743,712,673.704710039,660,634,877.295289961,784.295289961,801,649.704710039,629.704710039,651,0.400967564922,-0.0154021681435,0.0598454811196,0.999999950323,0.000180964303034,-0.00025728688781,2.0227545298e-05,1793196494431692032
+98,1.633333333,BASELINE,765,743,712,673.124474032,660,634,877.875525968,784.875525968,801,649.124474032,629.124474032,651,0.400966670401,-0.0154028641124,0.0598459800085,0.999999950488,0.000180230798175,-0.000257144612759,2.04460748647e-05,1793196494448358656
+99,1.650000000,BASELINE,765,743,712,673.451391188,660,634,877.548608812,785,801,649.451391188,629.451391188,650.548608812,0.400966461834,-0.0154024570655,0.0598458591369,0.99999995044,0.000180058161262,-0.00025746843782,2.02049207e-05,1793196494465025792
+100,1.666666667,BASELINE,765,743,712,674,660,634,877,785,801.02608248,649.97391752,630,650.02608248,0.400966491073,-0.0154018226679,0.0598456171052,0.999999950355,0.000180050613307,-0.000257829723677,1.98735260799e-05,1793196494481693184
+101,1.683333333,BASELINE,765,743,712,674,660,634,877,785,801.601190418,649.398809582,630,650.601190418,0.400967582533,-0.0154027437539,0.0598463876378,0.999999950696,0.000180293749753,-0.000256299984081,2.02852797855e-05,1793196494498359808
+102,1.700000000,BASELINE,765,743,712,674,660,633.817935525,877,785,801.817935525,649,630,651,0.400967608283,-0.0154035309373,0.0598465096045,0.999999950804,0.000180033251066,-0.000256046479664,2.04963698915e-05,1793196494515026176
+103,1.716666667,BASELINE,765,743,712,674,660,633.224017845,877,785,801.224017845,649,630,651,0.400965223258,-0.0154040152153,0.0598451644315,0.999999950382,0.00017863346505,-0.000258679983188,2.02535331311e-05,1793196494531692800
+104,1.733333333,BASELINE,765,743,712,674,660,633.358016913,877.358016913,785,801,649,630,650.641983087,0.40096528516,-0.0154039684596,0.059845008932,0.999999950435,0.000178547442012,-0.000258533864259,2.02676558676e-05,1793196494548359168
+105,1.750000000,BASELINE,765,743,712,674,660,633.93285522,877.93285522,785,801,649,630,650.06714478,0.400966828965,-0.0154036001004,0.0598455739198,0.999999950776,0.000179257057009,-0.000256704356907,2.04373978111e-05,1793196494565025792
+106,1.766666667,BASELINE,765,743,712,674,660,634,877.492191719,785,801,649.507808281,630,650.507808281,0.400966702963,-0.0154033179957,0.0598456184335,0.999999950549,0.000179656046898,-0.000257293836116,2.0624911232e-05,1793196494581692672
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,712,673,660,634,877,785,801,649,630,650,0.400968198285,-0.0154047067242,0.0598459238456,0.999999951158,0.000177328589339,-0.00025649307724,2.12104658042e-05,1793196494624339712
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,743,712,673.579150305,660,634,877,785,801,649,630,650.579150305,0.400966308503,-0.0154043917536,0.0598450979382,0.999999950689,0.000177520388243,-0.000258221642239,2.07246347805e-05,1793196494641006336
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,876.848957351,785,801,649,629.848957351,651,0.400965398744,-0.0154040507643,0.059844769632,0.999999950459,0.000177780345982,-0.000258962998389,2.03609315827e-05,1793196494657672960
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,876.296360517,785,801,649,629.296360517,651,0.400967094423,-0.0154036406031,0.0598457642225,0.999999950867,0.000178221507325,-0.00025707981246,2.03219110084e-05,1793196494674338560
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,876.276751569,785,801,649,629.276751569,651,0.400967525853,-0.0154033778001,0.0598460449076,0.99999995085,0.000179060248377,-0.00025656463669,2.02990067054e-05,1793196494691004928
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,876.873591367,785,801,649,629.873591367,651,0.400966495063,-0.0154032854303,0.0598454998965,0.999999950342,0.000180358826307,-0.000257631688548,2.02947423307e-05,1793196494707671552
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877,785,801,649,629.52863836,651,0.400966673205,-0.0154042545379,0.0598454323254,0.999999950347,0.000179418328965,-0.000258260947296,2.04055961292e-05,1793196494724338176
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,742.933709676,712,674,660,634,877,785,801,649,629.066290324,650.933709676,0.400968308144,-0.0154054035634,0.0598461582233,0.999999950741,0.000178067917159,-0.000257651080578,2.06426183437e-05,1793196494741004544
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,742.36233675,712,674,660,634,877,785,801,649,629.63766325,650.36233675,0.400978567678,-0.0154057502091,0.0598519522714,0.999999953018,0.000178178443619,-0.000248496323624,2.16052617292e-05,1793196494757671168
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,742.211137824,712,674,660,634,877,785.211137824,801,649,630,650,0.400994518955,-0.0154060451155,0.0598593601911,0.999999955983,0.000178289697645,-0.000236103388294,2.24233184643e-05,1793196494774337792
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,742.788255268,712,674,660,634,877,785.788255268,801,649,630,650,0.401020336119,-0.0154062503384,0.0598695655441,0.999999960039,0.000178402212785,-0.000218097498011,2.29907531742e-05,1793196494791004672
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,743,712,673.623975802,659.623975802,634,877,785.247951604,801,649,630,650,0.401064745363,-0.0154082916607,0.0598854818057,0.999999965934,0.000177932696458,-0.000189423865509,2.43139571829e-05,1793196494807671296
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,743,712,673.030033952,659.030033952,634,877,784.060067904,801,649,630,650,0.401119929295,-0.0154113970593,0.0599047077165,0.999999972028,0.000177125874754,-0.000154567944584,2.60751529077e-05,1793196494824337920
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,743,712,673.548391989,659.548391989,634,877.548391989,784.548391989,801,649,629.451608011,650,0.401191330504,-0.0154160633759,0.0599201234741,0.999999974963,0.000175843455805,-0.000135587432522,2.77427750972e-05,1793196494841004800
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660.125450058,634,877.874549942,785,801,649,629.125450058,650,0.401266163228,-0.0154209357646,0.0599332938093,0.999999977402,0.000174180806347,-0.000118377945822,2.9031628146e-05,1793196494857671168
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660.700567358,634,877.299432642,785,801,649,629.700567358,650,0.401350199989,-0.0154262488142,0.0599391429732,0.999999979459,0.000171246041584,-0.000104485828312,2.89806732856e-05,1793196494874337792
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660.720811634,634,877,785,801,649.279188366,629.720811634,650.279188366,0.401437447729,-0.0154311825831,0.0599404085903,0.999999980351,0.000168856614273,-0.000100006445331,2.79973524196e-05,1793196494891004416
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660.138385136,634,877,785,801,649.861614864,629.138385136,650.861614864,0.40152818304,-0.015435704399,0.0599366958256,0.999999980116,0.000167059500923,-0.000105750626853,2.60013499451e-05,1793196494907671040
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877,784.553910037,801,649.553910037,629.446089963,650.553910037,0.401644960201,-0.0154431579449,0.0599339632325,0.999999980818,0.000162259120899,-0.000106954828229,2.44240649198e-05,1793196494924337664
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877,784.061692616,800.969153692,649,630,650.030846308,0.401771911754,-0.0154514580383,0.0599317172946,0.999999981784,0.000156761086202,-0.000106445727638,2.29465606171e-05,1793196494941004544
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877,785.218523971,800.390738014,649,630,650.609261986,0.401935404345,-0.0154585665839,0.059932687676,0.999999982628,0.000155493436217,-0.000100639199478,2.09238665473e-05,1793196494957671168
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,712,673.813661602,660,634,877,785.813661602,800.372676795,649,630,650.813661602,0.402109387284,-0.015466480007,0.0599338486074,0.999999983658,0.000152839025441,-9.47143759191e-05,1.87803835907e-05,1793196494974337792
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,712,673.239373564,660,634,877,785.239373564,801.521252872,649,630,650.239373564,0.402305210715,-0.0154760691544,0.0599354062569,0.999999985098,0.000147297430239,-8.85432664477e-05,1.63854228993e-05,1793196494991004416
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.343213903,743,712,673.343213903,660,634,877,785,801.656786097,649,630,650,0.402519199047,-0.0154873432777,0.0599376288424,0.999999987146,0.000138067657424,-8.03053646367e-05,1.40082638433e-05,1793196495007671040
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.931733283,743,712,673.931733283,660,634,877,785,801.068266717,649,630,650,0.402746170408,-0.015499821706,0.0599403266784,0.999999989477,0.000126201830625,-7.05902624524e-05,1.16438279123e-05,1793196495024337664
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.487555656,742.487555656,712,674,660,633.487555656,877,785,801,649,630,650.512444344,0.403004279386,-0.015510802758,0.059940016698,0.999999990405,0.000119735699176,-6.91624595289e-05,8.37620514201e-06,1793196495041004288
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,742.09120311,712,674,660,633.09120311,877,785,801,649.09120311,629.90879689,651,0.403270925207,-0.0155212283269,0.0599369900656,0.999999990835,0.000113991956162,-7.2890741239e-05,4.73922877378e-06,1793196495057671168
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,742.665052715,712,674,660,633.665052715,877,785,801,649.665052715,629.334947285,651,0.403561125883,-0.0155297540742,0.0599216755707,0.999999989316,0.000108321500363,-9.81502420684e-05,-2.25187214421e-07,1793196495074338560
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,743,712.239639019,674,660,634,877,785,801,649.760360981,629.239639019,650.760360981,0.403868266129,-0.0155310521642,0.0599095174498,0.999999990016,7.7229900262e-05,-0.000118229436096,-5.04068897044e-06,1793196495091005696
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,743,712.815258161,674,660,634,877,785,801,649.184741839,629.815258161,650.184741839,0.404199156073,-0.0155222168904,0.0599017846481,0.999999991312,1.04971963831e-05,-0.000131045703767,-9.64740880048e-06,1793196495107671808
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,743,712.5979293,674,660,634,877,785,801,649.4020707,630,650,0.40455643702,-0.0155125387095,0.0598955552508,0.999999989766,6.0479873005e-06,-0.000142089809324,-1.55296281667e-05,1793196495124338432
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,743,712.005826399,674,660,634,877,785,801,649.994173601,630,650,0.404926191236,-0.0155024621424,0.0598900364135,0.999999987679,3.10360646779e-05,-0.000152296330918,-2.20146915971e-05,1793196495141004544
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,743,712,673.426679643,660,634,877,784.426679643,801,649.426679643,629.426679643,650.573320357,0.405378681132,-0.0155150625584,0.0599043325742,0.999999990981,1.99067691442e-05,-0.00013072268261,-2.35152851873e-05,1793196495157671168
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743,712,673,660,634,877,784.151332101,801,649,629,651,0.405850714076,-0.0155266896179,0.0599226166199,0.999999994567,3.79470628596e-06,-0.000101137936712,-2.49631336654e-05,1793196495174338048
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,743,712,673,660,634,877,784.72652536,801,649,629,651,0.406375181491,-0.01553495922,0.0599515186515,0.999999998082,-2.52681005964e-05,-4.99997709872e-05,-2.64019922313e-05,1793196495191005696
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,743,712,673.307849661,660,634,877,785,801,649,629,650.692150339,0.406898466658,-0.0155391373214,0.0599743268648,0.999999998618,-4.18750064191e-05,-1.47802166896e-05,-2.81342019395e-05,1793196495207672576
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743,712,673.894731141,660,634,877,785,801,649,629,650.105268859,0.407420680309,-0.0155396069288,0.0599916117059,0.999999998414,-4.71920128254e-05,6.01087490546e-06,-3.01323023743e-05,1793196495224338944
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877,785,801,649,629.475683987,650,0.407946772929,-0.0155399682852,0.0599855624997,0.999999999398,-1.94869294948e-05,-1.83004567828e-05,-2.21139907834e-05,1793196495241005568
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877,785,801,649,630,650.055085336,0.408479383544,-0.0155396249021,0.0599744109383,0.999999998514,1.25714377238e-05,-5.13401540573e-05,-1.33279186348e-05,1793196495257671936
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877,785,801,649,630,650.632065044,0.409065715088,-0.0155328287857,0.0599632394979,0.999999996971,1.74902966555e-05,-7.36745699329e-05,-1.80103432048e-05,1793196495274338048
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.79198397,743,712,674,660,634,877,785,801,649,630,651,0.409686567879,-0.0155306519171,0.0599590840224,0.999999996694,1.22117064142e-05,-7.72272541635e-05,-2.23503263977e-05,1793196495291004416
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.217843648,743,712,674,660,634,877,785,801,649,630,651,0.410368180699,-0.0155366052822,0.0599672771881,0.99999999846,-1.10151828441e-05,-4.77226376735e-05,-2.60875860125e-05,1793196495307671040
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.732784938,743,712,674,660,634,877,784.633607531,801,649,629.633607531,651,0.411044353289,-0.0155423802484,0.0599720651907,0.999999998815,-1.96948235676e-05,-3.51516147158e-05,-2.73129062132e-05,1793196495324337920
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.913602487,743,712,674,660,634,877,784.043198757,801,649,629.043198757,651,0.411717199637,-0.0155480461395,0.0599747712396,0.999999998903,-1.94801188799e-05,-3.29339744887e-05,-2.70023994572e-05,1793196495341004288
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.460699175,743,712,674,660,634,877.539300825,784.539300825,801,649,629.539300825,651,0.412382296902,-0.0155448782565,0.0599492145912,0.999999996053,-1.63055601601e-05,-8.2163189937e-05,-2.96126701267e-05,1793196495357671680
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.119415619,743,712,674,660,634,877.880584381,784.880584381,801,649,630,651,0.413057382998,-0.0155414443884,0.0599226348518,0.999999990574,-1.3202610578e-05,-0.000132727560689,-3.25598310333e-05,1793196495374338816
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.692837383,743,712,674,660,634,877.307162617,784.307162617,801,649,630,651,0.413772771239,-0.0155396506046,0.0599006480774,0.99999998434,-1.12602708646e-05,-0.000172927001484,-3.59111843274e-05,1793196495391005184
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.727678804,743,712,674,660,634,877,784.272321196,801.272321196,649,629.727678804,651,0.414553552962,-0.0155420106614,0.0599130183037,0.999999987964,-1.8174080099e-05,-0.000149816422682,-3.60074273953e-05,1793196495407671296
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.141201598,743,712,674,660,634,877,784.858798402,801.858798402,649,629.141201598,651,0.415409774206,-0.0155491626843,0.0599650235554,0.999999997413,-3.53045466051e-05,-5.36699499034e-05,-3.23485004875e-05,1793196495424337664
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743,712.44235936,674,660,634,877.44235936,784.55764064,802,649,629.44235936,651,0.416246913031,-0.0155569459937,0.0599966237408,0.999999998795,-3.92869068374e-05,-1.29444029666e-06,-2.9424803805e-05,1793196495441004288
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743,712.975381226,674.024618774,660.024618774,634,878,784.024618774,801.975381226,649,630,651,0.417076625387,-0.0155644611806,0.0600197503737,0.999999998275,-3.94586269889e-05,3.41085964691e-05,-2.70107851809e-05,1793196495457670912
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,743,712.401526662,674.598473338,660.598473338,634,878,784.598473338,801.401526662,649,630,651,0.417875657994,-0.0155615285519,0.059998193289,0.999999998392,-4.76342232838e-05,5.24991230192e-07,-3.07660179962e-05,1793196495474337792
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.173326857,743,712,674.826673143,660.826673143,634,878,785,801.173326857,649.173326857,630,651,0.418684514597,-0.0155596401241,0.0599762407268,0.999999997327,-5.46019997165e-05,-3.44983761051e-05,-3.42664750753e-05,1793196495491004672
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.750507922,743,712,674.249492078,660.249492078,634,878,785,801.750507922,649.750507922,630,651,0.419516261209,-0.0155601847005,0.0599533666971,0.999999994927,-5.87555371171e-05,-7.28764089401e-05,-3.71733006399e-05,1793196495507671296
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.664616477,743,712,674.335383523,660.335383523,634,878,785,801.664616477,649.664616477,630,651,0.420336406177,-0.015558674317,0.0599245021219,0.999999990134,-5.92103729712e-05,-0.00012071130039,-4.06730121474e-05,1793196495524337920
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.073882527,743,712,674.926117473,660.926117473,634,878,785,801.073882527,649.073882527,630,651,0.421147717982,-0.0155555993521,0.0598910765355,0.999999981945,-5.68491339332e-05,-0.000175746343531,-4.46241280999e-05,1793196495541004288
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660.494312158,634,878,784.494312158,801,649,629.494312158,650.494312158,0.422005240761,-0.0155541877608,0.0598785862708,0.999999977751,-5.59472502965e-05,-0.000198048914871,-4.630985707e-05,1793196495557670656
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660.0831634,633.9168366,878.0831634,784.0831634,801,649,629.0831634,650.0831634,0.42288293456,-0.0155541488543,0.0598800036268,0.999999977833,-5.68156533571e-05,-0.00019728769475,-4.67290187672e-05,1793196495574337536
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743,712,675,660.657690384,633.342309616,878.657690384,784.657690384,801,649,629.657690384,650.657690384,0.423840777301,-0.0155608154632,0.0599459111349,0.999999993034,-6.69110792642e-05,-8.79016663599e-05,-4.1578105782e-05,1793196495591004160
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.23793721,743,712,675,660.76206279,633,878.76206279,785,801,649,630,650.76206279,0.424782011639,-0.0155649684238,0.0599947374653,0.999999996762,-7.09283919399e-05,-6.88364610175e-06,-3.73896294321e-05,1793196495607670784
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.826615694,743,712,675,660.173384306,633,878.173384306,785,801,649,630,650.173384306,0.425698763813,-0.0155654160373,0.0600183845826,0.999999996701,-6.59860105436e-05,3.23173431362e-05,-3.46198727437e-05,1793196495624337664
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.591103253,743,712,675,660,633.408896747,878.408896747,785,801,649,630,650,0.426591862233,-0.015566132761,0.0600089779862,0.99999999669,-6.73242641118e-05,2.7329503204e-05,-3.66073970013e-05,1793196495641004288
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.011493147,743,712,675,660,633.988506853,878.988506853,785,801,649,630,650,0.427475085215,-0.0155669618376,0.0599857715462,0.999999996628,-7.12846672169e-05,3.89293627429e-06,-4.05810742096e-05,1793196495657671168
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660.564240087,633.435759913,878.435759913,785,801,649,630,650,0.428324714519,-0.015567646466,0.0599656097249,0.999999995886,-7.56051004538e-05,-2.63265014288e-05,-4.26431683749e-05,1793196495674338816
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.140212542,743,712,675,661,633.140212542,878,785,801,649,630,650,0.429163003595,-0.0155670880201,0.059943144531,0.999999993914,-7.76539695901e-05,-6.43345487746e-05,-4.47492713963e-05,1793196495691006208
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.717174419,743,712,675,661,633.717174419,878,785,801,649,630,650,0.429968085761,-0.0155626666129,0.0599133126845,0.999999988294,-7.26044351925e-05,-0.000126175980793,-4.71129170418e-05,1793196495707671808
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.699960609,743,712,675,660.699960609,634,878,785,801,649,629.699960609,650,0.430839798333,-0.0155635487074,0.0599160928773,0.999999989013,-7.57476774202e-05,-0.000118203158153,-4.75902057096e-05,1793196495724337664
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.111419573,743,712,675,660.111419573,634,878,785,801,649,629.111419573,650,0.431775579052,-0.0155695303622,0.0599502310443,0.999999994237,-8.67686505427e-05,-4.31007218296e-05,-4.62536753574e-05,1793196495741004288
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.469602478,743,712,675,660,633.530397522,878,785,801,649,629.469602478,650.469602478,0.432657805609,-0.0155723295498,0.0599815743669,0.999999995249,-8.71840003972e-05,5.9121432927e-06,-4.31990953727e-05,1793196495757670912
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.951481882,743,712,675,660,633.048518118,878,785,801,649,630,650.951481882,0.43352103831,-0.0155743158468,0.0600074830739,0.999999994681,-8.5580595029e-05,4.11840141329e-05,-4.02341757494e-05,1793196495774337792
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.37637135,743,712,675,660,633.62362865,878,785,801,649,630,650.37637135,0.434313856525,-0.0155755455841,0.0599814907535,0.999999995115,-8.89472161668e-05,-6.55664312055e-06,-4.25968958739e-05,1793196495791004928
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660.199093884,633.800906116,878.199093884,785,801,649,630,650.199093884,0.435095831858,-0.0155760871434,0.0599546730488,0.999999993218,-9.23461054896e-05,-5.43663996638e-05,-4.56095336995e-05,1793196495807671552
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660.775230949,633.224769051,878.775230949,785,801,649,630,650.775230949,0.435857273123,-0.0155753254344,0.0599262922304,0.999999988935,-9.58061049316e-05,-0.00010230702443,-4.98529834971e-05,1793196495824338176
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,743,712,675,660.639446724,633.360553276,879,785,801.360553276,649,630,651,0.436620148819,-0.0155738431971,0.0599155787074,0.999999986631,-9.62495009196e-05,-0.000122011022193,-5.08653310216e-05,1793196495841004800
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660.048248647,633.951751353,879,785,801.951751353,649,630,651,0.437383942071,-0.0155719000401,0.0599161668995,0.999999986624,-9.47631850246e-05,-0.000123652135404,-4.98107523465e-05,1793196495857671168
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.530030975,743,712.530030975,675,660.530030975,633.469969025,878.469969025,785,802,649.530030975,630,651,0.438100226463,-0.0155696442029,0.0599071092713,0.999999984165,-8.20099599029e-05,-0.000149606401324,-5.06262842264e-05,1793196495874337792
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.893350269,743,712.893350269,675,661,633,878,785,801.893350269,650,630,651,0.438821319934,-0.0155684367109,0.0599068713403,0.999999983103,-7.72016261315e-05,-0.000158891642268,-5.08668973525e-05,1793196495891004416
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.318980805,743,712.318980805,675,661,633,878,785,801.318980805,650,630,651,0.439582019036,-0.0155719486665,0.0599490719596,0.999999988961,-0.000111627090463,-8.5598425755e-05,-4.78573468693e-05,1793196495907671040
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,743,712,675,661,633.26088063,878,785,801,649.73911937,630,650.73911937,0.44030450986,-0.0155763895168,0.0599841554128,0.999999990791,-0.000124795012834,-2.8828031498e-05,-4.48722752402e-05,1793196495924337664
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,743,712,675,661,633.847601499,878,785,801,649.152398501,630,650.152398501,0.440979278438,-0.0155819905573,0.0600103495136,0.999999992888,-0.000111412236232,7.30533078865e-06,-4.19177782089e-05,1793196495941004544
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,743,712,675.429223831,661.429223831,633.570776169,878,785,801.429223831,649.429223831,630,650.429223831,0.441604887814,-0.015581638478,0.059991263506,0.999999993472,-0.000103682401573,-2.07175165569e-05,-4.33195965341e-05,1793196495957671424
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.990978852,743,712,675.990978852,661.990978852,633.009021148,878.018042296,785,801.990978852,649.990978852,630,651,0.44221268488,-0.0155792099714,0.059956514169,0.999999991601,-9.82005683728e-05,-7.08290422503e-05,-4.62411871026e-05,1793196495974338304
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+190,3.166666667,POSE1_TO_POSE2_PRESS,764.162739588,743,712,675,661,634,879.674520824,784.837260412,801.162739588,649,630,651,0.443353272746,-0.0155776909799,0.059925156361,0.999999986649,-0.000114656150198,-0.000105204063883,-4.98775593556e-05,1793196496007671552
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765,743,712,675,660.681190617,633.681190617,878,784.318809383,801.681190617,649,630,651,0.444437956567,-0.0155861201654,0.0599515443468,0.999999990506,-0.000110129646538,-6.8065708205e-05,-4.71894005134e-05,1793196496041004288
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660.089035705,633.089035705,878,784.910964295,801.089035705,649,630,651,0.444937606654,-0.0155893378479,0.0599628390992,0.999999989233,-0.000127854083133,-5.5215737487e-05,-4.62528497226e-05,1793196496057670912
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660.353723504,633,878.353723504,784.353723504,801,649.353723504,630,651,0.446169140781,-0.0155962052599,0.0598876523392,0.999999969466,-0.000147995097221,-0.000190163727108,-5.48060720498e-05,1793196496107672320
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,743,712,675.613359868,660,632.386640132,878,783,801.386640132,649,629.386640132,651,0.449273994038,-0.0156032308798,0.0597903501682,0.999999929971,-0.00016289527692,-0.00033243844331,-5.48482501414e-05,1793196496307672064
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+247,4.116666667,HOLD_POSE2,764,743,712,675,659.176449312,632,878,782,802,649.176449312,629,650.823550688,0.450081123165,-0.0156109593572,0.0597646290107,0.999999916141,-0.000166324027575,-0.000370465521136,-5.29972101483e-05,1793196496984119296
+248,4.133333333,HOLD_POSE2,764,743,712,675,659.75568969,632,878,782,802,649.75568969,629,650.24431031,0.450079658512,-0.0156094934216,0.0597627046854,0.999999915577,-0.000164016008077,-0.000372960842861,-5.33409986871e-05,1793196497000785664
+249,4.150000000,HOLD_POSE2,764.330885041,743.330885041,712,675,660.661770083,632,878,782,802,649.669114959,629,650.330885041,0.450079878059,-0.0156080193755,0.0597627692201,0.999999915925,-0.000162185797443,-0.000372783340032,-5.36521404357e-05,1793196497017452288
+250,4.166666667,HOLD_POSE2,764.903129768,743.903129768,712,675,661.806259536,632,878,782,802,649.096870232,629,650.903129768,0.450081326125,-0.0156065394134,0.0597642845024,0.999999916939,-0.000160704118257,-0.000370656180793,-5.39394683975e-05,1793196497034118656
+251,4.183333333,HOLD_POSE2,765,743.521153783,712,675.478846217,661.042307565,632,878,782,801.521153783,649,629,650.521153783,0.450081109715,-0.015608043517,0.0597640631661,0.999999916451,-0.000162484270717,-0.000371246934717,-5.35881247699e-05,1793196497050785280
+252,4.200000000,HOLD_POSE2,765,743,712.056913702,676,660,632,878.056913702,782,801.113827404,649.056913702,629,650.056913702,0.450080617569,-0.0156097964146,0.0597635169556,0.999999915738,-0.000164664687549,-0.000372258447541,-5.3223970035e-05,1793196497067451904
+253,4.216666667,HOLD_POSE2,765,743,712.650478874,676,660,632,878.650478874,782,802.300957747,649.650478874,629,650.650478874,0.450080723664,-0.0156081614991,0.0597632442699,0.99999991584,-0.000164351824036,-0.00037201504146,-5.39661945714e-05,1793196497084118784
+254,4.233333333,HOLD_POSE2,765,743,712.763212939,675.763212939,660,632,879,782.236787061,802.526425878,649.763212939,629,651,0.450080443652,-0.0156071810679,0.0597628318281,0.999999915915,-0.000163128376202,-0.000372301516801,-5.43267511111e-05,1793196497100785152
+255,4.250000000,HOLD_POSE2,765,743,712.18729829,675.18729829,660,632,879,782.81270171,801.37459658,649.18729829,629,651,0.450079610656,-0.0156071379925,0.059762219227,0.999999915944,-0.000160600785072,-0.000373346890926,-5.41406808145e-05,1793196497117451776
+256,4.266666667,HOLD_POSE2,765,743,712,675.388560496,660.388560496,632,879,782.611439504,801.388560496,649.388560496,629,651,0.450080338056,-0.0156077538707,0.0597627279625,0.999999916199,-0.000160959919763,-0.000372580173941,-5.36463980919e-05,1793196497134118400
+257,4.283333333,HOLD_POSE2,765,743,712,675.964392409,660.964392409,632,879,782.035607591,801.964392409,649.964392409,629,651,0.450081817507,-0.0156086873395,0.0597637771397,0.99999991656,-0.000162710346559,-0.000370940097878,-5.30035686559e-05,1793196497150785024
+258,4.300000000,HOLD_POSE2,765.55053037,743.55053037,712,675.44946963,660.44946963,632,878.44946963,782,802,649.44946963,629,650.44946963,0.450082006302,-0.0156089972502,0.0597639077706,0.999999916395,-0.000164340053119,-0.000370644145534,-5.31539631685e-05,1793196497167451904
+259,4.316666667,HOLD_POSE2,765.727320289,743.863660144,712,675,660.136339856,632,878,782.136339856,802,649,629,650,0.450082049683,-0.0156091486174,0.0597639413182,0.999999916246,-0.000165336176841,-0.000370589261395,-5.32536584404e-05,1793196497184118528
+260,4.333333333,HOLD_POSE2,764.562296882,743.281148441,712,675,660.718851559,632,878,782.718851559,802,649,629,650,0.450081895593,-0.0156089156526,0.0597638552901,0.999999916267,-0.000164284941891,-0.00037103334641,-5.30163431446e-05,1793196497200785152
+261,4.350000000,HOLD_POSE2,764.296835411,743,712,675.296835411,660.703164589,632,878,782.703164589,801.703164589,649.296835411,629,650,0.45008170191,-0.0156082444277,0.0597635626567,0.999999916245,-0.000163337092274,-0.000371515760696,-5.29725996941e-05,1793196497217451776
+262,4.366666667,HOLD_POSE2,764.870595096,743,712,675.870595096,660.129404904,632,878,782.129404904,801.129404904,649.870595096,629,650,0.450081471291,-0.0156071643402,0.0597630772768,0.999999916184,-0.00016248569317,-0.000372033933174,-5.31094436837e-05,1793196497234118400
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,632,879,782,801,649,629,651,0.450081255426,-0.0156064050622,0.0597635151026,0.999999916434,-0.000161445823389,-0.000371783196321,-5.33412438193e-05,1793196497266906368
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,743.821691155,712,675.821691155,660,632,879.821691155,782,802,649.178308845,629,650.821691155,0.450085013224,-0.0156040247012,0.05976499064,0.999999917949,-0.000159012921405,-0.000368717051479,-5.35233101424e-05,1793196497300239872
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,743.241315494,712,675.241315494,660,632,879.241315494,782,802,649.758684506,629,650.241315494,0.450084167275,-0.0156068180849,0.0597652629119,0.999999917088,-0.000163356832046,-0.000369168799477,-5.34209086816e-05,1793196497316906496
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,743,712.335818077,675,660,632,879,782,801.664181923,649.664181923,629,650.335818077,0.450083750129,-0.0156076467987,0.0597649396176,0.999999916787,-0.000164348181761,-0.000369563762977,-5.32733027358e-05,1793196497333573120
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,743,712.910644156,675,660,632,879,782,801.089355844,649.089355844,629,650.910644156,0.450083638171,-0.0156070772201,0.0597641924477,0.999999916894,-0.000162953450936,-0.000369918311864,-5.30935239192e-05,1793196497350240000
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.504176621,743,712.504176621,675,660,632,879,782,801.495823379,649,629,650.504176621,0.450082688841,-0.0156053918729,0.0597642296647,0.999999917128,-0.000160347509412,-0.000370421748506,-5.31008740267e-05,1793196497366906368
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,712,675.081844261,660,632,878.918155739,782,801.918155739,649,629,650.081844261,0.450081457469,-0.0156039741424,0.0597640653849,0.999999917177,-0.000158070086559,-0.000371265063172,-5.31180034521e-05,1793196497383572992
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,712,675.661395153,660,632,878.338604847,782,801.338604847,649,629,650.661395153,0.450079448228,-0.015605432705,0.0597617978128,0.999999915991,-0.000159146137757,-0.000374008574916,-5.29851493642e-05,1793196497400239616
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,712,675.760239323,660,632,878.239760677,782,801.239760677,649.239760677,629,651,0.450074721456,-0.0156060703257,0.0597591071024,0.999999914372,-0.000160324393815,-0.000377796626266,-5.31118132156e-05,1793196497416906240
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,712,675.183539659,660,632,878.816460341,782,801.816460341,649.816460341,629,651,0.450066175701,-0.0156055542652,0.0597558217501,0.999999912134,-0.000161646279678,-0.000383052583292,-5.36031812164e-05,1793196497433572864
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.391247035,743,712,675.391247035,660,632,879,782,801.608752965,649.608752965,629,650.608752965,0.450046031955,-0.0156051227731,0.0597459882474,0.999999905948,-0.000162708138355,-0.000398312601434,-5.4554641412e-05,1793196497450240256
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.445156921,660,632,879,782,801.554843079,649,629,650.554843079,0.449975728917,-0.0156004120828,0.0597132948178,0.999999884764,-0.000160321082367,-0.000448832448847,-5.76015313779e-05,1793196497483573760
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.142725906,660.142725906,632,879,782.142725906,802,649.142725906,629,651,0.449928365178,-0.0155962602778,0.0596947030333,0.999999873174,-0.00015685392436,-0.000474902654701,-5.93037146793e-05,1793196497500239872
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.721918295,660.721918295,632,879,782.721918295,802,649.721918295,629,651,0.449876787565,-0.0155933953376,0.059681182434,0.999999868719,-0.000153803820402,-0.000485044134472,-6.031886964e-05,1793196497516906496
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,743,712,676,660.46126364,632,878.46126364,783,802,649,629,651,0.44967861737,-0.015580345438,0.0596609807267,0.999999855484,-0.000150111435539,-0.000512527491516,-6.17549346239e-05,1793196497566907136
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,743.050998124,712,675.949001876,660.949001876,632,878.949001876,782.949001876,801.949001876,649,629,651,0.449605378466,-0.0155760464742,0.0596601573177,0.999999856536,-0.00014745899384,-0.000511295109162,-6.13272070637e-05,1793196497583573760
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+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,743.218065078,712,675.781934922,660,632,878,782,801.781934922,649,629,651,0.44929948999,-0.0155601908076,0.0596649194168,0.999999861532,-0.000140683862311,-0.000503769034497,-5.79782251463e-05,1793196497633573376
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,743,712.357258919,675.642741081,660,632,878,782,802,649.357258919,629,650.642741081,0.449168006071,-0.015552294417,0.0596663879253,0.999999863426,-0.000134947290538,-0.000501706844479,-5.68096298852e-05,1793196497650240000
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,743,712.932961703,675.067038297,660,632,878,782,802,649.932961703,629,650.067038297,0.449026057281,-0.0155429770997,0.0596677598889,0.999999864988,-0.000127485032723,-0.000500630746999,-5.6038428692e-05,1793196497666906624
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,743,712.477441434,675,660,632,878,782.522558566,801.477441434,649.477441434,629.522558566,650.522558566,0.448872145841,-0.0155360251467,0.0596721181841,0.999999868819,-0.000123417223813,-0.000494206188238,-5.37673739594e-05,1793196497683573248
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633,878.155677573,782.155677573,801,649,629,650.155677573,0.448119718416,-0.0154950999516,0.0596936237149,0.999999886846,-9.19320724832e-05,-0.000464475167631,-4.60367026884e-05,1793196497750239744
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633,878.348389363,784.348389363,801,650,629.651610637,650.651610637,0.444927034521,-0.01546057022,0.0597474183387,0.999999925149,2.18398828728e-05,-0.000386082963651,-1.28407295366e-05,1793196497916906240
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.808089161,660.808089161,633,878,784,801,649.191910839,630,651,0.444094732375,-0.0154519396866,0.0597672625646,0.999999940474,2.82905945338e-05,-0.000343852171935,-4.20958883225e-06,1793196497950239488
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.382783442,743,712.382783442,675.617216558,660.617216558,633,878,784,801,649,630,651,0.443658045823,-0.0154527028387,0.0597910937551,0.999999953299,4.45233519404e-05,-0.000302354515583,1.53955728052e-06,1793196497966906368
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.956777555,743,712.956777555,675.043222445,660.043222445,633,878,784,801,649,630,651,0.443208646719,-0.0154542662713,0.0598178799869,0.999999964385,6.81946962432e-05,-0.000257914800118,7.66082772334e-06,1793196497983572992
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.452126186,743,712.452126186,675,660.547873814,633,878,784,801.547873814,649,630,651,0.442682656416,-0.0154527607376,0.0598177082202,0.999999962036,7.21152554575e-05,-0.000265670604703,1.21286337454e-05,1793196498000239616
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.13657224,743,712,675,660.86342776,633.13657224,878,784,801.86342776,649,629.86342776,651,0.442136468237,-0.0154505580514,0.0598094944896,0.999999955958,7.61695450495e-05,-0.000286414447277,1.57828556807e-05,1793196498016906496
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.713060818,743,712,675,660.286939182,633.713060818,878,784,801.286939182,649,629.286939182,651,0.441545310651,-0.0154469147603,0.0597824478452,0.999999939953,8.5835358098e-05,-0.00033530315815,1.72501348227e-05,1793196498033573376
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.711545384,743,712,675.288454616,660.288454616,633.711545384,878,784,801.288454616,649,629.288454616,651,0.44095482174,-0.0154400527747,0.0597641439897,0.999999925191,0.000107657248172,-0.000371022859123,1.92382110544e-05,1793196498050240512
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.137236429,743,712,675.862763571,660.862763571,633.137236429,878,784,801.862763571,649,629.862763571,651,0.440364995406,-0.0154300011093,0.059754504108,0.999999912252,0.000141525635445,-0.000393692268324,2.1742389832e-05,1793196498066908160
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.449876889,743,712,675.550123111,660.550123111,633,878,784.449876889,801.550123111,649,630,651,0.439773179356,-0.015429807555,0.0597670441538,0.999999918851,0.000146076638172,-0.000374456873949,2.72324422494e-05,1793196498083574272
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,743,712,675,660,633,878,784.959829793,801,649,630,651,0.439180397133,-0.0154328009831,0.0597876443116,0.99999993103,0.000144004894807,-0.000340680067961,3.37717469259e-05,1793196498100240640
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,743,712,675,660,633,878,784.380809788,801,649,630,651,0.438583034502,-0.0154370236011,0.0598229442038,0.999999941966,0.000176576856641,-0.000288341789459,4.18096559269e-05,1793196498116907008
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.803502323,743,712.196497677,674.803502323,660,633,878,784.196497677,801,649,629.803502323,650.803502323,0.437954732815,-0.0154374149013,0.0598398121314,0.999999950875,0.000163466383191,-0.000264869376131,3.70494158147e-05,1793196498133573632
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.229485094,743,712.770514906,674.229485094,660,633,878,784.770514906,801,649,629.229485094,650.229485094,0.437266989754,-0.015430445313,0.0598212677964,0.99999995395,6.25889030948e-05,-0.000296855272391,7.70083606098e-06,1793196498150240768
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,743,712.653915913,674,660,633,878,784.653915913,801.346084087,649.346084087,629.346084087,650.346084087,0.436557373221,-0.0154275963903,0.0597855797839,0.999999937686,2.94109325409e-05,-0.000351787963976,-2.83420621949e-06,1793196498166907136
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,743,712.077313034,674,660,633,878,784.077313034,801.922686966,649.922686966,629.922686966,650.922686966,0.43583318729,-0.0154274921499,0.0597384727558,0.999999910102,4.13260799306e-05,-0.000422004996584,-8.37975044266e-07,1793196498183573504
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.512649081,660,633.512649081,878,784.512649081,801.487350919,649.487350919,630,650.487350919,0.435148607702,-0.015425041099,0.0597482460094,0.999999920267,9.33120000096e-05,-0.000388251987776,4.35716348773e-06,1793196498200240128
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633.898190263,878,785,801,649,630,650,0.434465623089,-0.0154228480877,0.0597661837746,0.999999931843,0.000137633378193,-0.000342451081375,9.86887503645e-06,1793196498216906752
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633.322391851,878,785,801,649,630,650,0.433761511856,-0.0154235482454,0.0597811271601,0.999999943231,0.000117384192172,-0.000315512246637,1.4548320842e-05,1793196498233573376
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.2538424,743,712,675,660,633,878,785,801,649,630,650,0.433034158968,-0.0154232918331,0.0597892802644,0.99999994663,0.000112770411337,-0.000306152307152,1.71278663079e-05,1793196498250240000
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.830631216,743,712,675,660,633,878,785,801,649,630,650,0.432277237208,-0.0154218184419,0.0597887945579,0.999999940726,0.00012804849021,-0.000319156796827,1.70358520751e-05,1793196498266906624
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.583803882,743,712,675,660.416196118,633,878,785,801,649,629.583803882,650,0.431540930765,-0.0154199670145,0.0597912279722,0.99999994273,0.000127354078358,-0.000313097425008,1.70786799587e-05,1793196498283573504
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,743.261975007,712.738024993,675,660.523950014,633,878.261975007,784.261975007,801,649,630,650.261975007,0.428443343586,-0.0154176958564,0.0597893778474,0.999999935314,0.000131587752662,-0.000334103400867,2.07581590151e-05,1793196498350239744
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,743,712.686837127,675,660,633,877.686837127,784,801,649,630,650,0.427651070852,-0.0154159218743,0.0597659091582,0.999999923238,0.000133379814356,-0.000367971430826,1.81925822912e-05,1793196498366906368
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,743,712,674.632591236,660,633.367408764,877.367408764,785,801.632591236,649,629.632591236,650,0.422270888478,-0.0154114045878,0.0598310087645,0.999999950841,0.000157918815523,-0.000269553528826,2.68606207977e-05,1793196498483572992
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877.877636219,784.877636219,801,649,630,650,0.419893456954,-0.0154062047524,0.0597602180748,0.999999909016,0.000160646846586,-0.00039465234924,2.02414516369e-05,1793196498533572864
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877.301416426,784.301416426,801,649,630,650,0.419120789713,-0.0154071472288,0.0597353416655,0.99999989751,0.000158074265894,-0.000423933040751,1.65097183922e-05,1793196498550239744
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,764.147890929,743,712,674,660,633.147890929,877,784.852109071,801,649.852109071,630,650.852109071,0.41769024407,-0.0154095604097,0.0597706417157,0.999999924963,0.000162463860732,-0.00035116297882,1.90676507949e-05,1793196498583573760
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877.394245911,785,801.394245911,649,630,650,0.415610497516,-0.0154072097307,0.0598228278221,0.999999941091,0.000173494847705,-0.000294958514543,2.67793158468e-05,1793196498633572864
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.76190082,660,634,877,785,801,649,630,650,0.4142252092,-0.0154078225397,0.0598235011994,0.999999939417,0.00017828256367,-0.000297743918124,2.7023124248e-05,1793196498666906368
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+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,742.697676316,712,673.697676316,660,633.302323684,877,784.697676316,801.302323684,649,630,650,0.40685073427,-0.0153945271095,0.0598208685413,0.99999993572,0.000200261963439,-0.000296260400624,2.61656903049e-05,1793196498883573760
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,742.467221192,712,673.467221192,660,634,877,784.467221192,802,649,629.532778808,650,0.406009761234,-0.0153916811942,0.0598303159815,0.999999943639,0.00019889131533,-0.000269226263768,2.60946433074e-05,1793196498916907008
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877.057020048,785,801.942979952,649,629.057020048,650,0.405625018643,-0.0153930220865,0.0598401721659,0.999999948839,0.000195050126167,-0.000252080753101,2.70808077023e-05,1793196498933573376
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877.634610663,785,801.365389337,649,629.634610663,650,0.405242628684,-0.0153931341736,0.0598347635003,0.999999946224,0.000197873549859,-0.000260290328903,2.54440521201e-05,1793196498950240000
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,743,712.210972489,674.210972489,660,634,877.789027511,785,801,649,630,650.210972489,0.404863512058,-0.0153927933315,0.0598231528927,0.999999941181,0.000198625350758,-0.000278628734532,2.34905389522e-05,1793196498966906368
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,743,712.785218401,674.785218401,660,634,877.214781599,785,801,649,630,650.785218401,0.404490031824,-0.0153916725907,0.0598008631648,0.999999931183,0.000195810024948,-0.000314407966172,2.09916012046e-05,1793196498983572992
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,743,713,674.642498339,660,634,877,785.357501661,801,649,630,651,0.404141755518,-0.0153898268297,0.0597833591577,0.999999920788,0.00019712253686,-0.000345240447958,1.94039272892e-05,1793196499000239872
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,743,713,674.071387718,660,634,877,785.928612282,801,649,630,651,0.403808538644,-0.0153875478653,0.0597687146398,0.999999910043,0.00020090145136,-0.000373117226318,1.83607376518e-05,1793196499016907008
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,743,712.476406687,674,660,634,877,785.476406687,801,649.523593313,630,651,0.403541374185,-0.0153857562296,0.0597722339837,0.999999912097,0.000211343577044,-0.000361643160419,1.8835328995e-05,1793196499033573632
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,742.882928035,712,674,660,634,877,785,801,649.882928035,629.882928035,650.882928035,0.403292179568,-0.0153850993321,0.0597812578488,0.999999917369,0.000220481985096,-0.00034094851741,2.00760244191e-05,1793196499050240256
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,742.308634376,712,674,660,634,877,785,801,649.308634376,629.308634376,650.308634376,0.403076314004,-0.0153886022381,0.0598016455938,0.999999928467,0.000220811252736,-0.00030619756415,2.34619277575e-05,1793196499066906624
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,742.266588234,712,673.733411766,660,633.733411766,877,785,801,649,629.266588234,650.266588234,0.402864364822,-0.0153900366196,0.0598165857074,0.999999935291,0.000221034361346,-0.000282620169726,2.62201664303e-05,1793196499083572992
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,742.842890037,712,673.157109963,660,633.157109963,877,785,801,649,629.842890037,650.842890037,0.402656965578,-0.0153890678561,0.0598251969381,0.999999938152,0.000221134138041,-0.000272023856123,2.82492044629e-05,1793196499100239616
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,743,712,673.427589896,660,633.427589896,877,785,801,649,630,650.572410104,0.402465272755,-0.0153866305383,0.0598290661805,0.999999940247,0.000219949858442,-0.000265099285391,2.91578094749e-05,1793196499116906496
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660.01526705,634,877,785,801,649,630,650,0.402279845973,-0.0153836791487,0.0598309936612,0.999999941999,0.000218088668215,-0.000259932034953,2.95807451558e-05,1793196499133573120
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660.596632395,634,877,785,801,649,630,650,0.402108486839,-0.0153820749145,0.0598268215234,0.999999941632,0.000208972604528,-0.000268898783257,2.75660802304e-05,1793196499150240256
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660.823957899,634,876.823957899,785,801,649,630,650.176042101,0.401946381963,-0.0153820992877,0.0598235044646,0.999999943107,0.000190983083872,-0.000277042607606,2.36202421228e-05,1793196499166907136
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660.248980021,634,876.248980021,785,801,649,630,650.751019979,0.40180524854,-0.0153858143113,0.0598221251337,0.999999948061,0.000152885082031,-0.000283321570897,1.52980984111e-05,1793196499183573760
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,743,712.322340044,674.322340044,660,634,876.644680088,785,801,649,630,651,0.401683242953,-0.0153911621397,0.0598240486037,0.99999994828,0.000150835854136,-0.000283769773616,1.27881447312e-05,1793196499200240128
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,743,712.890866523,674.890866523,660,634,877.781733047,785,801,649,630,651,0.40157584619,-0.0153977570194,0.0598284945798,0.999999945213,0.000176318786877,-0.000279764747698,1.47172363683e-05,1793196499216906496
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,743,712.517933146,674.517933146,659.517933146,634,877.517933146,785,801,649,630,650.517933146,0.40148291445,-0.0154014958624,0.0598320649772,0.999999944259,0.000189291092043,-0.000274557477665,1.64057844788e-05,1793196499233573376
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.076633281,634,877.076633281,785,801,649,630,650.076633281,0.401395896707,-0.0154037526853,0.059835225556,0.999999943907,0.000198077352596,-0.000269502540399,1.7890060432e-05,1793196499250239744
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.657896269,634,877.657896269,785,801,649,630,650.657896269,0.401325194445,-0.0154007182059,0.0598370571796,0.999999944323,0.000198869317002,-0.000267331420326,1.84054961686e-05,1793196499266906368
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,742.764111016,712,674,660,634,877.764111016,785,801,649,629.764111016,651,0.401260084957,-0.0153979824491,0.0598379189544,0.999999944428,0.000199353064689,-0.000266539141947,1.8943646302e-05,1793196499283573248
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,742.190796275,712,674,660,634,877.190796275,785,801,649,629.190796275,651,0.401202975619,-0.0153956739983,0.0598373934156,0.999999944093,0.000199395925864,-0.000267719218218,1.95142880557e-05,1793196499300240640
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,742.392031595,712,674,659.607968405,634,877,784.607968405,801,649,629,650.607968405,0.401154005841,-0.015394834844,0.0598369446446,0.999999943863,0.00019906338528,-0.000268814107214,1.96645923289e-05,1793196499316907264
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,742.979604499,712,674,659.020395501,634,877,784.020395501,801,649,629,650.020395501,0.401109095991,-0.0153947285598,0.0598365341647,0.999999943684,0.000198543598175,-0.000269866505644,1.96052365931e-05,1793196499333573376
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,742.437463941,712,673.437463941,659.562536059,634,876.437463941,784.562536059,801,649,629.562536059,650.562536059,0.401077314986,-0.0153945140853,0.0598362462277,0.999999944172,0.000195459000302,-0.000270316115792,1.94941573425e-05,1793196499350240000
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,742.14315161,712.14315161,673,660,634,876.14315161,785,801.14315161,649,630,651,0.40104843476,-0.0153942541799,0.0598359912192,0.999999944421,0.000193433927897,-0.000270852990102,1.94844565821e-05,1793196499366906880
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,742.717296634,712.717296634,673,660,634,876.717296634,785,801.717296634,649,630,651,0.401026866653,-0.0153938692067,0.0598358220824,0.999999943901,0.000194876500563,-0.000271717855874,1.97855807908e-05,1793196499383573504
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,743,712.70798332,673.29201668,660,634,877,784.70798332,802,649,629.70798332,651,0.401009880753,-0.0153934774127,0.0598361299493,0.99999994392,0.000194926476433,-0.000271602907367,1.9886418735e-05,1793196499400240128
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,743,712.132705424,673.867294576,660,634,877,784.132705424,802,649,629.132705424,651,0.400997339668,-0.0153930790023,0.0598369005181,0.999999944463,0.000193625609569,-0.000270537522219,1.97929755843e-05,1793196499416906496
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.455732595,743,712,673.544267405,660,634,876.544267405,784.455732595,801.544267405,649.455732595,629,651,0.400987612176,-0.0153931049966,0.0598354785151,0.999999944163,0.000192788678722,-0.000272273750652,1.93086039525e-05,1793196499433573632
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.953316142,742.953316142,712,673.046683858,660,634,876.046683858,785,801,649.953316142,629.093367716,651,0.400979245427,-0.0153932823438,0.059833758653,0.999999943713,0.00019218590398,-0.000274382228521,1.87921493364e-05,1793196499450240512
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.378571698,742.378571698,712,673.621428302,660,634,876.621428302,785,801,649.378571698,630.242856605,651,0.400976727665,-0.0153937322403,0.059836106193,0.999999944482,0.000192658220295,-0.000271199059633,1.92387141861e-05,1793196499466906880
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,742.197031478,712,674,660,634,877,785,801.197031478,649,630.802968522,651,0.400974342202,-0.0153945222623,0.0598376895436,0.999999945219,0.000192062847276,-0.000268877456201,1.94410148654e-05,1793196499483573504
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,742.774291787,712,674,660,634,877,785,801.774291787,649,630.225708213,651,0.400972212048,-0.0153959686539,0.059837798171,0.999999945908,0.000189407060985,-0.000268218490983,1.91719376401e-05,1793196499500240128
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,876.640495376,785,801.640495376,649,630,650.640495376,0.400972009554,-0.015396304978,0.0598388096658,0.999999946562,0.000188994350316,-0.000266064789712,1.91228206354e-05,1793196499516906752
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,876.050176773,785,801.050176773,649,630,650.050176773,0.400973044684,-0.0153959286015,0.0598404008318,0.99999994719,0.000190021769235,-0.000262951417982,1.92149254509e-05,1793196499533573120
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,742.470685043,712,673.470685043,660,634,876,784.470685043,801,649,629.470685043,650.529314957,0.400973596915,-0.0153954358743,0.0598415861879,0.999999947427,0.000191253274125,-0.00026113793467,1.93528430308e-05,1793196499550239744
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,742.107190894,712,673,660,634,876.107190894,784.107190894,801,649,629.107190894,651,0.400973686107,-0.0153952167094,0.0598425366566,0.99999994763,0.000191761412831,-0.00025997826663,1.94462969254e-05,1793196499566906624
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,742.682403151,712,673,660,634,876.682403151,784.682403151,801,649,629.682403151,651,0.400971949422,-0.0153962391759,0.0598426261474,0.999999947849,0.000189028381325,-0.000261146074141,1.93270297169e-05,1793196499583573504
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.743129357,742.743129357,712,673,660.256870643,634,876.743129357,785,801,649.256870643,630,651,0.400970576779,-0.0153970451625,0.0598423707964,0.999999947822,0.000187815884332,-0.000262133071199,1.91712459131e-05,1793196499600240128
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.169579959,742.169579959,712,673,660.830420041,634,876.169579959,785,801,649.830420041,630,651,0.400969652939,-0.0153975842656,0.059841690313,0.999999947501,0.000188477952987,-0.000262897159216,1.89704432085e-05,1793196499616907008
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,876.011663224,785,801,649,630,651,0.40096865427,-0.0153971818838,0.0598406723804,0.999999947509,0.000188251445565,-0.000262994371202,1.94269988186e-05,1793196499650240256
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,876.588080902,785,801,649,630,651,0.400969818331,-0.0153978387573,0.0598421536808,0.999999948268,0.000186624624661,-0.000261253741851,1.95280099655e-05,1793196499666906880
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,743,712,673.835403273,660,634,877,785,801,649,630,650.835403273,0.400970762204,-0.0153983200538,0.0598432124443,0.999999948752,0.000185887447248,-0.000259920468841,1.95510256991e-05,1793196499683573248
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,743,712,673.258641717,660,634,877,785,801,649,630,650.258641717,0.400971154703,-0.0153983616897,0.0598432131374,0.999999948559,0.00018737801628,-0.000259607252408,1.9378733982e-05,1793196499700240128
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,743,712,673,659.677297404,633.677297404,877,785,801,649.322702596,630,650.322702596,0.400970911384,-0.0153982766939,0.0598435159843,0.99999994848,0.000187947096584,-0.000259502145217,1.93476820056e-05,1793196499716906752
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765,743,712,673,659.09222719,633.09222719,877,785,801,649.90777281,630,650.90777281,0.400970151123,-0.0153980887424,0.059844064492,0.999999948496,0.000187766976761,-0.000259566237566,1.94314625017e-05,1793196499733573120
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765,743,712,673.490509819,659.490509819,633.490509819,877.490509819,784.509490181,801,649.509490181,630,651,0.400970486784,-0.0153983654958,0.0598441099346,0.999999948894,0.000187283970496,-0.000258369837576,1.95606744443e-05,1793196499750240000
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..184bc004ced67b858da3b02bd72e267f7dab6836
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_02/simulation_data.csv
@@ -0,0 +1,423 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bda1d88d592d901f00744cf183ee6f6941db7bbf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:919faf26b5dc91a4320326773648064b59474459767ee6ff75bed7bb8f5aa4dd
+size 27144185
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fe0d2c2c723a86661ccfb75c1b587b4fea6de753
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_03/franka_data.csv
@@ -0,0 +1,427 @@
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+21,0.350000000,BASELINE,765,743,712.767224304,674,660,633,876.767224304,784.232775696,801,649,630,650.232775696,0.400968853946,-0.0154008737284,0.0598445795628,0.999999949771,0.000183808604359,-0.000257527044122,1.8774605196e-05,1793196500374668800
+22,0.366666667,BASELINE,765,743,712.186557613,674,660,633,876.186557613,784.813442387,801,649,630,650.813442387,0.400969686655,-0.0154004552376,0.0598459724937,0.999999949882,0.00018510697935,-0.000256140630744,1.90509026051e-05,1793196500391335424
+23,0.383333333,BASELINE,765,743,712,674,660,633.389632631,876.389632631,785,800.610367369,649,629.610367369,651,0.400970121597,-0.0154008426313,0.0598464454807,0.999999950293,0.000183782859943,-0.000255490770802,1.90540566368e-05,1793196500408001792
+24,0.400000000,BASELINE,765,743,712,674,660,633.96370393,876.96370393,785,800.03629607,649,629.03629607,651,0.400970368249,-0.015401611503,0.0598464829979,0.99999995084,0.000181217342122,-0.000255189569766,1.89279140253e-05,1793196500424668416
+25,0.416666667,BASELINE,765,742.460623701,712,674,660,634,877,785,800.539376299,649,629.539376299,651,0.40097189062,-0.0154004234663,0.0598474152214,0.999999950901,0.000183235417655,-0.000253494480727,1.90545983916e-05,1793196500441335296
+26,0.433333333,BASELINE,765,742,712,673.881480192,660,634,877,785,801.118519808,649.118519808,629.881480192,651,0.400972630236,-0.0153995508415,0.0598478371663,0.999999950757,0.000185078155868,-0.000252716695061,1.91338166176e-05,1793196500458002176
+27,0.450000000,BASELINE,765,742,712,673.288884279,660,634,877,785,801.711115721,649.711115721,629.288884279,651,0.400969894443,-0.0154004681621,0.0598459764667,0.999999949947,0.000184982116207,-0.000255984406452,1.89549158114e-05,1793196500474668800
+28,0.466666667,BASELINE,765,742.294896542,712,673.294896542,660,634,876.705103458,785,801.705103458,649.705103458,629.294896542,650.705103458,0.400969017463,-0.0154012678827,0.0598454579958,0.99999994983,0.000184187288608,-0.000257004676847,1.90709546269e-05,1793196500491335424
+29,0.483333333,BASELINE,765,742.870292594,712,673.870292594,660,634,876.129707406,785,801.129707406,649.129707406,629.870292594,650.129707406,0.400969908546,-0.0154019557445,0.0598462162254,0.999999950377,0.000182727788338,-0.000255887227507,1.94675339405e-05,1793196500508002048
+30,0.500000000,BASELINE,765,743,712,674,660,634,876.4457841,784.5542159,801,649,630,650.4457841,0.400970984246,-0.0154022938539,0.0598473605176,0.999999951032,0.000182402382783,-0.000253544735753,1.95020159334e-05,1793196500524668672
+31,0.516666667,BASELINE,765,743,712,674,660,634,877,784,801,649,629.978229166,651,0.400972031099,-0.0154024980687,0.0598485259724,0.999999951661,0.000182437931577,-0.000251033097824,1.94332300523e-05,1793196500541335552
+32,0.533333333,BASELINE,765,743,712,674,660,634,877,784,801,649,629.390081321,651,0.400970929691,-0.0154018670023,0.059847319031,0.999999950911,0.000183277414242,-0.000253396073428,1.94193939708e-05,1793196500558002176
+33,0.550000000,BASELINE,765,743,712.195845557,674,660,634,877,784.195845557,801,649,629.195845557,651,0.400969870117,-0.0154012639989,0.0598460552515,0.99999995024,0.000183894517529,-0.000255598430699,1.9297116919e-05,1793196500574668800
+34,0.566666667,BASELINE,765,743,712.777398295,674,660,634,877,784.777398295,801,649,629.777398295,651,0.400968892932,-0.0154007162641,0.0598446795325,0.99999994973,0.000184073656616,-0.000257484458614,1.89612712712e-05,1793196500591335424
+35,0.583333333,BASELINE,765,743,712.645237304,674,660,634,877.354762696,785,801,649,630,651,0.400968930097,-0.0154006236239,0.0598447034592,0.999999949769,0.000183965657019,-0.000257418974825,1.88173224245e-05,1793196500608002048
+36,0.600000000,BASELINE,765,743,712.070470225,674,660,634,877.929529775,785,801,649,630,651,0.400969596305,-0.0154008132084,0.0598455953695,0.99999995015,0.000183679589762,-0.000256143270599,1.87923774256e-05,1793196500624668928
+37,0.616666667,BASELINE,765,743,712,674,660,634,877.483247865,785,801,649,630,651,0.400970031542,-0.0154011311269,0.0598468010987,0.999999950777,0.000182142281301,-0.000254797321089,1.86526253463e-05,1793196500641335296
+38,0.633333333,BASELINE,765,742.896039083,712,674,660,634,877.103960917,784.896039083,801,649,630,650.896039083,0.400970314097,-0.0154015000144,0.0598476662276,0.999999951219,0.00018101090377,-0.000253870317413,1.8623157601e-05,1793196500658002176
+39,0.650000000,BASELINE,765,742.316848385,712,674,660,634,877.683151615,784.316848385,801,649,630,650.316848385,0.40097004624,-0.0154020199159,0.0598467739312,0.999999950669,0.000182534402197,-0.000254903284598,1.91711621512e-05,1793196500674668800
+40,0.666666667,BASELINE,765,742.261799341,712,674,660,634,877.738200659,784.261799341,801,649,630,650,0.400969534163,-0.0154020490199,0.0598457122149,0.99999995022,0.000183245280969,-0.000256136762882,1.93532374911e-05,1793196500691335424
+41,0.683333333,BASELINE,765,742.839791249,712,674,660,634,877.160208751,784.839791249,801,649,630,650,0.400968727125,-0.0154014853548,0.0598444458789,0.999999949896,0.000182974704567,-0.000257612411765,1.90933556273e-05,1793196500708001792
+42,0.700000000,BASELINE,765,742.586192525,712,674,659.586192525,634,877,784.586192525,801,649,629.586192525,650,0.400968886376,-0.0154018084841,0.0598451520378,0.999999950056,0.000183209197422,-0.000256813367456,1.92304025526e-05,1793196500724668672
+43,0.716666667,BASELINE,765,742.013700881,712,674,659.013700881,634,877,784.013700881,801,649,629.013700881,650,0.400969416174,-0.0154024716756,0.0598466145961,0.999999950399,0.000183637370922,-0.000255142038723,1.95196611263e-05,1793196500741335296
+44,0.733333333,BASELINE,764.423091239,742,712,673.423091239,659.576908761,634,876.423091239,784.576908761,801,649,629.576908761,650,0.400970578025,-0.0154015865921,0.059846837171,0.999999950635,0.000183143422645,-0.000254604648985,1.91133287516e-05,1793196500758001920
+45,0.750000000,BASELINE,764.164544012,742.164544012,712,673.164544012,659.835455988,634,876.164544012,785,801,649,630,650.164544012,0.400971285388,-0.0154010595316,0.059847026586,0.999999950756,0.000183044394341,-0.000254214493553,1.89265719584e-05,1793196500774668800
+46,0.766666667,BASELINE,764.743567799,742.743567799,712,673.743567799,659.256432201,634,876.743567799,785,801,649,630,650.743567799,0.400970808875,-0.0154015299415,0.0598472090564,0.999999950596,0.000183997105693,-0.000254125181305,1.9335878334e-05,1793196500791335424
+47,0.783333333,BASELINE,765.319688616,743,712,673.680311384,659.319688616,634,876.680311384,785,800.680311384,649,629.680311384,651,0.40096978149,-0.0154023716586,0.0598472928806,0.999999950619,0.000183182898053,-0.000254607378792,1.95371889127e-05,1793196500808002816
+48,0.800000000,BASELINE,765.893501888,743,712,673.106498112,659.893501888,634,876.106498112,785,800.106498112,649,629.106498112,651,0.40096831621,-0.0154035085326,0.0598472982895,0.999999950783,0.000180964143533,-0.000255543876817,1.95731609603e-05,1793196500824670464
+49,0.816666667,BASELINE,765.520572202,743,712,673.479427798,660,634,876.479427798,785,800.479427798,649,629.479427798,651,0.400968316491,-0.0154030720636,0.0598465374699,0.999999950617,0.000181490090707,-0.000255822272771,1.95297030566e-05,1793196500841336576
+50,0.833333333,BASELINE,764.932920098,743,712,674,660,634,876.932920098,785,801,649,630,651,0.400968699548,-0.0154022829197,0.0598457454835,0.999999950392,0.000182775366288,-0.000255790507043,1.94942758891e-05,1793196500858002432
+51,0.850000000,BASELINE,764.353171708,743,712,674,660,634,876.353171708,785,801,649,630,651,0.400969455446,-0.0154015387134,0.0598460498483,0.999999950285,0.000185083448099,-0.000254534506938,1.96585688945e-05,1793196500874668800
+52,0.866666667,BASELINE,764.224784829,743,712,673.775215171,660,634,876,785.224784829,801,649,630,650.775215171,0.40096959486,-0.0154013311269,0.0598458724153,0.999999950119,0.000185832593847,-0.000254639652239,1.96670520254e-05,1793196500891335424
+53,0.883333333,BASELINE,764.799948318,743,712,673.200051682,660,634,876,785.799948318,801,649,630,650.200051682,0.400968773346,-0.0154019599854,0.0598449439901,0.999999949865,0.000184151780402,-0.000256866454614,1.94326697561e-05,1793196500908002560
+54,0.900000000,BASELINE,765,743,712,673,660,634,876.375341913,785.624658087,801,649,629.624658087,650,0.400968822323,-0.0154013678943,0.0598451441336,0.999999949808,0.000184711279888,-0.000256707542459,1.91542091655e-05,1793196500924669952
+55,0.916666667,BASELINE,765,743,712,673,660,634,876.950858207,785.049141793,801,649,629.049141793,650,0.400969335545,-0.0154001246561,0.0598459461565,0.999999949855,0.000186465565406,-0.000255276299819,1.88522410807e-05,1793196500941337088
+56,0.933333333,BASELINE,765,743,712,673.540761547,660,634,877,785,801,649,629.540761547,650.540761547,0.400969481908,-0.0154012829012,0.0598465432642,0.99999995026,0.000184519302637,-0.000255086916867,1.90498970619e-05,1793196500958003200
+57,0.950000000,BASELINE,765,743,712,674,660,634,877,785,801,649,630,650.87099735,0.400969644633,-0.0154026661885,0.0598468550462,0.999999950765,0.000181940172315,-0.000254949463338,1.92016972938e-05,1793196500974669056
+58,0.966666667,BASELINE,765,743,712,674,660,634,877,785,801,649,630,650.293211752,0.400969983428,-0.0154040524052,0.0598462407706,0.999999951505,0.000178361257819,-0.000254589329887,1.90317018371e-05,1793196500991335680
+59,0.983333333,BASELINE,765,742.716138505,712.283861495,674,660,634,877,785,801,649,630,650.283861495,0.40097047519,-0.0154038578804,0.0598462261113,0.999999951513,0.000178820576993,-0.000254237042744,1.90120669869e-05,1793196501008002304
+60,1.000000000,BASELINE,765,742.139799162,712.860200838,674,660,634,877,785,801,649,630,650.860200838,0.400971124562,-0.0154020346323,0.0598468292688,0.999999950761,0.000183440706259,-0.00025389284003,1.91473567796e-05,1793196501024668928
+61,1.016666667,BASELINE,765,742.444708157,712.555291843,674,660,634,877.444708157,784.555291843,801,649.444708157,629.555291843,651,0.400970465886,-0.0154013771008,0.0598466630803,0.99999995032,0.000185082168064,-0.000254439920864,1.9098485399e-05,1793196501041335808
+62,1.033333333,BASELINE,765,742.968591015,712,674,660,633.968591015,877.937182029,784.031408985,800.968591015,650,629.031408985,651,0.400969495665,-0.0154012066052,0.0598463253357,0.999999950056,0.000185514998907,-0.000255166390643,1.90086961347e-05,1793196501058002944
+63,1.050000000,BASELINE,765,742.389255321,712,674,660,633.389255321,876.778510641,784.610744679,800.389255321,650,629.610744679,651,0.400970398127,-0.0154030199899,0.0598472928508,0.999999951074,0.000181504054947,-0.00025404302419,1.92339361952e-05,1793196501074669568
+64,1.066666667,BASELINE,765,742.189521885,712,674,660,633.189521885,876.189521885,785,800.189521885,649.810478115,630,651,0.400971090777,-0.0154033901118,0.0598477323168,0.999999951484,0.000180072159161,-0.000253447653063,1.92448472412e-05,1793196501091335936
+65,1.083333333,BASELINE,765,742.76715536,712,674,660,633.76715536,876.76715536,785,800.76715536,649.23284464,630,651,0.400971353768,-0.0154008046544,0.0598470904193,0.999999950668,0.000183921756472,-0.000253933534992,1.88168455115e-05,1793196501108002560
+66,1.100000000,BASELINE,765,743,712,674,660,634.343059278,877,784.656940722,801,649,630,651,0.400971798468,-0.0153996290784,0.0598475009557,0.99999995048,0.00018564345529,-0.000253437135463,1.86250941424e-05,1793196501124668928
+67,1.116666667,BASELINE,765,743,712,674,660,634.917795161,877,784.082204839,801,649,630,651,0.400972365882,-0.0153994056311,0.0598486222272,0.999999950721,0.000185928130302,-0.000252277376411,1.85928886326e-05,1793196501141335552
+68,1.133333333,BASELINE,765,743,712,673.495100509,660,634.495100509,877,784.504899491,800.495100509,649,630,650.495100509,0.40097145412,-0.0154009995372,0.0598478072534,0.999999950882,0.000183820006579,-0.000253161424844,1.88776484455e-05,1793196501158002176
+69,1.150000000,BASELINE,764.907557303,743,712,673.092442697,660,634,877,785,800.092442697,649,629.907557303,650.092442697,0.400970597714,-0.0154025156844,0.0598470003527,0.999999951006,0.000181999558477,-0.000253961949823,1.91848118902e-05,1793196501174669056
+70,1.166666667,BASELINE,764.328569421,743,712,673.671430579,660,634,877,785,800.671430579,649,629.328569421,650.671430579,0.400971332038,-0.0154020261245,0.0598479368261,0.999999951038,0.000183795149033,-0.000252527501485,1.93314537374e-05,1793196501191335936
+71,1.183333333,BASELINE,764.249125496,742.750874504,712,674,660,634,877.249125496,784.750874504,801,649,629.249125496,651,0.400971632094,-0.0154019476461,0.0598481760413,0.999999951091,0.000184379335451,-0.000251880538325,1.94610202557e-05,1793196501208002560
+72,1.200000000,BASELINE,764.825124018,742.174875982,712,674,660,634,877.825124018,784.174875982,801,649,629.825124018,651,0.400971362354,-0.0154024085402,0.0598475003969,0.999999951176,0.000183374060812,-0.000252266819926,1.95681825663e-05,1793196501224669440
+73,1.216666667,BASELINE,765,742.408485562,712,673.591514438,660,634,877.591514438,784.408485562,801,649,629.591514438,650.591514438,0.400970545461,-0.0154029338544,0.059847167258,0.999999951277,0.000181207476618,-0.000253448235448,1.93235325151e-05,1793196501241336064
+74,1.233333333,BASELINE,765,742.995057102,712,673.004942898,660,634,877.004942898,784.995057102,801,649,629.004942898,650.004942898,0.400969490027,-0.0154034872535,0.0598469834401,0.999999951377,0.000178534600545,-0.000254976302613,1.89255040909e-05,1793196501258002688
+75,1.250000000,BASELINE,765,743,712,673.574543202,660,634,877,785,801,649,629,650,0.400970465092,-0.0154023391984,0.0598471406081,0.999999951199,0.000181387119035,-0.000253653297442,1.89810998929e-05,1793196501274669056
+76,1.266666667,BASELINE,765,743,712,674,660,634,876.846245764,784.846245764,801,649,629.153754236,650.153754236,0.400970806676,-0.015401633931,0.0598471622119,0.999999951069,0.000182871434424,-0.000253102187046,1.89588126406e-05,1793196501291335680
+77,1.283333333,BASELINE,765,743,712,674,660,634,876.267628454,784.267628454,801,649,629.732371546,650.732371546,0.400969350104,-0.0154021921573,0.0598468012093,0.999999951096,0.000180445293398,-0.000254750975777,1.87106616251e-05,1793196501308002304
+78,1.300000000,BASELINE,765,743,712,674,659.691950479,634,876.308049521,784.308049521,801,649,630,651,0.400969664163,-0.0154031092762,0.0598470738601,0.999999951113,0.000181190102344,-0.000254129876363,1.90482724454e-05,1793196501324668672
+79,1.316666667,BASELINE,765,743,712,674,659.118802045,634,876.881197955,784.881197955,801,649,630,651,0.400971501978,-0.0154043352479,0.0598478918156,0.999999951112,0.000184663743416,-0.000251555373792,1.98899737423e-05,1793196501341335552
+80,1.333333333,BASELINE,765,743,712,673.532413367,659,634,876.532413367,784.532413367,801,649,630,650.532413367,0.400971545353,-0.0154028165048,0.0598479082863,0.999999950733,0.000186154962273,-0.000251981284454,1.96657366443e-05,1793196501358002688
+81,1.350000000,BASELINE,764.943575454,743,712,673.056424546,659.056424546,634,876.056424546,784.056424546,801,649,630,650.056424546,0.400971080899,-0.0154007827963,0.0598477232311,0.999999950336,0.000186816511341,-0.000253096157524,1.92162968024e-05,1793196501374669824
+82,1.366666667,BASELINE,764.364126161,743,712,673.635873839,659.635873839,634,876.635873839,784.635873839,801,649,630,650.635873839,0.400970258471,-0.0154006281926,0.0598476127533,0.999999950691,0.000184592404565,-0.000253325030506,1.92629378666e-05,1793196501391336192
+83,1.383333333,BASELINE,764.214396213,743,712,674,660,634,877.214396213,785,801,649,630,650.785603787,0.400969606627,-0.0154011277267,0.059847285757,0.999999950928,0.00018247523688,-0.000253922627922,1.92173750399e-05,1793196501408002816
+84,1.400000000,BASELINE,764.791351193,743,712,674,660,634,877.791351193,785,801,649,630,650.208648807,0.400969243254,-0.0154027334531,0.0598465926128,0.999999950973,0.000180538910211,-0.000255143763799,1.90158890883e-05,1793196501424669184
+85,1.416666667,BASELINE,765,742.634417136,712,674,660,634,877.634417136,785,801,649,630,650.365582864,0.400969784714,-0.0154026958875,0.0598468189651,0.999999950847,0.000181784003071,-0.000254746748676,1.90748301239e-05,1793196501441335808
+86,1.433333333,BASELINE,765,742.061728279,712,674,660,634,877.061728279,785,801,649,630,650.938271721,0.400970838769,-0.0154017273821,0.0598475662206,0.999999950619,0.000184831398927,-0.000253433036332,1.92813054102e-05,1793196501458002432
+87,1.450000000,BASELINE,765,742.528579574,712,674,660,634,877,785,801,649.528579574,630,650.471420426,0.400970969443,-0.0154002705275,0.0598474117996,0.999999950492,0.000185622547598,-0.000253370587648,1.9067659057e-05,1793196501474669056
+88,1.466666667,BASELINE,765,743,712,674,660,634,877,785,801.11863214,649.762735719,630,650,0.400970882871,-0.0153995710993,0.059847033543,0.99999995048,0.000185440856351,-0.000253566689969,1.8863078064e-05,1793196501491335936
+89,1.483333333,BASELINE,765,743,712,674,660,634,877,785,801.69939851,648.601202981,630,650,0.400970384559,-0.0154020520659,0.0598462076691,0.999999950859,0.00018253126072,-0.000254181124586,1.88915254778e-05,1793196501508002560
+90,1.500000000,BASELINE,765,743,712,674,660,634,877,785,801.723781353,648.276218647,630,650.276218647,0.400969868855,-0.015403176954,0.0598462078169,0.999999951076,0.000180997546436,-0.000254423619676,1.88723782271e-05,1793196501524669184
+91,1.516666667,BASELINE,765,743,712,674,660,634,877,785,801.151195341,648.848804659,630,650.848804659,0.40096933449,-0.0154028468448,0.0598470942405,0.999999951128,0.000180940077096,-0.000254267044143,1.88021645263e-05,1793196501541335808
+92,1.533333333,BASELINE,765,743,712,674,660,634,877.433321231,785,801,649,630,650.566678769,0.400970804131,-0.0154025281352,0.059848052891,0.999999951592,0.000180679982018,-0.00025261212095,1.89007886068e-05,1793196501558002432
+93,1.550000000,BASELINE,765,743,712,674,660,634,877.97827395,785,801,649,630,650,0.400972872798,-0.0154022364062,0.0598489863854,0.99999995216,0.000180384078687,-0.000250556449362,1.90593053534e-05,1793196501574669056
+94,1.566666667,BASELINE,765,743,712,674,660,634,877.399924935,785,801,649,630,650,0.400971866733,-0.0154025311326,0.059848611431,0.999999951675,0.000181033404008,-0.000252007146814,1.92002341662e-05,1793196501591335424
+95,1.583333333,BASELINE,765,743,712,674,660,634,877,785,801,649,630,650,0.40097142561,-0.015402754942,0.0598483727393,0.999999951455,0.00018133390012,-0.000252659124269,1.92540017095e-05,1793196501608002048
+96,1.600000000,BASELINE,765,743,712,674,660,634,877,785,801,649,630,650,0.400972250764,-0.0154028197959,0.0598484394707,0.999999951832,0.000180852520183,-0.000251520827214,1.91124034146e-05,1793196501624669184
+97,1.616666667,BASELINE,764.676068296,743,712,674,660,634,877,785,801,649,630,650.323931704,0.400972102776,-0.0154033757486,0.0598480578352,0.999999951837,0.000180760414666,-0.000251550065257,1.93368297488e-05,1793196501641336320
+98,1.633333333,BASELINE,764.09551515,743,712,674,660,634,877,785,801,649,630,650.90448485,0.400971183857,-0.015404320754,0.0598473209998,0.999999951547,0.000180976695671,-0.000252504234566,1.98512239045e-05,1793196501658003200
+99,1.650000000,BASELINE,764.494050378,743,712,674,660,634,877,785.494050378,801,649.494050378,630,651,0.400970890926,-0.0154021125131,0.0598476700886,0.999999950915,0.000184228293107,-0.000252696483117,1.93366868545e-05,1793196501674669568
+100,1.666666667,BASELINE,765,743,712,673.916547986,660,634,876.916547986,785.916547986,801,649.916547986,629.916547986,651,0.400970744673,-0.0154000438454,0.0598481418628,0.999999950448,0.000186828194941,-0.000252681963145,1.87306878079e-05,1793196501691335936
+101,1.683333333,BASELINE,765,743,712,673.338632999,660,634,876.338632999,785.338632999,801,649.338632999,629.338632999,651,0.400970737105,-0.0154024813486,0.0598480735137,0.999999951421,0.000182025140893,-0.000252331318517,1.87833144319e-05,1793196501708002304
+102,1.700000000,BASELINE,765,743,712,673,660,634,876.238689828,784.761310172,800.761310172,649,629.238689828,650.761310172,0.400970877515,-0.0154036738756,0.0598481211708,0.999999951946,0.00017947375409,-0.000252073193841,1.89002961521e-05,1793196501724668928
+103,1.716666667,BASELINE,765,743,712,673,660,634,876.815174577,784.184825423,800.184825423,649,629.815174577,650.184825423,0.400971227342,-0.0154031045067,0.0598483330005,0.999999951859,0.000180108937351,-0.000251946003855,1.91083534908e-05,1793196501741335296
+104,1.733333333,BASELINE,765,743,712,673,660,634,877,784.39889434,800,649,630,650,0.400971779237,-0.0154042493132,0.059848826353,0.999999952072,0.000180074430943,-0.000251129704139,1.90387457192e-05,1793196501758002176
+105,1.750000000,BASELINE,765,743,712,673,660,634,877,784.986028382,800,649,630,650,0.400972426487,-0.0154062030452,0.0598494525571,0.999999952425,0.000179723895578,-0.000249988210999,1.88381067813e-05,1793196501774669056
+106,1.766666667,BASELINE,765,743,712,673,660,634,877,785,800,649,629.434445221,650.565554779,0.400971743391,-0.0154051283503,0.0598481713837,0.99999995196,0.000180460297058,-0.000251315626488,1.88210857645e-05,1793196501791335936
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,674,660,634,877,785,802,649,630,650,0.400970286509,-0.0154018714001,0.0598468746228,0.999999951286,0.000181759264027,-0.000253079664943,1.84848522853e-05,1793196501832645888
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.573301503,742.573301503,712,673.426698497,660,634,877,785,801.426698497,649,629.426698497,650,0.400971769927,-0.015403153466,0.0598480971005,0.999999951859,0.000181122311527,-0.000251238490453,1.88481803881e-05,1793196501849312768
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,743,712,673.150003124,660,634,877,784.849996876,801,649.150003124,629,650.150003124,0.400972771996,-0.0154037899944,0.0598489540058,0.999999952206,0.000180885223495,-0.000250007355502,1.91181447467e-05,1793196501865979648
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,743,712,673.736601165,660,634,877,784.263398835,801,649.736601165,629,650.736601165,0.400972373062,-0.0154025476395,0.0598487468866,0.999999951901,0.000181811969712,-0.000250551784223,1.91163672751e-05,1793196501882646016
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,743,712,674,659.6793994,634,877,784.3206006,801,649.6793994,629,650.6793994,0.400971959688,-0.0154029540968,0.0598485567633,0.99999995189,0.000181384929527,-0.00025089899806,1.92328580475e-05,1793196501899312384
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,743,712,674,659.097517798,634,877,784.902482202,801,649.097517798,629,650.097517798,0.400971534545,-0.0154047042926,0.0598483804912,0.999999952115,0.000179854589202,-0.00025108548695,1.94457343085e-05,1793196501915979008
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,743,712,673.521426964,659,634,877,785,801,649,629.478573036,650.478573036,0.400972169358,-0.0154053377911,0.0598486095536,0.999999952327,0.00017976869675,-0.000250302173069,1.94553110447e-05,1793196501932646144
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,742.946315191,712,673,659.053684809,634,877,784.946315191,801,649,630,650.946315191,0.400973130702,-0.0154055214042,0.0598489797435,0.999999952494,0.000180169588014,-0.000249348015587,1.94129698057e-05,1793196501949312768
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,742.369382653,712,673,659.630617347,634,877,784.369382653,801,649,630,650.369382653,0.40097519467,-0.0154035114446,0.0598499300629,0.999999952256,0.000182480538047,-0.00024863175907,1.92635387422e-05,1793196501965979136
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,742,712,673.212760118,660,634,877,784.212760118,800.787239882,649,630,650,0.400980343645,-0.0154027853226,0.0598521374912,0.999999952922,0.000183390247268,-0.000245246202725,1.94656995451e-05,1793196501982645760
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,742,712,673.804175632,660,634,877,784.804175632,800.195824368,649,630,650,0.400990983099,-0.015404344084,0.0598565822328,0.999999955157,0.000181806127043,-0.000237110015588,2.02935986758e-05,1793196501999312128
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,742,712,673.613630756,660,633.613630756,877,785,800.386369244,649,630,650,0.401017317263,-0.0154061213669,0.0598673700651,0.999999959527,0.000181101257663,-0.000218400060118,2.12098238074e-05,1793196502015978496
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,742,712,673.036002092,660,633.036002092,877,785,800.963997908,649,630,650,0.401051420581,-0.0154080068218,0.0598812978367,0.999999964498,0.000180831632349,-0.000194455906651,2.2169771893e-05,1793196502032645376
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.460845642,742.539154358,712,673,660,633.539154358,877,785,801,649,630,650.539154358,0.401106317834,-0.0154119061767,0.0598989398926,0.999999970158,0.000178286233885,-0.000165269571488,2.41791967437e-05,1793196502049312000
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.116995016,743,712,673.116995016,660,634,876.883004984,785,801,649,629.883004984,650.883004984,0.40116498309,-0.0154158920966,0.0599153225095,0.999999974434,0.000176070568234,-0.000139471388603,2.60373066895e-05,1793196502065978880
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.7063363,743,712,673.7063363,660,634,876.2936637,785,801,649,629.2936637,650.2936637,0.401233280695,-0.0154196870545,0.0599256236018,0.999999975894,0.000175796869912,-0.000128759052824,2.70028710978e-05,1793196502082645504
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.290321522,743,712,673.709678478,660,634,876.290321522,785,801,649,629,650.290321522,0.401312556793,-0.0154243299779,0.0599330912326,0.999999977607,0.000174460365421,-0.000116652316515,2.72527449559e-05,1793196502099312384
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.868987127,743,712,673.131012873,660,634,876.868987127,785,801,649,629,650.868987127,0.401402736601,-0.0154298150908,0.0599377447006,0.999999979516,0.000172068293756,-0.00010316067786,2.67918029194e-05,1793196502115979008
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.554219758,742.554219758,712,673,660,634,876.554219758,785,801,649,629.445780242,650.554219758,0.401503393737,-0.0154347871962,0.0599365602848,0.999999979821,0.000170745060086,-0.000102768161713,2.5364997675e-05,1793196502132645376
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,742.022428564,712,673.022428564,660,634,876,785,801,649,630,650.022428564,0.401607977003,-0.0154396287227,0.059933691294,0.999999979687,0.000169718903457,-0.000106126665937,2.36309838631e-05,1793196502149312000
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,742.60922333,712,673.60922333,660,634,876,785,801,649,630,650.60922333,0.401734194524,-0.015444962462,0.0599314256251,0.999999979844,0.000168296788382,-0.00010740542671,2.12796509255e-05,1793196502165978624
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,876.193538621,785,801.193538621,649,630,651,0.401874861737,-0.015451672593,0.0599308961728,0.999999980727,0.000165128722709,-0.000104459637639,1.91432638178e-05,1793196502182645248
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,876.772910827,785,801.772910827,649,630,651,0.402044335465,-0.0154611266622,0.0599338279975,0.999999982957,0.000158479975275,-9.30918951941e-05,1.74353874317e-05,1793196502199311872
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.649098807,876.649098807,785,801.649098807,649,630,650.649098807,0.402235267898,-0.0154711520996,0.0599361272663,0.999999984708,0.000151968135606,-8.50986719961e-05,1.57270256152e-05,1793196502215979008
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.071999148,876.071999148,785,801.071999148,649,630,650.071999148,0.402440033091,-0.0154815458542,0.0599380187762,0.999999986167,0.000145544548979,-7.92807354548e-05,1.40183507118e-05,1793196502232645632
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.504048939,876,785,801,649,630,650,0.40267676909,-0.0154931012002,0.0599383449769,0.999999987645,0.000137276553733,-7.57598619818e-05,1.11661151116e-05,1793196502249312512
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,876.081783011,785,801,649,630,650,0.402921195007,-0.0155045445508,0.0599382440956,0.99999998898,0.000128924032787,-7.3170452953e-05,8.10105974183e-06,1793196502265979136
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,876.670906209,785,801,649,630,650,0.403185054487,-0.015514265982,0.0599368779741,0.999999989824,0.000121678112075,-7.43281461744e-05,4.72699586e-06,1793196502282645760
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,743,712,673.744663659,660,633.744663659,877.255336341,784.744663659,801,649,630,650.255336341,0.403464374876,-0.0155221551343,0.0599319762393,0.999999989939,0.00011640498669,-8.10591520094e-05,7.76071097354e-07,1793196502299312128
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,743,712,673.166173116,660,633.166173116,877.833826884,784.166173116,801,649,630,650.833826884,0.403763262606,-0.0155277253501,0.0599225998252,0.999999989039,0.000113628635576,-9.48437537442e-05,-3.90492978737e-06,1793196502315979008
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,743,712.407484719,673.407484719,660,633.407484719,877.592515281,784,801,649,629.592515281,651,0.404083594968,-0.0155195989717,0.0599105287518,0.99999999143,6.05967784523e-05,-0.000115660783027,-9.4694755715e-06,1793196502332645632
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,743,712.979194851,673.979194851,660,633.979194851,877.020805149,784,801,649,629.020805149,651,0.404412569987,-0.0155059525609,0.059897371671,0.999999990097,-1.2689166603e-05,-0.000139312036248,-1.53901094589e-05,1793196502349312256
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,743,712.443037806,674,660,634,877,784,801,649,629.556962194,650.443037806,0.404813236298,-0.0155029152569,0.0598941370055,0.999999989294,2.3669127836e-06,-0.000144826582836,-2.07845644075e-05,1793196502365978880
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877,784.138550965,801,649,630,650.138550965,0.405229399398,-0.0155038531821,0.0598963191098,0.999999989465,1.5289714378e-05,-0.000142107769446,-2.53206855899e-05,1793196502382645504
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877,784.731933565,801,649,630,650.731933565,0.405687546932,-0.0155165256235,0.0599150531162,0.999999993012,1.0257210831e-05,-0.000114609191435,-2.71043223184e-05,1793196502399312384
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660.31570064,634,877,785,801,649,630,651,0.406179669557,-0.01552600385,0.0599406714359,0.999999996939,-6.64083192797e-06,-7.26068612084e-05,-2.83757321534e-05,1793196502415979008
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660.891544412,634,877,785,801,649,630,651,0.406699788331,-0.0155328499863,0.0599719625583,0.999999998844,-3.33162976486e-05,-1.8653169361e-05,-2.92250577416e-05,1793196502432645376
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660.064347886,634,877,785,801,649,630,651,0.407231800303,-0.0155325082776,0.0599867678786,0.999999998418,-4.57437344905e-05,-8.77017832334e-07,-3.27335844446e-05,1793196502449312256
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,743,712,673.955221972,659.044778028,633.955221972,877.044778028,785,801,649,630,650.955221972,0.407766221235,-0.015530898478,0.0599955585207,0.999999997745,-5.58607726237e-05,4.71086790943e-06,-3.69649470376e-05,1793196502465979136
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,743,712,673.371423541,659.628576459,633.371423541,877.628576459,785,801,649,630,650.371423541,0.408296419685,-0.0155341015571,0.0599779962857,0.999999995434,-7.79648728653e-05,-3.53648258987e-05,-4.246963581e-05,1793196502482645504
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,743,712,673.211636943,660,633.211636943,877.788363057,785,801,649.211636943,629.788363057,650.211636943,0.408855267929,-0.0155344035515,0.0599647678081,0.999999995651,-5.59839794633e-05,-6.43303706365e-05,-3.77540467752e-05,1793196502499312128
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,743,712,673.793406793,660,633.793406793,877.206593207,785,801,649.793406793,629.206593207,650.793406793,0.409464221911,-0.0155296318243,0.0599591186617,0.999999996228,4.30973815289e-05,-7.38653173814e-05,-1.5164162245e-05,1793196502515979008
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,743,712,674.371606336,660,633.628393664,877,784.628393664,801,650,629,650.628393664,0.41011375123,-0.0155279988466,0.0599635122831,0.999999996511,5.92398801536e-05,-5.77695859703e-05,-1.14389718054e-05,1793196502532645888
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,743,712,674.94783985,660,633.05216015,877,784.05216015,801,650,629,650.05216015,0.410785623574,-0.0155280942398,0.0599734360127,0.999999999015,2.97116115071e-05,-2.75601733008e-05,-1.81017350215e-05,1793196502549312256
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743,712,674.480990552,660,633.519009448,877,784.519009448,801,649.480990552,629,650.519009448,0.411458826876,-0.015534142715,0.0599700610248,0.999999998937,1.20454688292e-05,-3.81520872045e-05,-2.29262502021e-05,1793196502565978880
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.906474126,743,712,674,660,634,877.093525874,785,801,649,629.093525874,650.906474126,0.412132282873,-0.015539444346,0.0599607630195,0.999999997779,-3.43515164486e-06,-6.0593230258e-05,-2.75500660772e-05,1793196502582645248
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.311303189,743,712,674,660,634,877.688696811,785,801,649,629.688696811,650.311303189,0.412806383493,-0.0155375621274,0.0599267951005,0.999999991605,-1.35257561019e-05,-0.000124808720993,-3.20787199352e-05,1793196502599311872
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660,634,878,785,801,649,630,650,0.41352057013,-0.0155362758025,0.0599059787222,0.999999986047,-1.44455905123e-05,-0.000162614025769,-3.54190433641e-05,1793196502615978752
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,634,878,785,801,649,630,650,0.414278717139,-0.0155356429636,0.0598995849625,0.999999984586,-5.30831108201e-06,-0.000171456636902,-3.74561861808e-05,1793196502632645376
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.435400683,743,712,674.435400683,660,634,878,784.564599317,801,649,630,650,0.415111099248,-0.0155430952381,0.0599430805041,0.999999994952,-1.71926181579e-05,-9.307090693e-05,-3.37410590409e-05,1793196502649312256
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.991234249,742.991234249,712,674.991234249,660,633.991234249,878,784,801,649,629.991234249,650,0.415966267948,-0.015552999778,0.0600015714627,0.999999998907,-3.5461375467e-05,1.1364586082e-05,-2.82898422919e-05,1793196502665979392
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.416402267,742.416402267,712,674.416402267,660,633.416402267,878,784,801,649,629.416402267,650,0.416774153886,-0.0155558509883,0.0600077365782,0.999999998861,-3.59382682189e-05,1.34115297753e-05,-2.84128457211e-05,1793196502682646016
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.163950235,742.163950235,712,674,660,633.163950235,878,784.163950235,801,649,629.163950235,650.163950235,0.417588404795,-0.0155569942919,0.0600057393181,0.999999998869,-3.66504120428e-05,6.69897831588e-06,-2.9575293333e-05,1793196502699312384
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.758812332,742.758812332,712,674,660,633.758812332,878,784.758812332,801,649,629.758812332,650.758812332,0.418419384763,-0.0155536486891,0.0599822888132,0.999999998453,-3.7980868306e-05,-2.3036232425e-05,-3.34697213272e-05,1793196502715979008
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,878,785,801,649,629.657502115,651,0.419246127577,-0.0155518368609,0.0599572298827,0.999999996666,-3.99918512535e-05,-6.08248354433e-05,-3.70054224454e-05,1793196502732645376
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,878,785,801,649,629.081438412,651,0.420069980836,-0.0155510709878,0.0599310740902,0.999999992867,-4.24669180563e-05,-0.000104105433613,-4.02964902135e-05,1793196502749312000
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.506862067,877.506862067,785,800.506862067,649,629,650.506862067,0.420871673769,-0.0155516409179,0.0599007587301,0.999999984651,-4.60438081207e-05,-0.000163407872499,-4.331541763e-05,1793196502765978624
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743,712,674.069430013,660,633.069430013,877,785,800.069430013,649,629,650,0.421684312341,-0.0155521001519,0.0598750510285,0.999999974789,-4.92304766583e-05,-0.000214195869463,-4.60166432428e-05,1793196502782645248
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743,712,674.660450912,660,633.660450912,877,785,800.660450912,649,629,650,0.422606589465,-0.0155500755244,0.0598891032211,0.999999981336,-4.81227680608e-05,-0.000181201882358,-4.66677543423e-05,1793196502799312128
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660,633.753788143,877,784.753788143,801.246211857,649,629,650,0.423545987445,-0.0155518876216,0.0599249187903,0.999999990637,-5.06569217009e-05,-0.000119229600073,-4.40861692757e-05,1793196502815979008
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660,633.175129355,877,784.175129355,801.824870645,649,629,650,0.424508502948,-0.0155588802462,0.0599901203052,0.999999997458,-5.81084900942e-05,-1.8129442989e-05,-3.71396442511e-05,1793196502832645632
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743,712,675,660.401633786,633.401633786,877.401633786,784.401633786,801.598366214,649,629.401633786,650,0.425424771747,-0.0155627558915,0.0600132558817,0.999999997329,-6.07883085122e-05,2.0366979482e-05,-3.50915619121e-05,1793196502849312256
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660.977574193,633.977574193,877.977574193,784.977574193,801.022425807,649,629.977574193,650,0.4263209697,-0.0155652787864,0.060018135093,0.999999996995,-6.13972161925e-05,3.16937559536e-05,-3.51693744139e-05,1793196502865978624
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660.435888089,634,878.564111911,785,801,649,630,650,0.427188028464,-0.0155666551934,0.059997528013,0.999999997014,-6.60327766419e-05,1.17269780885e-05,-3.84011098452e-05,1793196502882645504
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743,712,675,660.149000276,633.850999724,878.850999724,785,801,649,630,650,0.428053621387,-0.0155670508877,0.0599754243556,0.999999996551,-7.06189639804e-05,-1.33226538727e-05,-4.16254785246e-05,1793196502899311872
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660.727891191,633.272108809,878.272108809,785,801,649,630,650,0.428918391249,-0.0155647510792,0.0599519820027,0.999999995011,-7.45920123712e-05,-4.93791569211e-05,-4.44599200153e-05,1793196502915978752
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660.695084008,633,878,785,801,649,630,650,0.429767416791,-0.0155625595905,0.0599298939679,0.999999992274,-7.39513836677e-05,-8.83565149206e-05,-4.66522530893e-05,1793196502932645632
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743,712,675,660.119714439,633,878,785,801,649,630,650,0.430602477432,-0.0155604641791,0.0599090071841,0.999999987999,-6.92185276661e-05,-0.000129924603109,-4.82750503716e-05,1793196502949312512
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.452966123,743,712,675,660.452966123,633.452966123,878,785,801.452966123,649,630,650.452966123,0.431515803538,-0.0155649234816,0.0599427841385,0.999999993924,-7.58249836944e-05,-6.53196543613e-05,-4.62117211926e-05,1793196502965979136
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.97406048,743,712,674.97406048,660.97406048,633.97406048,878.02593952,785,801.97406048,649,630,650.97406048,0.432445271306,-0.0155707763958,0.05998921673,0.999999995194,-8.48354570953e-05,2.33110818844e-05,-4.32506676863e-05,1793196502982646016
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.379169194,743,712,674.379169194,660.379169194,633.379169194,878.620830806,785,801.379169194,649,630,650.379169194,0.433277767137,-0.0155694238185,0.0599982261078,0.999999995459,-8.12303999155e-05,2.70778029557e-05,-4.18410694674e-05,1793196502999312384
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743,712,674.209880718,660.209880718,633.209880718,878.790119282,785,801,649,630,650,0.434104507167,-0.0155679299996,0.0599911776627,0.99999999594,-7.88451432811e-05,8.57925900148e-06,-4.27790189752e-05,1793196503015978752
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743,712,674.788663493,660.788663493,633.788663493,878.211336507,785,801,649,630,650,0.43492113051,-0.0155661879235,0.0599559047875,0.999999994563,-7.86038986061e-05,-4.90543806113e-05,-4.78431937407e-05,1793196503032645376
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,743,712,675,661,633.63427009,878.36572991,785,801,649,630,650.36572991,0.435709128632,-0.0155667248231,0.059930855687,0.999999991025,-8.45233365969e-05,-9.08055886442e-05,-5.05985900616e-05,1793196503049312000
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,743,712,675,661,633.05819087,878.94180913,785,801,649,630,650.94180913,0.436480662927,-0.0155685724742,0.0599116867856,0.999999986613,-9.39860870836e-05,-0.000123422023477,-5.20260937398e-05,1793196503065978624
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.515853566,743,712.515853566,675.515853566,660.484146434,633,878.484146434,785,801,649,630,650.484146434,0.437222325625,-0.0155642970752,0.0599072453934,0.999999985534,-7.87853295907e-05,-0.000141798072597,-5.11745453893e-05,1793196503082645760
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.907565506,743,712.907565506,675.907565506,660.092434494,633.092434494,878.092434494,785,801,649,630,650.092434494,0.437960190776,-0.0155603116262,0.0599056108719,0.99999998458,-6.57157899524e-05,-0.000154879645123,-5.03339814763e-05,1793196503099312640
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.316055028,743,712.316055028,675.316055028,660.683944972,633.683944972,878.683944972,785,801,649,630,650.683944972,0.438695674187,-0.0155616063469,0.0599101966053,0.999999984619,-7.91157756377e-05,-0.000148014260625,-5.09353539752e-05,1793196503115979264
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,743,712,675,661,634,878.730146743,784.730146743,801,649,630,650.730146743,0.439461247776,-0.0155658533401,0.0599371184171,0.999999988912,-9.39942861366e-05,-0.00010459812301,-4.89949157229e-05,1793196503132645888
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,743,712,675,661,634,878.150666404,784.150666404,801,649,630,650.150666404,0.440261346499,-0.0155734877429,0.0599896684342,0.999999992728,-0.000110569240664,-1.92439956455e-05,-4.41380274664e-05,1793196503149312256
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,743.424452043,712,675,661,634,878,784.424452043,801,649,630,650,0.440955158483,-0.0155765952232,0.0600045553921,0.999999993838,-0.000102648448957,2.8651443533e-06,-4.21737606938e-05,1793196503165978880
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,743.998037958,712,675,661,634,878,784.998037958,801,649,630,650,0.441611626022,-0.0155781121417,0.0600062092035,0.999999995438,-8.61209255749e-05,2.75277060222e-06,-4.12258341843e-05,1793196503182645504
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,743.413563426,712,675,661,633.413563426,878,785,801,649,630,650,0.44218777096,-0.0155749851695,0.0599679984607,0.99999999317,-9.35443036818e-05,-5.3943526046e-05,-4.47266376328e-05,1793196503199312128
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,743,712,675,661,633,878,785,801,649.172161745,630,650,0.44276799959,-0.0155725461825,0.0599380704517,0.999999989406,-9.76874413888e-05,-9.67792784582e-05,-4.77436832118e-05,1793196503215978752
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,743,712,675,661,633,878,785,801,649.751444743,630,650,0.443358537254,-0.0155717718084,0.0599280526874,0.999999988706,-9.38791942729e-05,-0.000106378897808,-4.95806489336e-05,1793196503232645376
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,743,712,675,661,633.327490592,878,785,801.327490592,649.672509408,630,650,0.443940331445,-0.0155747893826,0.0599342533106,0.999999989998,-9.25998171917e-05,-9.46110941623e-05,-4.97875414788e-05,1793196503249312256
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,743,712,675,661,633.901103557,878,785,801.901103557,649.098896443,630,650,0.444515554529,-0.0155806567586,0.059952642706,0.999999992236,-9.32209879997e-05,-6.67848106736e-05,-4.8769368223e-05,1793196503265979392
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,743,712,675,661,633.524361587,878.475638413,785,802,649,630,650.475638413,0.445011422137,-0.015583768296,0.0599497494571,0.999999988291,-0.00012086813907,-7.94813370362e-05,-4.9919347376e-05,1793196503282645760
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,743,712,675,661,632.948071445,878.948071445,785,802,649,630,651,0.445483684534,-0.0155862489744,0.0599399855816,0.999999981955,-0.000150445577687,-0.000103818886994,-5.17402118269e-05,1793196503299312384
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,743,712,675,661,632.355506224,878.355506224,785,802,649,630,651,0.445882305754,-0.015588138897,0.0599048510602,0.999999975394,-0.000141502092588,-0.000161461889641,-5.58432020444e-05,1793196503315979776
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.23289315,743.23289315,712,675,661,632.23289315,878.23289315,784.76710685,801.76710685,649,630,651,0.446287978294,-0.0155900760181,0.0598801975582,0.999999967939,-0.000144527548597,-0.000199323418089,-5.91991760168e-05,1793196503332646656
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.815045145,743.815045145,712,675,661,632.815045145,878.815045145,784.184954855,801.184954855,649,630,651,0.446704225326,-0.0155920839203,0.0598712619487,0.999999962885,-0.000165502261064,-0.000207519600307,-6.14348848832e-05,1793196503349313280
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.60916654,743.60916654,712,675,660.60916654,633,878.60916654,784,801,649,630,651,0.447108253106,-0.0155947419943,0.0598761726742,0.999999963908,-0.000172708647793,-0.00019600170894,-6.27646693361e-05,1793196503365979904
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.036341422,743.036341422,712,675,660.036341422,633,878.036341422,784,801,649,630,651,0.447506591026,-0.0155977028212,0.059887530947,0.999999967555,-0.000173503813462,-0.00017530395704,-6.36726101385e-05,1793196503382646272
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,743,712,675,660.537604763,633,878,784,802.075209526,649,629.462395237,651,0.447849131907,-0.015606358188,0.0598932710883,0.999999968033,-0.000178843078831,-0.000167062448057,-6.35545911872e-05,1793196503399312640
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,743,712,675,661,633,878.115787219,783.884212781,802.884212781,649.115787219,629.115787219,651,0.448172164032,-0.015614586094,0.0598941673248,0.999999968478,-0.000177143580487,-0.000167021190603,-6.13860523503e-05,1793196503415979264
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+206,3.433333333,POSE1_TO_POSE2_PRESS,765,743,712.550723735,675.449276265,660,633,878,783.550723735,801,649,629.550723735,650,0.449077894791,-0.0156027480969,0.0597954975976,0.999999939559,-0.000116701034576,-0.00032445976404,-4.46039149198e-05,1793196503482645504
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,743,712,675.97655549,660,632.97655549,878.02344451,783,801,649,629,650,0.449280269505,-0.0155971613909,0.0597802092994,0.999999928951,-0.000143563932076,-0.00034517495901,-4.83995271444e-05,1793196503499312128
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,743,712,675.384993889,660,632.384993889,878.615006111,783,801,649,629,650,0.449459478228,-0.0155977356568,0.0597796583342,0.999999928995,-0.000140802580265,-0.000345956997694,-4.99759799545e-05,1793196503515978752
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+262,4.366666667,HOLD_POSE2,765.449075334,743,712,676,660,632,878.550924666,782,801.550924666,649.550924666,628.550924666,651,0.450573769665,-0.015601885687,0.0597602985721,0.999999917628,-0.00014910631107,-0.000373859156846,-5.23499678127e-05,1793196504433287424
+263,4.383333333,HOLD_POSE2,765,743,712,676,660.136883719,632,878.863116281,782,801.863116281,649.863116281,629,651,0.450572174017,-0.0156010126957,0.0597592651745,0.999999917051,-0.000147787623318,-0.000375873130207,-5.26906596495e-05,1793196504449954048
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.424343586,660,632,878.424343586,782,802,649,629,650,0.450573081977,-0.0156021196899,0.0597602174391,0.999999917313,-0.000149958694594,-0.000374379340528,-5.22220801235e-05,1793196504520325376
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.062034069,743,712,675.937965931,660,632,878,782,801,649,629,650.937965931,0.450573821559,-0.0156008245534,0.0597604554284,0.999999917831,-0.000147590287835,-0.00037397027982,-5.19747282121e-05,1793196504620325120
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+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.813680793,660,632,878.813680793,782,801.813680793,649,629,650.813680793,0.450564946616,-0.0156007210619,0.059756189781,0.999999915308,-0.000146718884786,-0.000380922137507,-5.24895838832e-05,1793196504670325248
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,632.839209669,878.160790331,783,801,649.839209669,629,651,0.448728754422,-0.0154926605672,0.0596735706815,0.999999872093,-8.33811419733e-05,-0.000496572460079,-4.77230152624e-05,1793196504986992128
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,661.653088896,633,878.653088896,784.653088896,801.346911104,649.653088896,630,650,0.437551470348,-0.015429423629,0.0598309439629,0.999999949242,0.000148919425006,-0.000279996111951,3.06648151238e-05,1793196505403658240
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,661.076841057,633,878.076841057,784.076841057,801.923158943,649.076841057,630,650,0.436829360258,-0.0154274280711,0.0597962053343,0.999999942475,3.97765141439e-05,-0.00033684691261,1.12983730562e-06,1793196505420325120
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.491039499,660.491039499,633,878,784.508960501,801.491039499,649.508960501,630,650,0.436124238867,-0.0154259675945,0.0597627292347,0.999999925182,4.25044426962e-05,-0.000384486215231,-6.75020372668e-07,1793196505436992000
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.094938151,660.094938151,633,878,784.905061849,801.094938151,649.905061849,630,650,0.435423920801,-0.0154241182692,0.0597376827286,0.999999911496,6.70093070139e-05,-0.000415346970278,2.24225201465e-06,1793196505453658624
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.674313318,660.674313318,633,878,784.325686682,801.674313318,649.325686682,630,650,0.434734774571,-0.0154198646795,0.0597546583399,0.999999925735,0.000114802529764,-0.000367824623253,7.48350118182e-06,1793196505470325504
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,661,633.25275536,878,784,801.74724464,649,630,650,0.434021899133,-0.015418086727,0.0597715048644,0.999999936441,0.000133140496345,-0.000330513871684,1.23269471625e-05,1793196505486992128
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,661,633.829999529,878,784,801.170000471,649,630,650,0.433278559907,-0.0154194870113,0.0597881856687,0.999999946488,0.000113663639674,-0.000306312821028,1.66596918326e-05,1793196505503658496
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,661,633.594329593,877.594329593,784,800.594329593,649,629.594329593,650,0.432521739781,-0.015420166125,0.0597902342765,0.999999944699,0.000119318979595,-0.000309949263463,1.72110934507e-05,1793196505520325120
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,661,633.567204743,877.567204743,784,800.567204743,649,629.567204743,650,0.431045016314,-0.0154209880924,0.0598008554352,0.999999949071,0.000126316894963,-0.000292539403022,1.79922182559e-05,1793196505553658624
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.152102399,743,712,675,661,633.847897601,878,784,801,649,630,650,0.430315769278,-0.0154217391641,0.0598157448562,0.999999957781,0.000120221196436,-0.000263778471917,2.01538330717e-05,1793196505570325248
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.731320578,743,712,675,661,633.268679422,878,784,801,649,630,650,0.429539780283,-0.0154233463714,0.059829391407,0.999999960485,0.000125167391817,-0.000250663271448,2.30310859355e-05,1793196505586992128
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.690055484,743,712,675,660.690055484,633,878,784,801,649,630,650,0.428719572316,-0.0154207130199,0.0598110221182,0.999999949433,0.000128825379303,-0.000289913712679,2.20955912867e-05,1793196505603658752
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.111945717,743,712,675,660.111945717,633,878,784,801,649,630,650,0.427861105955,-0.0154144107197,0.0597649525944,0.999999921097,0.000131368803146,-0.000374471118695,1.78612917537e-05,1793196505620325376
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633.037892132,877.037892132,784.037892132,801,649,630,650.037892132,0.426330670608,-0.0154160141494,0.0597634449002,0.999999931871,0.000131758862827,-0.000344451958117,1.58231067709e-05,1793196505653658368
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633.628221503,877.628221503,784.628221503,801,649,630,650.628221503,0.425582642461,-0.0154174712603,0.0597915255069,0.999999942759,0.000132959470784,-0.000310483181994,2.01013691405e-05,1793196505670324992
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,634,878,784.785413134,801,649,630,650.785413134,0.42481764314,-0.0154182166918,0.0598133416971,0.999999948823,0.000136752388293,-0.000288250871675,2.3749800959e-05,1793196505686991616
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,634,878,784.205790878,801,649,630,650.205790878,0.424023773899,-0.0154177514803,0.0598245014439,0.999999948254,0.000144955104172,-0.000285983549733,2.63268238464e-05,1793196505703658496
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,743,712.370350865,675,660,633.629649135,877.629649135,784.370350865,800.629649135,649,630,650.370350865,0.423240191121,-0.0154160232664,0.0598314944121,0.999999950721,0.000151405880671,-0.00027366332946,2.7250195645e-05,1793196505720325376
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.146249428,742.853750572,712,674,660,633.853750572,877.146249428,784,801,649,629.853750572,650,0.418571837783,-0.0154064187584,0.0597340487226,0.999999900759,0.000162191654755,-0.000414633913342,1.59399446976e-05,1793196505820324864
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.756966034,743,712,674.243033966,660,634,877.756966034,785,801.243033966,649,629.756966034,650,0.415073153905,-0.0154093680711,0.0598249504082,0.999999939745,0.000173774676652,-0.000299262412323,2.74748111012e-05,1793196505903658752
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.174222441,743,712,674,660,633.08711122,877.08711122,785,801,649,629.08711122,650,0.413731296565,-0.0154092914462,0.059830481093,0.999999941391,0.000181642621565,-0.000288858042377,2.80073665796e-05,1793196505936991744
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.497806568,743,712,673.502193432,660,633,877,785,801,649,629.497806568,650.497806568,0.413056693717,-0.0154055846507,0.0598189385857,0.999999934717,0.000182788027564,-0.000310489596699,2.73947579998e-05,1793196505953658368
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633,877,785,800,649,629,650,0.41001174759,-0.015399882419,0.0597935467925,0.999999925891,0.000188738878334,-0.000334769473422,2.28985006382e-05,1793196506036992768
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633,877,785,800,649,629,650,0.409483715717,-0.0154014409705,0.0598307717687,0.999999940385,0.000190698596957,-0.000286525298952,2.77084192586e-05,1793196506053659648
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633,877,785,800.557376079,649,629.557376079,650.557376079,0.408953318948,-0.0154007389996,0.0598434900295,0.999999945152,0.000189932725569,-0.00026972389516,2.95215148342e-05,1793196506070326016
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877,785,801,649.969437325,630,650.030562675,0.406108391379,-0.0153951992253,0.0598322449424,0.99999994542,0.000193976289575,-0.000266151298293,2.63816752448e-05,1793196506170325248
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,743,712,673.41784491,660,634,877,785,800.58215509,649,630,650,0.402708988614,-0.015386427881,0.05982371511,0.999999936258,0.000230601153249,-0.000270957189447,2.9837225109e-05,1793196506353659136
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,743,712,673.993471223,660,634,877,785,800.006528777,649,630,650,0.402512285058,-0.0153843868275,0.059830714263,0.999999939,0.000230832703944,-0.00026022042112,3.16515825817e-05,1793196506370325504
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,742.415652701,712,674,660,634,877,785,800.584347299,649,629.415652701,650.584347299,0.402329914969,-0.0153795039146,0.0598338247413,0.999999938747,0.000235892413762,-0.000256471112554,3.29090315078e-05,1793196506386991616
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,742,712,674,660.171603669,633.828396331,877,785,801,649,629.171603669,650.828396331,0.402153729753,-0.0153756596397,0.059834630572,0.999999937825,0.000239529620377,-0.00025656921593,3.38776910351e-05,1793196506403658240
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,742,712,674,660.749867523,633.250132477,877,785,801,649,629.749867523,650.250132477,0.401991811577,-0.0153743539517,0.05983008065,0.999999935426,0.000239664569699,-0.000265594814623,3.41771279718e-05,1793196506420325120
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,742.903276152,712,674,660.096723848,633.903276152,876.096723848,785,801,649,630,650,0.401708764976,-0.0153744758295,0.059826199574,0.999999931906,0.000237707335347,-0.000280180240281,3.43749714076e-05,1793196506453658368
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,742.511714776,712,674,660,634,876,784.511714776,800.511714776,649,629.511714776,650,0.401605376827,-0.0153805985407,0.0598302378903,0.99999994033,0.000210112858949,-0.000273333523581,2.19255227864e-05,1793196506470325504
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+411,6.850000000,POSE2_TO_POSE3_RETREAT,765,743,712,673,660,634,877,785,801,649,629.261188026,650,0.400974208958,-0.0153992367141,0.0598434808905,0.999999950853,0.000177024128271,-0.000258286697534,1.56595495694e-05,1793196506936992256
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765,743,712,673.315935025,660,633.684064975,876.684064975,785,801,649,629,650.315935025,0.400974905686,-0.0153997388586,0.0598438856734,0.999999951173,0.000176797074015,-0.000257202472799,1.56101417938e-05,1793196506953658624
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+414,6.900000000,POSE2_TO_POSE3_RETREAT,765,743,712,673.523273472,660,633.476726528,876.476726528,785,801,649.476726528,629.476726528,651,0.400974598986,-0.0154006284492,0.0598439053835,0.999999951068,0.000177107229823,-0.00025738670665,1.57680372453e-05,1793196506986991872
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+416,6.933333333,POSE2_TO_POSE3_RETREAT,764.357907884,743,712,673.642092116,660,634,877,785,801,649.357907884,630,650.357907884,0.400972513188,-0.0153999147349,0.0598434814924,0.999999950865,0.000176474330706,-0.000258620905801,1.55391614138e-05,1793196507020325120
+417,6.950000000,POSE2_TO_POSE3_RETREAT,764.221001616,743,712,673.778998384,660,634,876.778998384,785,801,649,629.778998384,650.221001616,0.400972650277,-0.0153996463018,0.059843793535,0.999999951103,0.000176131798648,-0.000257946483417,1.53343997182e-05,1793196507036991744
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+419,6.983333333,POSE2_TO_POSE3_RETREAT,765,743,712,673.375070448,660,634,876,785,801.375070448,649.375070448,629.375070448,651,0.400972836354,-0.0154005016035,0.0598433037198,0.999999951417,0.000174657322322,-0.00025773346974,1.53003420152e-05,1793196507070325504
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,876.536770165,785,801.463229835,649.463229835,630,651,0.400973306976,-0.0154009465804,0.0598438876946,0.999999951229,0.000175769634818,-0.000257682469478,1.56855146972e-05,1793196507103658496
+422,7.033333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,876.87631769,785,801,649,630,650.87631769,0.400973221621,-0.0154016049936,0.0598439480909,0.999999951375,0.000174795980265,-0.000257774888151,1.57605299184e-05,1793196507120324864
+423,7.050000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,876.297644952,785,801,649,630,650.297644952,0.400973848808,-0.0154023824875,0.0598447721835,0.999999951894,0.000173653084687,-0.000256505614021,1.61715067217e-05,1793196507136991744
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3c48496c5ed4df3298524f6925a89f4b23120c51
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_03/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
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+379,6.316666667,pose2_to_pose3_retreat,0.579299673332,-0.00999867287228,1.05001153974,0.549870907002,-0.00132501061814,1.04966108337
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+382,6.366666667,pose2_to_pose3_retreat,0.578914836312,-0.00999872081161,1.05001150156,0.549486070526,-0.00132505709636,1.04966103577
+383,6.383333333,pose2_to_pose3_retreat,0.578814679263,-0.00999880121432,1.05001144617,0.549385914136,-0.00132513501799,1.04966098646
+384,6.400000000,pose2_to_pose3_retreat,0.578726952479,-0.00999883466479,1.0500115319,0.549298188404,-0.00132516481666,1.0496610743
+385,6.416666667,pose2_to_pose3_retreat,0.578651720427,-0.00999874640311,1.05001170006,0.549222955745,-0.0013250785424,1.04966124529
+386,6.433333333,pose2_to_pose3_retreat,0.578584357212,-0.00999872963879,1.05001183373,0.549155592767,-0.00132506115567,1.04966137431
+387,6.450000000,pose2_to_pose3_retreat,0.578524024162,-0.00999871525804,1.05001188397,0.549095259505,-0.001325047729,1.04966141837
+388,6.466666667,pose2_to_pose3_retreat,0.578471778196,-0.00999865682793,1.05001181283,0.549043012018,-0.00132499456597,1.0496613445
+389,6.483333333,pose2_to_pose3_retreat,0.578426777027,-0.00999865863867,1.05001159398,0.548998009918,-0.00132499938467,1.04966112932
+390,6.500000000,pose2_to_pose3_retreat,0.57838898953,-0.00999867130038,1.05001155029,0.548960224491,-0.00132500497494,1.04966108677
+391,6.516666667,pose2_to_pose3_retreat,0.578357630441,-0.00999869976187,1.05001160797,0.548928866474,-0.0013250299135,1.04966114164
+392,6.533333333,pose2_to_pose3_retreat,0.578332510025,-0.00999873366002,1.05001170257,0.548903745259,-0.00132506673057,1.04966123104
+393,6.550000000,pose2_to_pose3_retreat,0.578311926633,-0.00999871782402,1.05001170442,0.548883161573,-0.00132505186576,1.04966123355
+394,6.566666667,pose2_to_pose3_retreat,0.578295724451,-0.00999873154851,1.05001161367,0.548866959631,-0.00132506455254,1.04966114831
+395,6.583333333,pose2_to_pose3_retreat,0.578283502833,-0.00999874641383,1.05001160812,0.548854738458,-0.00132507777281,1.04966114607
+396,6.600000000,pose2_to_pose3_retreat,0.578274797875,-0.00999875095366,1.05001176151,0.548846034024,-0.00132508060449,1.04966129772
+397,6.616666667,pose2_to_pose3_retreat,0.578268921012,-0.00999873311554,1.05001161039,0.548840155665,-0.00132506762078,1.04966115212
+398,6.633333333,pose2_to_pose3_retreat,0.578264830426,-0.00999871461105,1.05001143102,0.5488360635,-0.00132505424499,1.04966097855
+399,6.650000000,pose2_to_pose3_retreat,0.578262228526,-0.00999875081429,1.05001142348,0.548833461644,-0.00132509024807,1.04966097214
+400,6.666666667,pose2_to_pose3_retreat,0.578260084606,-0.00999882590041,1.05001151776,0.548831318752,-0.00132516190307,1.04966106495
+401,6.683333333,pose2_to_pose3_retreat,0.57825838233,-0.0099988855189,1.05001159262,0.548829617292,-0.00132521879724,1.04966113865
+402,6.700000000,pose2_to_pose3_retreat,0.57825738677,-0.00999890459435,1.05001162313,0.548828622048,-0.00132523682957,1.04966116841
+403,6.716666667,pose2_to_pose3_retreat,0.578256781822,-0.00999887282276,1.05001160523,0.548828016849,-0.00132520593485,1.04966114987
+404,6.733333333,pose2_to_pose3_retreat,0.578256138534,-0.0099988390376,1.05001158619,0.548827373296,-0.00132517308215,1.04966113015
+405,6.750000000,pose2_to_pose3_retreat,0.578255644252,-0.00999881307812,1.05001157156,0.548826878809,-0.00132514783914,1.049661115
+406,6.766666667,pose2_to_pose3_retreat,0.578255366699,-0.00999879850118,1.05001156334,0.548826601142,-0.00132513366451,1.04966110649
+407,6.783333333,pose2_to_pose3_retreat,0.578255047569,-0.00999878174061,1.0500115539,0.548826281879,-0.00132511736652,1.04966109671
+408,6.800000000,pose2_to_pose3_retreat,0.578254881334,-0.00999877301003,1.05001154898,0.548826115576,-0.0013251088769,1.04966109161
+409,6.816666667,pose2_to_pose3_retreat,0.578254714384,-0.00999876424193,1.05001154404,0.548825948557,-0.0013251003508,1.0496610865
+410,6.833333333,pose2_to_pose3_retreat,0.578254414345,-0.00999874848403,1.05001153516,0.548825648394,-0.0013250850278,1.0496610773
+411,6.850000000,pose2_to_pose3_retreat,0.578254029083,-0.00999875316657,1.05001156054,0.548825263356,-0.00132508892971,1.04966110321
+412,6.866666667,pose2_to_pose3_retreat,0.578253982121,-0.00999875376703,1.05001156368,0.548825216422,-0.00132508943342,1.04966110641
+413,6.883333333,pose2_to_pose3_retreat,0.578253670669,-0.00999875774937,1.05001158449,0.548824905153,-0.0013250927741,1.04966112765
+414,6.900000000,pose2_to_pose3_retreat,0.578253456521,-0.00999876048754,1.0500115988,0.548824691131,-0.00132509507108,1.04966114226
+415,6.916666667,pose2_to_pose3_retreat,0.578253171699,-0.00999876412936,1.05001161783,0.548824406478,-0.00132509812611,1.04966116168
+416,6.933333333,pose2_to_pose3_retreat,0.578252697393,-0.00999878543778,1.05001164698,0.548823932384,-0.00132511873978,1.04966119014
+417,6.950000000,pose2_to_pose3_retreat,0.578252536631,-0.00999881144643,1.05001165372,0.548823771613,-0.00132514486102,1.04966119499
+418,6.966666667,pose2_to_pose3_retreat,0.578252415789,-0.00999883099691,1.05001165879,0.548823650762,-0.00132516449612,1.04966119864
+419,6.983333333,pose2_to_pose3_retreat,0.578252343391,-0.00999884270972,1.05001166182,0.54882357836,-0.00132517625963,1.04966120082
+420,7.000000000,pose2_to_pose3_retreat,0.578252291282,-0.00999885114023,1.05001166401,0.548823526247,-0.00132518472663,1.0496612024
+421,7.016666667,pose2_to_pose3_retreat,0.578252200079,-0.00999877616313,1.05001170633,0.548823434008,-0.0013251133243,1.04966124329
+422,7.033333333,pose2_to_pose3_retreat,0.578252145616,-0.00999864087094,1.05001177045,0.548823377887,-0.00132498370849,1.04966130619
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0e88735c052856ddf12334031aa2198d778a568b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ca527a034382fcbc7fb325867aedfcc95b913983001ba119e8be531a80d6e07
+size 27143184
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4962b109d54ec5c5d5608047c54cd64f08d1ce1f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_04/franka_data.csv
@@ -0,0 +1,427 @@
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+30,0.500000000,BASELINE,764.416117986,743,712.416117986,673.416117986,660,634,877,785,801,649.416117986,630,651,0.400972572584,-0.0154023038574,0.0598457597004,0.99999995194,0.000176193967909,-0.000254614486613,1.56944245195e-05,1793196507789498624
+31,0.516666667,BASELINE,764.991501777,743,712.991501777,673.991501777,660,634,877,785,801,649.991501777,630,651,0.400974105214,-0.0154015848441,0.0598471193145,0.999999952047,0.000178105568179,-0.000252844605135,1.59192600073e-05,1793196507806165504
+32,0.533333333,BASELINE,765,743,713,674,660,634,877,785,801,650,630,651,0.400973053762,-0.0154041399797,0.059846293875,0.999999952654,0.000173116330534,-0.000253924120382,1.56621237489e-05,1793196507822832128
+33,0.550000000,BASELINE,765,743,712.834091639,674,660,634,877,785,801.165908361,649.834091639,630,650.834091639,0.400972607591,-0.0154054561276,0.0598458427031,0.999999953062,0.000170006719054,-0.000254429746349,1.54652218059e-05,1793196507839498496
+34,0.566666667,BASELINE,765,743,712.254715102,674,660,634,877,785,801.745284898,649.254715102,630,650.254715102,0.400973766414,-0.0154035622121,0.0598464058953,0.999999953011,0.000171839229869,-0.000253398701818,1.54364391773e-05,1793196507856165120
+35,0.583333333,BASELINE,765,742.677677439,712,674,660,634,877.322322561,785,801.677677439,649,630,650.322322561,0.400974646179,-0.0154029590239,0.0598470578853,0.9999999531,0.000172903359357,-0.000252316688025,1.55397227962e-05,1793196507872831488
+36,0.600000000,BASELINE,765,742.102474691,712,674,660,634,877.897525309,785,801.102474691,649,630,650.897525309,0.400975307009,-0.0154033684838,0.0598477795423,0.999999953299,0.000173364650652,-0.000251194685868,1.57466198148e-05,1793196507889498368
+37,0.616666667,BASELINE,765,742.482357276,712,674,660,634,877.517642724,785,801,649.482357276,629.517642724,651,0.400974319398,-0.0154040488742,0.0598471837791,0.999999953292,0.000172290966357,-0.000251953287227,1.58744349132e-05,1793196507906165248
+38,0.633333333,BASELINE,765,743,712,673.931628437,660,634,877,785,801,649.931628437,629.068371563,650.931628437,0.400973214612,-0.015404648815,0.0598464729349,0.999999953224,0.000171243118939,-0.000252930471377,1.59474003021e-05,1793196507922832128
+39,0.650000000,BASELINE,765,743,712,673.352376383,660,634,877,785,801,649.352376383,629.647623617,650.352376383,0.400973904343,-0.015404208788,0.0598470360887,0.999999953057,0.000172874609825,-0.00025249481786,1.57386154157e-05,1793196507939498752
+40,0.666666667,BASELINE,765,743,712,673.227038449,660,634,877,784.772961551,801,649,630,650.227038449,0.400973922073,-0.0154038914394,0.0598470968301,0.999999952878,0.000173766463492,-0.000252592827988,1.57026341911e-05,1793196507956165376
+41,0.683333333,BASELINE,765,743,712,673.806706068,660,634,877,784.193293932,801,649,630,650.806706068,0.40097289607,-0.015403764631,0.05984637724,0.999999952684,0.000173509535165,-0.000253519708187,1.59350463386e-05,1793196507972832000
+42,0.700000000,BASELINE,765,743,712,674,660,634,877,784.381866987,801.381866987,649,630,651,0.400972938247,-0.0154030157452,0.0598460874449,0.999999952547,0.000174195624817,-0.000253605781071,1.56704726863e-05,1793196507989498880
+43,0.716666667,BASELINE,765,743,712,674,660,634,877,784.954773288,801.954773288,649,630,651,0.400973514809,-0.0154019556482,0.0598460126665,0.999999952438,0.00017535348479,-0.000253271217269,1.51572684043e-05,1793196508006165504
+44,0.733333333,BASELINE,765,743,712,674,660,634,877,784.457704964,802,649,630,651,0.400973143717,-0.0154030576477,0.0598460117073,0.999999952236,0.000175551615441,-0.000253902044728,1.55969697069e-05,1793196508022831872
+45,0.750000000,BASELINE,765,743,712,674,660,634,877,784.129227073,801.870772927,649,630,650.870772927,0.400973185952,-0.0154041212956,0.0598463530337,0.999999952183,0.000175773922924,-0.000253927464646,1.60639936546e-05,1793196508039498496
+46,0.766666667,BASELINE,765,743,712,674,660,634,877,784.709725233,801.290274767,649,630,650.290274767,0.400974955195,-0.0154044038979,0.0598478675544,0.999999952675,0.000176367906089,-0.000251549810781,1.63412243471e-05,1793196508056165376
+47,0.783333333,BASELINE,765,743,712,674,660,634,877,785,801.286961602,649,630,650,0.400975366059,-0.0154044711478,0.0598482714977,0.999999953056,0.000175223435587,-0.000250839748845,1.62297374392e-05,1793196508072832000
+48,0.800000000,BASELINE,765,743,712,674,660,634,877,785,801.860935671,649,630,650,0.400974418302,-0.0154043230072,0.059847564667,0.999999953325,0.000172340203339,-0.000251797574143,1.57294640614e-05,1793196508089498880
+49,0.816666667,BASELINE,765,743,712,673.563214329,660,634,877,785,801.563214329,649,630,650,0.400974907335,-0.0154032999402,0.0598477839929,0.999999953353,0.000173008007339,-0.000251231088685,1.56551376031e-05,1793196508106165504
+50,0.833333333,BASELINE,765,743,712,673,660,634,877,785,801,649.01355886,630,650.01355886,0.400975822572,-0.0154020429537,0.0598482817864,0.999999953296,0.000174793031853,-0.000250218838817,1.57137848816e-05,1793196508122831872
+51,0.850000000,BASELINE,765,743,712,673,660,634,877,785,801,649.604093318,630,650.604093318,0.400975324347,-0.0154027366997,0.059848027439,0.999999952929,0.000175801922662,-0.000250978541698,1.5635210794e-05,1793196508139498496
+52,0.866666667,BASELINE,765,743,712.190946695,673,660,634,877,785,800.809053305,650,629.809053305,651,0.400974659743,-0.0154032989674,0.0598476844561,0.999999952732,0.000175846064096,-0.000251733055623,1.56449274118e-05,1793196508156165120
+53,0.883333333,BASELINE,765,743,712.770312079,673,660,634,877,785,800.229687921,650,629.229687921,651,0.400973656694,-0.0154035937855,0.0598471611736,0.999999952877,0.00017392773794,-0.000252477014266,1.58342426396e-05,1793196508172831744
+54,0.900000000,BASELINE,765,742.654177934,712.654177934,673.345822066,660,634,877.345822066,785,800.691644131,649.654177934,629.345822066,651,0.400973131648,-0.0154039909381,0.0598466989753,0.999999952705,0.000173748968482,-0.000253271594318,1.59889791392e-05,1793196508189498368
+55,0.916666667,BASELINE,765,742.081200413,712.081200413,673.918799587,660,634,877.918799587,785,801.837599174,649.081200413,629.918799587,651,0.400972920581,-0.0154044553099,0.0598462769006,0.999999952325,0.00017471283814,-0.00025409942534,1.61210023708e-05,1793196508206165248
+56,0.933333333,BASELINE,765,742.505898258,712,674,660,634,877.494101742,785,802,649,630,651,0.400973169413,-0.015403322317,0.0598468753993,0.99999995285,0.000172644478797,-0.000253487502348,1.54100118e-05,1793196508222832384
+57,0.950000000,BASELINE,765,743,712.093644902,674,660,634,877,785,801.906355098,649,630,651,0.400973463292,-0.0154022628993,0.0598474830662,0.99999995338,0.000170664753836,-0.000252774795935,1.48002393331e-05,1793196508239499008
+58,0.966666667,BASELINE,765,743,712.672664686,674,660,634,877,785,801.327335314,649,630,651,0.400973597062,-0.0154029518917,0.059847264825,0.999999953187,0.000171739480584,-0.00025277188713,1.54365641978e-05,1793196508256165632
+59,0.983333333,BASELINE,765,743,712.749578345,673.749578345,660,634,877,785,801,649,630,651,0.400973615701,-0.0154038186319,0.0598470163225,0.999999953275,0.000171693334012,-0.000252433039729,1.57476583047e-05,1793196508272832000
+60,1.000000000,BASELINE,765,743,712.173463685,673.173463685,660,634,877,785,801,649,630,651,0.400973484603,-0.0154049165471,0.0598467284627,0.99999995373,0.00017018940392,-0.000251657277836,1.56357643898e-05,1793196508289498368
+61,1.016666667,BASELINE,765,743,712.400928874,673.400928874,660,633.599071126,877,785,801,649.400928874,630,650.599071126,0.400973718638,-0.0154042158335,0.059846921944,0.999999953243,0.000173187374143,-0.00025154230747,1.57299755031e-05,1793196508306164992
+62,1.033333333,BASELINE,765,743,712.974579509,673.974579509,660,633.025420491,877,785,801,649.974579509,630,650.025420491,0.400974109973,-0.0154027402633,0.0598473227891,0.99999995233,0.000178124781105,-0.000251712008776,1.5912977493e-05,1793196508322831616
+63,1.050000000,BASELINE,765,743,712.434033796,674,660,633.565966204,877,785,801,650,630,650.565966204,0.400973798833,-0.0154031625067,0.0598469306665,0.999999952414,0.000176784918082,-0.000252339343975,1.55984390555e-05,1793196508339498240
+64,1.066666667,BASELINE,765,743,712,674,660,634,877,785.15456853,801,649.84543147,630,651,0.400973367727,-0.0154039340704,0.0598465399815,0.99999995262,0.000174748952534,-0.000252957332775,1.53594007825e-05,1793196508356165120
+65,1.083333333,BASELINE,765,743,712,674,660,634,877,785.733273859,801,649.266726141,630,651,0.400972696811,-0.0154054227025,0.0598462541344,0.999999953029,0.000171601565545,-0.000253491448018,1.53908398012e-05,1793196508372832256
+66,1.100000000,BASELINE,765,743,712,674,660,634,877,785.691299392,801,649,630,651,0.400972550983,-0.0154054030649,0.0598464561056,0.999999953304,0.000169835705753,-0.000253600971995,1.53237895487e-05,1793196508389498880
+67,1.116666667,BASELINE,765,743,712,674,660,634,877,785.118675688,801,649,630,651,0.400972854077,-0.0154040939345,0.0598470751364,0.999999953469,0.000169250980611,-0.000253347492314,1.51725360481e-05,1793196508406165248
+68,1.133333333,BASELINE,765,742.532034978,712.467965022,673.532034978,660,634,877.467965022,785,801,649,630,651,0.400973578811,-0.0154040774769,0.0598473254725,0.999999953536,0.000169803850062,-0.000252698643241,1.54117813007e-05,1793196508422831872
+69,1.150000000,BASELINE,765,742.057184318,712.942815682,673.057184318,660,633.942815682,877.942815682,785,801,649,630,651,0.400974182683,-0.0154043090158,0.0598474305192,0.999999953511,0.000170751065815,-0.00025214266857,1.57079670499e-05,1793196508439498496
+70,1.166666667,BASELINE,765,742.636488599,712.363511401,673.636488599,660,633.363511401,877.363511401,785,801,649,630,651,0.400972676579,-0.015403719295,0.0598470890719,0.999999952886,0.000172583433051,-0.000253378421067,1.55919331635e-05,1793196508456164864
+71,1.183333333,BASELINE,765,743,712,674,660,633.214477686,877,785,801,649,630.214477686,650.785522314,0.400972087703,-0.0154037027024,0.0598468644016,0.999999952658,0.000173077551986,-0.000253942175689,1.55710211032e-05,1793196508472831744
+72,1.200000000,BASELINE,765,743,712,674,660,633.790251373,877,785,801,649,630.790251373,650.209748627,0.400973043934,-0.0154046515667,0.0598468364466,0.999999953103,0.000171317339927,-0.000253373923965,1.57103454384e-05,1793196508489498368
+73,1.216666667,BASELINE,765,743,712,674,660,634,876.635592961,785,801,649,630.635592961,650.364407039,0.400973089096,-0.0154042141086,0.0598467718137,0.999999952825,0.000172812772502,-0.000253456352123,1.56533244588e-05,1793196508506164992
+74,1.233333333,BASELINE,765,743,712,674,660,634,876.062364527,785,801,649,630.062364527,650.937635473,0.400972612175,-0.0154029822264,0.0598466861625,0.999999952126,0.00017617383394,-0.000253911648742,1.54837888979e-05,1793196508522831616
+75,1.250000000,BASELINE,765,743,712,674,660,634,876.531524849,785,801,649.531524849,630,651,0.400973154812,-0.0154047509992,0.0598473775377,0.999999952923,0.000173503686903,-0.000252602414385,1.55885578715e-05,1793196508539498240
+76,1.266666667,BASELINE,765,743,712,674,660,634,877,785,801,649.876592131,630,650.876592131,0.400973787435,-0.0154060960941,0.0598481653199,0.999999953686,0.000171050145872,-0.000251245590102,1.56995348591e-05,1793196508556165120
+77,1.283333333,BASELINE,765,743,712,674,660,634,877,785,801,649.301291771,630,650.301291771,0.400974293809,-0.0154045484276,0.0598489587788,0.999999953694,0.000172085825279,-0.000250503278545,1.57106252521e-05,1793196508572831744
+78,1.300000000,BASELINE,765,743,712,674,660,634,877,785,801,649,629.726765714,650.273234286,0.400973559211,-0.0154038627239,0.059848428849,0.999999953266,0.000173126510169,-0.000251495218704,1.5647142572e-05,1793196508589498368
+79,1.316666667,BASELINE,765,743,712,674,660,634,877,785,801,649,629.153091093,650.846908907,0.400971460078,-0.0154041248092,0.0598464437601,0.999999952354,0.000174172698871,-0.000254394090766,1.55016615472e-05,1793196508606164992
+80,1.333333333,BASELINE,765,743,712,674,660,633.565557058,877,785,801,649,629.434442942,651,0.400971954575,-0.0154043278751,0.0598459393193,0.99999995232,0.000174785156564,-0.000254104984906,1.55316756927e-05,1793196508622831616
+81,1.350000000,BASELINE,765,743,712,674,660,633.026354801,877,784.973645199,801.026354801,649.026354801,629.973645199,651,0.400973282442,-0.0154044374971,0.0598459835928,0.999999952592,0.000175161802537,-0.000252768273417,1.56010476763e-05,1793196508639498240
+82,1.366666667,BASELINE,765,743,712,674,660,633.604306417,877,784.395693583,801.604306417,649.604306417,629.395693583,651,0.400972293327,-0.0154030409977,0.0598462322017,0.999999952558,0.000173907295627,-0.000253792604958,1.51571855708e-05,1793196508656165120
+83,1.383333333,BASELINE,764.818247393,743,712,673.818247393,660,634,877,784.181752607,801.818247393,649.818247393,629.181752607,651,0.4009720503,-0.0154020946257,0.0598466025929,0.999999952569,0.000173292890786,-0.000254181004776,1.49664294755e-05,1793196508672832000
+84,1.400000000,BASELINE,764.241898404,743,712,673.241898404,660,634,877,784.758101596,801.241898404,649.241898404,629.758101596,651,0.400973427078,-0.0154021255083,0.0598472373811,0.99999995268,0.000174068187706,-0.000253188756873,1.53251824212e-05,1793196508689498624
+85,1.416666667,BASELINE,764.333558453,743,712,673.333558453,660,634,877,785,801,649,630,651,0.400973874736,-0.0154031995765,0.0598472301017,0.999999952885,0.000173286763341,-0.000252909626574,1.54656497275e-05,1793196508706165248
+86,1.433333333,BASELINE,764.90837002,743,712,673.90837002,660,634,877,785,801,649,630,651,0.400973650388,-0.0154050281504,0.0598467584333,0.999999953154,0.000171379407758,-0.000253146273532,1.5448237366e-05,1793196508722831872
+87,1.450000000,BASELINE,765,743,712,674,660,634,877,784.502549275,801,649,630,650.502549275,0.400973404991,-0.0154042270569,0.0598471884444,0.999999952789,0.000173955824218,-0.000252821460175,1.55695773598e-05,1793196508739498240
+88,1.466666667,BASELINE,765,743,712,674,660,634,877,784.087177887,801.087177887,649,630,650.087177887,0.400973445885,-0.0154034084379,0.0598478164647,0.999999952526,0.000176336076306,-0.000252204983861,1.57221138936e-05,1793196508756164864
+89,1.483333333,BASELINE,765,743,712,674,660,634,877,784.66530663,801.66530663,649,630,650.66530663,0.400975121536,-0.0154052995275,0.0598485966266,0.999999953553,0.000172823077085,-0.000250545601453,1.5902153516e-05,1793196508772831744
+90,1.500000000,BASELINE,765,743,712,674,660,634,877.241152474,785,802,649.241152474,629.758847526,650.758847526,0.400975638916,-0.0154064039963,0.0598488734732,0.999999954032,0.000170795742005,-0.000250015275969,1.6022804075e-05,1793196508789498368
+91,1.516666667,BASELINE,765,743,712,674,660,634,877.813859569,785,802,649.813859569,629.186140431,650.186140431,0.400974563817,-0.0154064269595,0.0598484583237,0.999999953773,0.000170811010388,-0.000251037263281,1.60618020531e-05,1793196508806164992
+92,1.533333333,BASELINE,765,743,712,674,660.39901705,634,877.60098295,785,801.60098295,649.60098295,629,650,0.400973882245,-0.0154054068281,0.0598481326337,0.999999953651,0.000170485371954,-0.000251764110578,1.57369331491e-05,1793196508822832128
+93,1.550000000,BASELINE,765,743,712,674,660.990169722,634,877.009830278,785,801.009830278,649.009830278,629,650,0.400973390165,-0.0154038844234,0.0598478500203,0.999999953595,0.000169995579277,-0.000252348841456,1.5236854218e-05,1793196508839498752
+94,1.566666667,BASELINE,764.43065154,743,712,674,660.43065154,633.43065154,877,785,801,649,629.56934846,650.56934846,0.400974095151,-0.0154046451318,0.0598479358755,0.999999953643,0.000171268557223,-0.000251268822777,1.56494065526e-05,1793196508856165376
+95,1.583333333,BASELINE,764.147438762,743,712,674,660,633.147438762,877,785,801,649,630,651,0.400974563131,-0.015405201282,0.0598481076807,0.999999953736,0.000172103840786,-0.00025031306706,1.58868048959e-05,1793196508872831744
+96,1.600000000,BASELINE,764.722956885,743,712,674,660,633.722956885,877,785,801,649,630,651,0.400974284208,-0.0154050514148,0.0598485109457,0.999999953959,0.000171581757967,-0.000249799836345,1.55708464017e-05,1793196508889498112
+97,1.616666667,BASELINE,765,743,712.297501389,674,660,634,877,785,801,649,630,651,0.400973887195,-0.0154053566221,0.0598484265782,0.999999953854,0.000171460103671,-0.000250301696461,1.55627947092e-05,1793196508906164736
+98,1.633333333,BASELINE,765,743,712.871142152,674,660,634,877,785,801,649,630,651,0.400973380572,-0.0154060842272,0.0598478895926,0.999999953444,0.000171710125255,-0.000251745759085,1.58405406636e-05,1793196508922831616
+99,1.650000000,BASELINE,765,743,712.540531926,673.540531926,660,634,877,785,801,649,630,651,0.400973945782,-0.015406785623,0.0598483147477,0.99999995367,0.000171089959859,-0.000251249050948,1.6175347167e-05,1793196508939498496
+100,1.666666667,BASELINE,765,743,712.050675077,673.050675077,660,634,877.050675077,785,801,649,630,651,0.40097467546,-0.0154073295609,0.0598489042752,0.999999953996,0.000170439136002,-0.000250376912652,1.64565135723e-05,1793196508956165376
+101,1.683333333,BASELINE,765,743,712.627619678,673.627619678,660,634,877.627619678,785,801,649,630,651,0.40097388835,-0.0154063171262,0.059848306062,0.999999953452,0.000172088036201,-0.000251445032428,1.60089410737e-05,1793196508972832000
+102,1.700000000,BASELINE,765,743,712.796199668,674,660.203800332,634,877.796199668,785,801.203800332,649,630,651,0.400973632709,-0.0154054117075,0.0598480256394,0.999999953245,0.000173129509588,-0.000251574535824,1.57020533781e-05,1793196508989498624
+103,1.716666667,BASELINE,765,743,712.221409734,674,660.778590266,634,877.221409734,785,801.778590266,649,630,651,0.400974344535,-0.0154047010964,0.0598483237095,0.999999953653,0.000173065248427,-0.000249995421091,1.5651262465e-05,1793196509006164992
+104,1.733333333,BASELINE,765,743,712,674,660.637255347,634,877,785,801.637255347,649.362744653,630,650.637255347,0.400973494562,-0.0154046060859,0.0598477708636,0.999999953415,0.00017304712166,-0.000250964565867,1.5568434674e-05,1793196509022831872
+105,1.750000000,BASELINE,765,743,712,674,660.047233622,634,877,785,801.047233622,649.952766378,630,650.047233622,0.400971666047,-0.0154048967789,0.0598466848778,0.999999952767,0.000173057900316,-0.000253530318337,1.54655342246e-05,1793196509039498240
+106,1.766666667,BASELINE,765,743,712,674,660,634,877,785,801,649.467016271,630,650.532983729,0.400973942048,-0.0154050565707,0.0598481823054,0.999999953753,0.000171789203777,-0.000250469722197,1.57250897082e-05,1793196509056164864
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,712,674,659,634,877,785,801,649,630,651,0.400974718046,-0.0154045280442,0.0598480273747,0.999999954009,0.000170465470552,-0.000250359933507,1.5583454564e-05,1793196509098598144
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,743,712,674,659.575514128,634,877,784.424485872,801,649,630,651,0.400973679423,-0.015404461927,0.0598475513908,0.999999953456,0.000172727153073,-0.00025102271812,1.55256239344e-05,1793196509115265024
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877,784.155116804,801,649,630,651,0.400973546508,-0.0154043973508,0.0598476340611,0.999999953262,0.000174086162308,-0.000250854515679,1.5550834139e-05,1793196509131931648
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877,784.746211045,801,649,630,651,0.400975959216,-0.0154043371057,0.0598492869069,0.999999954087,0.000172908082736,-0.000248350708239,1.58094421914e-05,1793196509148598016
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,876.66981468,785,801,649,629.66981468,651,0.400975370636,-0.0154039461699,0.0598488160177,0.999999953944,0.000172741263651,-0.000249047806308,1.5742122096e-05,1793196509165264384
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,876.091197511,785,801,649,629.091197511,651,0.400972523883,-0.015403306422,0.0598467472275,0.999999953068,0.000173335318294,-0.000252153269844,1.54295732379e-05,1793196509181931008
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,743,712,673.515246959,660,634,876,785,800.515246959,649,629.484753041,651,0.400970936927,-0.0154049619589,0.0598461424849,0.999999953054,0.000170556186908,-0.000254089107564,1.55029140272e-05,1793196509198597632
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,743,712,673.060043111,660,634,876.060043111,785,800.060043111,649,630,651,0.400970371472,-0.0154067814762,0.0598461811063,0.999999953296,0.000167721138551,-0.000255014091745,1.56483133345e-05,1793196509215264256
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,743,712,673.633950598,660,634,876.633950598,785,800.633950598,649,630,651,0.400976531011,-0.015406329003,0.0598493814623,0.999999954417,0.000169808928636,-0.000249160821305,1.57924934539e-05,1793196509231931136
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,876.785205734,785,801,649.214794266,630,650.785205734,0.400986178419,-0.015406899126,0.05985389483,0.999999956229,0.000170147562314,-0.000241510888609,1.62366288035e-05,1793196509248597760
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,876.192147138,785,801,649.807852862,630,650.192147138,0.401001968155,-0.015409270096,0.0598607204823,0.999999959229,0.000167405836656,-0.000230696937037,1.7209001534e-05,1793196509265264384
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,876,785,801.39009917,649.60990083,630,650.39009917,0.401033131902,-0.0154104416413,0.0598729266245,0.999999963621,0.000169339915504,-0.000209129889668,1.86352627233e-05,1793196509281931008
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,876,785,801.967163461,649.032836539,630,650.967163461,0.401071664043,-0.0154110383314,0.0598877115063,0.999999968104,0.000173514994321,-0.000182409141789,2.02790617776e-05,1793196509298597632
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,876.537129351,785,801.462870649,649,630,651,0.401129696001,-0.0154135217733,0.0599029641971,0.99999997131,0.000173734118132,-0.000163485937217,2.1655959004e-05,1793196509315264256
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877,785,801,649,630,651,0.401192718396,-0.0154167266138,0.0599172915845,0.999999974308,0.000172847820855,-0.00014486344112,2.28514685265e-05,1793196509331930880
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877,785,801,649,630,651,0.401272290842,-0.0154225679,0.0599274812299,0.999999977707,0.000168200413994,-0.000125504263718,2.33297451126e-05,1793196509348597504
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,743,712,673.705573936,660,634,876.705573936,785,801,649,630,651,0.401358351985,-0.0154277542983,0.0599337711987,0.999999979752,0.000164992930898,-0.000112849359991,2.31876378041e-05,1793196509365264384
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,743,712,673.12387765,660,634,876.12387765,785,801,649,630,651,0.401450744119,-0.0154323017251,0.0599362562696,0.999999980736,0.000163190375439,-0.000106735787943,2.2440224622e-05,1793196509381931008
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743,712,673,660,634,876.451795168,785,801,649,629.548204832,651,0.401555664272,-0.0154375878753,0.0599336474335,0.999999980967,0.000161234982586,-0.000107910829569,2.06064780993e-05,1793196509398597888
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,743,712.025994251,673.025994251,660,634,877.025994251,785,801,649,629,650.974005749,0.401665859653,-0.0154432074066,0.0599299141272,0.999999981054,0.000159099754751,-0.000110614884895,1.85140149107e-05,1793196509415264256
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,743,712.603505651,673.603505651,660,634,877.603505651,785,801,649,629,650.396494349,0.401816056666,-0.0154516592977,0.0599315667512,0.999999982591,0.000154026414129,-0.000103916535675,1.71689368718e-05,1793196509431931136
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,712.814770421,674,660,634,877.814770421,785,801,649,629.185229579,650,0.401974492185,-0.0154603483714,0.0599331968075,0.999999984081,0.000148886492913,-9.70950418482e-05,1.55757172615e-05,1793196509448597504
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,712.223819578,674,660,634,877.223819578,785,801,649,629.776180422,650,0.40215097306,-0.0154695569618,0.0599347774319,0.999999985549,0.000143600736253,-9.00038166873e-05,1.34389760395e-05,1793196509465264128
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,742.640971437,712,673.640971437,660,633.640971437,877,785,801,649,630,650.359028563,0.402349135959,-0.01547944277,0.0599358271708,0.999999987004,0.00013705335614,-8.4193260959e-05,1.09220469043e-05,1793196509481930752
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,742.063063008,712,673.063063008,660,633.063063008,877,785,801,649,630,650.936936992,0.402560517205,-0.0154897414413,0.0599365532584,0.999999988417,0.000129736833442,-7.91634578929e-05,8.17333801066e-06,1793196509498597376
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,742.508363545,712,673,660,633.508363545,877,785,801,649,630,650.491636455,0.402803562748,-0.0154996511762,0.0599371926898,0.999999989612,0.000123592014629,-7.39705926447e-05,5.42866473691e-06,1793196509515264256
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.920318467,743,712,673,659.920318467,634,877,785,801,649,629.920318467,650,0.403055618692,-0.0155095037409,0.0599370593799,0.999999990595,0.00011754757974,-7.06149399647e-05,2.53501938182e-06,1793196509531930880
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.344734636,743,712,673,659.344734636,634,877,785,801,649,629.344734636,650,0.40333961318,-0.0155192970013,0.0599321829324,0.999999990706,0.000111234675875,-7.88175813266e-05,-1.28883933046e-06,1793196509548597760
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659.23897981,634,877,785,801,649,629,650.23897981,0.403632398444,-0.0155229709126,0.0599249745121,0.999999989659,0.000111436417544,-9.07568747873e-05,-5.26689317149e-06,1793196509565264384
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659.834835934,634,877,785,801,649,629,650.834835934,0.403938311245,-0.0155175066006,0.0599142836814,0.999999986728,0.000121366691344,-0.000108276231686,-9.47521137613e-06,1793196509581931264
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.415047575,742.584952425,712,673,660,634,877,785,800.584952425,649,629.415047575,650.584952425,0.404270220606,-0.0155051716472,0.0599029221497,0.99999998925,6.88581069963e-05,-0.000128496928154,-1.56880520612e-05,1793196509598597888
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.989259774,742.010740226,712,673,660,634,877,785,800.010740226,649,629.989259774,650.010740226,0.404612099258,-0.0154902019043,0.0598913034144,0.999999988501,-7.59485931873e-06,-0.000149753547421,-2.26695973777e-05,1793196509615264256
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,742.56449701,711.43550299,673.56449701,660,633.43550299,877.56449701,784.43550299,800.56449701,649,629.43550299,650,0.405023831448,-0.0154989106177,0.0598920371328,0.999999988139,-2.20214918454e-06,-0.000151703448898,-2.65155561103e-05,1793196509631931136
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743,711.144045542,673.855954458,660,633.144045542,877.855954458,784,800.711908915,649,629,650.144045542,0.405457309784,-0.0155088751399,0.0598999213949,0.999999989703,1.07663191956e-06,-0.000140417430923,-2.95803136139e-05,1793196509648598016
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,743,711.736968012,673.263031988,660,633.736968012,877.263031988,784,799.526063976,649,629,650.736968012,0.405954404589,-0.0155213465885,0.0599293545849,0.999999995549,-7.09347910615e-06,-8.90322090591e-05,-3.03969252676e-05,1793196509665264640
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,742.691073147,712.308926853,673,660,634,877,784.308926853,799.617853707,649,629,650.691073147,0.406469603654,-0.0155286409902,0.0599564199621,0.999999998203,-2.40108168509e-05,-4.47881038715e-05,-3.17888390944e-05,1793196509681931264
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,742.135829201,712.864170799,673,660,634,877,784.864170799,800.728341597,649,629,650.135829201,0.40699923787,-0.015531807571,0.0599815974109,0.999999998267,-4.79025943146e-05,-6.23782999903e-06,-3.36394595152e-05,1793196509698597888
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.550795505,742.449204495,712.550795505,673.449204495,660,634,877,784.550795505,800.550795505,649,629.449204495,650.449204495,0.407516704988,-0.01553163361,0.0599860076446,0.999999997415,-6.07597217487e-05,-7.37423010177e-06,-3.77266002266e-05,1793196509715264768
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.042877742,743.042877742,712,674,660,634,877,784.042877742,800.042877742,649,629.957122258,651,0.408033813047,-0.0155306050606,0.0599827174937,0.999999996297,-7.11951232388e-05,-2.27093406795e-05,-4.2674759491e-05,1793196509731931136
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.623900586,743.623900586,712,674,660,634,877,784.623900586,800.623900586,649,629.376099414,651,0.408595869369,-0.0155324287785,0.0599671924821,0.999999992657,-9.60875570556e-05,-5.49378974735e-05,-4.93387545012e-05,1793196509748597760
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+148,2.466666667,POSE1_TO_POSE2_PRESS,765,743.200471697,712,674,660,634,877,784.200471697,801,649,629,650.200471697,0.409820671877,-0.0155309638112,0.0599587330175,0.999999996667,4.72459492809e-05,-6.50546345031e-05,-1.42302800581e-05,1793196509781931008
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660.763985888,634,877,784.381992944,801,649.381992944,629.381992944,650.381992944,0.410489063638,-0.0155304226942,0.059965993368,0.999999996484,6.82030566288e-05,-4.80077757493e-05,-8.6761593038e-06,1793196509798597376
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,743,712,674,661.920088328,634,877,784.960044164,801,649.960044164,629.960044164,650.960044164,0.411173827534,-0.0155306076159,0.0599763768227,0.999999998762,3.94178311828e-05,-2.62885581033e-05,-1.52292637691e-05,1793196509815264000
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+153,2.550000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877.700490686,784.299509314,801,649,630,650.700490686,0.413185879775,-0.015531580444,0.0599071167464,0.999999985597,-5.87492078231e-06,-0.00016593445279,-3.51872017354e-05,1793196509865264384
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,878,784.284715602,801,649,629.715284398,651,0.413926014998,-0.0155336927369,0.0598979529725,0.999999982713,-1.4737694031e-05,-0.000181607025547,-3.70844969945e-05,1793196509881931008
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,878,784.86336077,801,649,629.13663923,651,0.414734105033,-0.0155389317422,0.0599197285544,0.999999990248,-1.64958523257e-05,-0.00013406330314,-3.54801010152e-05,1793196509898597632
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,878,785,800.557869358,649,629.442130642,650.557869358,0.415579397965,-0.015547035953,0.0599639378889,0.999999997579,-2.24794990306e-05,-5.77398248115e-05,-3.16519645813e-05,1793196509915264256
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,878,784.979280494,800,649,630,650.020719506,0.416433903603,-0.0155557268574,0.0600129118307,0.9999999989,-2.98458102561e-05,2.36816873031e-05,-2.73635443804e-05,1793196509931930880
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,878,784.406540297,800,649,630,650.593459703,0.417227452788,-0.015556450587,0.060004059864,0.999999998798,-3.92481826796e-05,3.89415698024e-06,-2.91270019268e-05,1793196509948597760
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,712,674.172030103,660,633.827969897,877.827969897,784.172030103,800.172030103,649,629.827969897,651,0.418035897882,-0.0155561350745,0.059991117364,0.999999998305,-4.51484695115e-05,-1.88830899478e-05,-3.15571894828e-05,1793196509965264640
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743,712,674.764861681,660,633.235138319,877.235138319,784.764861681,800.764861681,649,629.235138319,651,0.418880779692,-0.0155532774805,0.0599681690431,0.999999997264,-4.24823319271e-05,-4.89734578211e-05,-3.5618259947e-05,1793196509981931520
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660,633.34884891,877,784.65115109,801,649,629,650.65115109,0.419716234101,-0.0155517575951,0.0599437616116,0.999999994873,-4.30607478665e-05,-8.29181284637e-05,-3.90432591701e-05,1793196509998597888
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743,712,675,660,633.927022072,877,784.072977928,801,649,629,650.072977928,0.420545491147,-0.0155511170848,0.0599183949994,0.999999990941,-4.57720494482e-05,-0.000119396516807,-4.20501214255e-05,1793196510015264768
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.497897721,743,712,675,660,633.497897721,878.004204558,784,801,649,629,650,0.421354545038,-0.0155505474147,0.0598868295821,0.999999980257,-4.56936123497e-05,-0.00018822648577,-4.43721288243e-05,1793196510031931136
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.078109115,743,712,674.921890885,660.078109115,633,878.921890885,784.078109115,801.078109115,649,629.078109115,650,0.42217785149,-0.0155503414733,0.0598645700869,0.99999996903,-4.56967110844e-05,-0.000240276603834,-4.60229910158e-05,1793196510048597760
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.663027096,743,712,674.336972904,660.663027096,633,878.336972904,784.663027096,801.663027096,649,629.663027096,650,0.423112571186,-0.0155524291769,0.059908501917,0.999999986117,-4.88436531663e-05,-0.000153128219734,-4.39610547115e-05,1793196510065264384
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,712,674.247498184,661,633.247498184,878,784.752501816,801.505003631,649,629.752501816,650,0.424065639248,-0.0155547708602,0.0599566356907,0.999999995541,-5.10745046828e-05,-6.8259892534e-05,-4.06110265162e-05,1793196510081931008
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,712,674.831361999,661,633.831361999,878,784.168638001,800.337276002,649,629.168638001,650,0.425043644028,-0.0155574577181,0.0600104801769,0.999999997923,-5.20603319929e-05,1.35097052681e-05,-3.55104001285e-05,1793196510098597632
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743,712,674.594018119,661,633.594018119,877.594018119,784,800,649,629.405981881,650,0.425957015021,-0.015559009087,0.0600179832242,0.999999997322,-5.47026020385e-05,3.34466225494e-05,-3.52855933579e-05,1793196510115264256
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743,712,674.023152561,661,633.023152561,877.023152561,784,800,649,629.976847439,650,0.426844135875,-0.0155600992933,0.0600066653623,0.999999997231,-5.80176124042e-05,2.82710850111e-05,-3.70410306552e-05,1793196510131931136
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,712,674.554044492,660.445955508,633,877,784,800.554044492,649,629.445955508,650.554044492,0.427718897042,-0.015561907124,0.0599831878616,0.999999997202,-6.24061517765e-05,-6.82198768825e-06,-4.06759287101e-05,1793196510148597760
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,742.864812737,712,675.135187263,660,633.135187263,877.135187263,784,801,649,629,650.864812737,0.428580185676,-0.0155626320305,0.0599581044072,0.999999995769,-6.64398101228e-05,-4.59024569893e-05,-4.40576387908e-05,1793196510165264384
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,742.271197419,712,675.728802581,660,633.728802581,877.728802581,784,801,649,629,650.271197419,0.429397559796,-0.0155595818083,0.0599293180879,0.999999992101,-6.91161611028e-05,-9.4215905841e-05,-4.63113626966e-05,1793196510181931008
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.314166654,742.314166654,712,675.685833346,660,634,878,784.314166654,801,649.314166654,629.314166654,650,0.430267408687,-0.0155586200907,0.0599168859133,0.999999990258,-7.01676230283e-05,-0.000110867542612,-4.76303418153e-05,1793196510198597632
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.892590276,742.892590276,712,675.107409724,660,634,878,784.892590276,801,649.892590276,629.892590276,650,0.431181395972,-0.0155594150903,0.0599182098045,0.999999991311,-6.9852331793e-05,-0.000100887278533,-4.81630731394e-05,1793196510215264256
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.532714101,743,712,675,660,634,878,785,801,649.532714101,629.532714101,650.467285899,0.432101871798,-0.0155639756186,0.0599598973699,0.999999995801,-7.28603703956e-05,-3.26815768629e-05,-4.49595824457e-05,1793196510231930624
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660,633.958979626,878,785,800.958979626,649,629,650.958979626,0.43301635266,-0.0155689440087,0.0600060847498,0.99999999539,-7.65744806645e-05,4.06893954724e-05,-4.12424151652e-05,1793196510248597504
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743,712,675,660,633.38668354,878,785,800.38668354,649,629,650.38668354,0.433834025213,-0.0155680735041,0.0599913392062,0.999999995912,-7.96179836044e-05,8.99217555614e-06,-4.19071288191e-05,1793196510265264384
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660.193513925,633,877.806486075,785,800.193513925,649,629.193513925,650,0.434643245255,-0.0155676434629,0.0599712344191,0.99999999535,-8.0778876883e-05,-2.90944888784e-05,-4.3922746991e-05,1793196510281931264
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660.790172313,633,877.209827687,785,800.790172313,649,629.790172313,650,0.435434856469,-0.0155681310322,0.0599399648026,0.999999992529,-7.80177601337e-05,-8.04921866844e-05,-4.87526830544e-05,1793196510298597888
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.373328135,743,712,675,661,633.373328135,877.373328135,785,801,649,630,650,0.436231785974,-0.0155677770942,0.0599240311533,0.999999989694,-8.35394403294e-05,-0.000105435664136,-5.01714453307e-05,1793196510315264512
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.949159755,743,712,675,661,633.949159755,877.949159755,785,801,649,630,650,0.43703160022,-0.0155669666993,0.0599164161578,0.999999987655,-9.35539384536e-05,-0.000116029639216,-4.97398925333e-05,1793196510331931392
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.476585724,743,712,675,660.476585724,634,878,784.476585724,801,649,630,650,0.43776443554,-0.0155639525545,0.0599019420884,0.99999998384,-7.75679698477e-05,-0.000154083334548,-5.06093447753e-05,1793196510348598016
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,743,712,675,660.099647977,633.900352023,878,784.099647977,801,649,630,650,0.438496909213,-0.0155613925497,0.0598939025897,0.999999980387,-6.69170456634e-05,-0.000179230975508,-5.12239496552e-05,1793196510365264384
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660.686300824,633.313699176,878,784.686300824,801,649,630,650,0.439259315341,-0.0155620950385,0.059920556745,0.999999986041,-9.46453956738e-05,-0.000128307263205,-4.99773086124e-05,1793196510381931008
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.270104474,743,712,675,661,633,878,785,801,649,630,650,0.440023762825,-0.01556565602,0.059957686013,0.999999991034,-0.000105788301232,-6.72366226644e-05,-4.71232530905e-05,1793196510398597376
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.85063357,743,712,675,661,633,878,785,801,649,630,650,0.440790556337,-0.0155725021989,0.0600068540761,0.999999994296,-9.78699494702e-05,5.49563668051e-06,-4.24218345335e-05,1793196510415264256
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.571111983,743.428888017,712,674.571111983,661,633,878.428888017,785,801.428888017,649,630,650.428888017,0.441475003404,-0.0155752274245,0.0600009010986,0.999999995662,-8.33827460328e-05,-2.79483879786e-06,-4.14100904895e-05,1793196510431930880
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,743.993658038,712,674.006341962,661,633,879,785,801.993658038,649,630,651,0.442130333822,-0.0155764795,0.0599758082691,0.999999996116,-6.70308900618e-05,-3.91643103767e-05,-4.17207778075e-05,1793196510448597504
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,743.417331848,712,674.582668152,661,633,879,785,801.417331848,649,630,651,0.442732668229,-0.0155736386354,0.0599467224582,0.999999992179,-8.76156170996e-05,-7.64795033292e-05,-4.60064708173e-05,1793196510465264128
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,743.163092149,712.163092149,675.163092149,661,633,879,785,801.163092149,649,630,651,0.443330715031,-0.0155719316885,0.0599284370354,0.999999988934,-9.91914474044e-05,-9.93592184924e-05,-4.92106789092e-05,1793196510481930752
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,743.75427229,712.75427229,675.75427229,661,633,879,785,801.75427229,649,630,651,0.443917507757,-0.0155732010738,0.0599385007111,0.999999991419,-8.71205249738e-05,-8.43483708274e-05,-4.95761818421e-05,1793196510498597376
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,743.662431344,712.662431344,676,660.662431344,633.337568656,879,785,801.662431344,649,630,651,0.444484740508,-0.0155777257617,0.0599488486988,0.999999991322,-9.91595269382e-05,-7.11877714108e-05,-4.9559565733e-05,1793196510515264000
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,743.08474291,712.08474291,676,660.08474291,633.91525709,879,785,801.08474291,649,630,651,0.445038059796,-0.0155845660156,0.0599593989232,0.999999988789,-0.000128348432446,-5.93432938506e-05,-4.92711401568e-05,1793196510531930880
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,743,712,675.511401841,660.488598159,633.511401841,878.511401841,784.511401841,801,649.488598159,629.511401841,651,0.445507353137,-0.0155857773665,0.0599345445688,0.999999983781,-0.000133122180353,-0.000109418152368,-5.23787161473e-05,1793196510548597760
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,743,712.063139453,675,660.936860547,633,878,784,801,649.936860547,629.063139453,651,0.445959097939,-0.0155860416024,0.0599045678001,0.999999975567,-0.000133970358327,-0.000166659820726,-5.60593914606e-05,1793196510565264640
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,743,712.653957404,675,660.346042596,633,878,784,801,649.346042596,629.653957404,651,0.446384905478,-0.0155864776423,0.0598826477934,0.999999969844,-0.000137088995935,-0.000194836098666,-5.96505463364e-05,1793196510581931264
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,743,712.760477093,675.239522907,660.239522907,633,878,784,801,649,630,651,0.446809607585,-0.0155879572123,0.0598717724507,0.999999965949,-0.000147832467683,-0.000205854981698,-6.22227306593e-05,1793196510598597376
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,743,712.182337104,675.817662896,660.817662896,633,878,784,801,649,630,651,0.447232746891,-0.0155909120363,0.0598765111148,0.999999965102,-0.00016935528021,-0.000192618199067,-6.33543809386e-05,1793196510615264000
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,743,712,675.604069738,660.604069738,633,878,784,801,649.395930262,630,651,0.44763704615,-0.0155980541034,0.0598862610713,0.999999966972,-0.000174843378813,-0.00017748425808,-6.31260904749e-05,1793196510631930880
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,743,712,675.025743642,660.025743642,633,878,784,801,649.974256358,630,651,0.448032666276,-0.015607125136,0.0598983196137,0.999999970069,-0.000172944660664,-0.000161476339335,-6.22713071339e-05,1793196510648597504
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,743,712,675.545397164,660.545397164,633,878,784,801.545397164,649.454602836,629.454602836,651,0.448345347214,-0.0156112917283,0.0598837211803,0.999999966036,-0.00017226505832,-0.000185435055509,-6.2181350075e-05,1793196510665264128
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,743.120887707,712,675.879112293,660.879112293,633,878,783.879112293,801.879112293,649,629,651,0.448639332031,-0.0156129722924,0.0598633463673,0.999999961478,-0.000160812159183,-0.000218335519106,-5.92665374385e-05,1793196510681930752
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,743.714704768,712,675.285295232,660.285295232,633,878,783.285295232,801.285295232,649,629,651,0.448875291489,-0.015605821047,0.0598252320095,0.999999954355,-0.000106990445391,-0.000278933090838,-4.51611048787e-05,1793196510698597632
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,743.699721498,712,675.300278502,660,633,878.300278502,783,801,649.300278502,629,651,0.449107734881,-0.0156013983368,0.0597978062505,0.999999943117,-9.26246280248e-05,-0.0003217850607,-4.05138132667e-05,1793196510715264512
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,743.121770539,712,675.878229461,660,633,878.878229461,783,801,649.878229461,629,651,0.449336926896,-0.0155994987481,0.0597802644164,0.999999931791,-0.000114744329086,-0.000348227378757,-4.46126207883e-05,1793196510731931136
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,743,712,676,660,633,879,783,801.454254967,649.545745033,629,651,0.449556272769,-0.0156018950535,0.0597743217789,0.999999927472,-0.000127315947935,-0.000355841651073,-4.71574363051e-05,1793196510748598016
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,743,712,676,660,632.969574503,879,783,801.969574503,649,629,651,0.449771012342,-0.0156052403606,0.0597715494214,0.999999925184,-0.000136912221283,-0.00035841598363,-4.92504581981e-05,1793196510765264384
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,743,712,676,660,632.381321661,879,783,801.381321661,649,629,651,0.449949486561,-0.0156049605772,0.0597701346754,0.999999924036,-0.000138686614507,-0.000360732268883,-5.06655052515e-05,1793196510781931008
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,743,712.203706445,676,660.203706445,632.203706445,879,783,801.203706445,649.203706445,629,651,0.450119241516,-0.015605080385,0.0597703019932,0.999999924061,-0.000140365674745,-0.000359849045953,-5.18004328015e-05,1793196510798597888
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,743,712.782792115,676,660.782792115,632.782792115,879,783,801.782792115,649.782792115,629,651,0.450272929066,-0.0156059365378,0.0597733846527,0.999999926234,-0.000141869060312,-0.000353069942016,-5.24191711143e-05,1793196510815264512
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+212,3.533333333,POSE1_TO_POSE2_PRESS,765,743,712.064233737,675.064233737,661,633,878.064233737,782.064233737,801.064233737,650,629,651.935766263,0.4505238545,-0.015609424278,0.0597731817866,0.999999924785,-0.000148354928316,-0.000354270789014,-5.39765742115e-05,1793196510848598016
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+214,3.566666667,POSE1_TO_POSE2_PRESS,764.090936425,743.909063575,712,676,660,632.909063575,879,782,801.090936425,649.090936425,629,651,0.450704183467,-0.015609199865,0.0597675433402,0.999999921085,-0.000147943995273,-0.000364580003386,-5.498333865e-05,1793196510881931008
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.68015647,743.31984353,712,676,660,632.31984353,879,782,801.68015647,649.68015647,629,651,0.450769422242,-0.0156106836133,0.0597631520492,0.999999918417,-0.000150474163468,-0.000370769811301,-5.52491249285e-05,1793196510898597376
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,632.057972069,878.942027931,782,802,649,629,651,0.451047152701,-0.015602029865,0.059747544629,0.999999910905,-0.000142845054004,-0.000393693413398,-5.28273027815e-05,1793196511886179584
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,632.632828641,878.367171359,782,802,649,629,651,0.451050205556,-0.0156027508798,0.0597492347085,0.999999912274,-0.000143939996332,-0.000389841905263,-5.25109222671e-05,1793196511902846208
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,743.21463499,712,675.21463499,660,632.78536501,878.21463499,782,802,649,629,650.78536501,0.451050349727,-0.0156030843528,0.0597494204224,0.999999912569,-0.000144700935451,-0.000388831364412,-5.22796792103e-05,1793196511919512832
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,743.808727941,712,675.808727941,660,632.191272059,878.808727941,782,802,649,629,650.191272059,0.451045351572,-0.0156027326817,0.0597469465348,0.999999910981,-0.000144871382772,-0.000392843433059,-5.21989525877e-05,1793196511936179456
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,743.608162505,712,676,660,632,879,781.608162505,801.608162505,649.391837495,629,650.391837495,0.451033866086,-0.0156021918619,0.0597411098748,0.999999907538,-0.000145681278098,-0.00040115077346,-5.27169596506e-05,1793196511952846080
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,743,712,676,660,632,879,781.544961116,801.544961116,650,629,651,0.450985973688,-0.0155983754192,0.0597194598913,0.999999893839,-0.000143137130967,-0.000434548073026,-5.47810519608e-05,1793196511986179072
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,743.295481894,712,676,660,632,878.704518106,781,802,649.704518106,628,650.704518106,0.450841492225,-0.0155860248308,0.0596739255108,0.999999866883,-0.00013384809049,-0.000494748998537,-5.95151333072e-05,1793196512036179456
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,743.547619448,712,675.547619448,660,632,878.452380552,781.452380552,802,649,628.452380552,650,0.450715375814,-0.0155798967587,0.0596602716809,0.999999857528,-0.000132754635258,-0.000513523245412,-6.0121885553e-05,1793196512069512704
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,743.026002015,712,675.026002015,660,632,878.973997985,782,801.973997985,649,629,650.026002015,0.450645836151,-0.015577252513,0.0596585834836,0.999999855887,-0.000134230236666,-0.000516368517433,-5.97614489121e-05,1793196512086179328
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,743.601239054,712,675.601239054,660,632,878.398760946,782,801.398760946,649,629,650.601239054,0.450563004708,-0.0155719450284,0.0596598206095,0.999999857816,-0.000129471257085,-0.000513916543781,-5.91101829024e-05,1793196512102845696
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,743.817925342,712,676,660,632,878.182074658,782,801.182074658,649,629,651,0.450473331348,-0.0155659695696,0.059661317735,0.999999859963,-0.000124568321744,-0.000511027870541,-5.83699473088e-05,1793196512119512320
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,743.224439438,712,676,660,632,878.775560562,782,801.775560562,649,629,651,0.450368198179,-0.015558484774,0.0596634023485,0.999999862628,-0.000119340108292,-0.000507152442417,-5.74286784074e-05,1793196512136179200
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.643029112,660.356970888,632,878.643029112,782,802,649,628.643029112,651,0.45024623775,-0.0155526353912,0.0596633024377,0.999999862774,-0.000116650990847,-0.000507638331213,-5.61112808286e-05,1793196512152846080
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.068962618,660.931037382,632,878.068962618,782,802,649,628.068962618,651,0.450114043636,-0.0155477806014,0.0596618739855,0.999999861394,-0.000115506050878,-0.00051077660046,-5.4565136542e-05,1793196512169512704
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.492554747,632,878.507445253,782,802,649.507445253,628.507445253,650.492554747,0.449961641264,-0.0155372513106,0.0596593436871,0.999999859173,-0.000109912750708,-0.000516413890742,-5.37571856465e-05,1793196512186179328
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.083978804,632,879,782,802,650,629,650.083978804,0.449802036599,-0.0155261854364,0.0596564620711,0.999999856673,-0.000103563156631,-0.000522606584623,-5.30280070124e-05,1793196512202846208
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.659377414,632,879,782,802,650,629,650.659377414,0.449616431379,-0.015516513231,0.0596524049569,0.99999985352,-9.6341933627e-05,-0.00053005276689,-5.21700059872e-05,1793196512219512576
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.515414377,632.242292811,879,782,802,649.757707189,629,651,0.449422211826,-0.0155057919426,0.0596511513551,0.999999853328,-8.8209145342e-05,-0.000531950168245,-5.09218811453e-05,1793196512236179200
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,659.32777233,632.836113835,879,782,802,649.163886165,629,651,0.449215494264,-0.0154935486029,0.0596539652028,0.999999857462,-7.87538217103e-05,-0.000525797173361,-4.9107748942e-05,1793196512252845824
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,659.832219503,632.583890248,878.583890248,782,802,649,629,650.583890248,0.44899189143,-0.0154840657036,0.059659678867,0.99999986283,-7.204287078e-05,-0.000516680805531,-4.68109549702e-05,1793196512269512448
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.98167137,632.009164315,878.009164315,782,802,649,629,650.009164315,0.448761852131,-0.0154756350523,0.0596664979074,0.999999868576,-6.637804291e-05,-0.000506434834608,-4.43301760015e-05,1793196512286179328
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,743,712.853421627,675,660.853421627,632,878.853421627,783,802.853421627,649,629,651,0.448248354591,-0.0154618906185,0.0596855436266,0.999999886351,-5.48633720662e-05,-0.000472075963053,-3.78558627511e-05,1793196512319512576
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,743,712.260982541,675,660.260982541,632,878.260982541,783,802.260982541,649,629,651,0.447962152896,-0.0154607550375,0.0596985800255,0.999999895459,-5.54134716554e-05,-0.00045255345206,-3.47460000914e-05,1793196512336178944
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.09845685,743.90154315,712,675.90154315,660,632.90154315,878.90154315,783,801.09845685,649,629.90154315,650.09845685,0.44734926672,-0.0154793847165,0.0597336630073,0.999999920006,-6.66959136507e-05,-0.000393670564123,-2.37224888814e-05,1793196512369512704
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633,878,784,802,649.885763719,629.114236281,651,0.443518865925,-0.0154414106609,0.0597915644062,0.999999950623,8.68689509206e-05,-0.000301826346249,1.04226359015e-05,1793196512519512832
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.962960883,660.018519559,633.018519559,878,785,800.981480441,649,629.981480441,650,0.432311608651,-0.0154118954523,0.0597966140961,0.999999946495,0.000125343192687,-0.000301757289015,1.55224076473e-05,1793196512802846464
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.438818411,660,633,877.438818411,784.438818411,801,649,630,650,0.431571699387,-0.0154141945769,0.0597947510814,0.999999945732,0.000124874570502,-0.000304466897594,1.55945007452e-05,1793196512819512832
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633,877.142864457,784.142864457,801,649,629.857135543,650,0.430829540961,-0.0154161319951,0.0597991645556,0.999999948043,0.000125599418293,-0.00029642200725,1.64994788881e-05,1793196512836179712
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633,877.730145831,784.730145831,801,649,629.269854169,650,0.430076832622,-0.0154163211058,0.0598238855381,0.999999958985,0.000130155203938,-0.000254350515208,1.98750426255e-05,1793196512852846080
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.313043146,633.313043146,878,785,801,649,629.313043146,650.313043146,0.429277046402,-0.0154133505914,0.0598204472909,0.999999954736,0.000136364644772,-0.000267383541074,2.09361718049e-05,1793196512869512704
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.892213415,633.892213415,878,785,801,649,629.892213415,650.892213415,0.428437237939,-0.0154076939875,0.0597930700586,0.999999935884,0.000143979905725,-0.000327262529084,2.00297323468e-05,1793196512886179584
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.533081403,633.533081403,878,784.533081403,801,649,630,650.533081403,0.427627406921,-0.0154066837719,0.0597711284901,0.999999926272,0.000144733857406,-0.000355289264245,1.66856191089e-05,1793196512902846720
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,743,712.041650799,675,660,633,878,784,801,649,630,650.041650799,0.426828488066,-0.0154070089221,0.0597537345865,0.999999920542,0.000143632775934,-0.000371629140953,1.32872268996e-05,1793196512919513600
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,743,712.630141919,675,660,633,878,784,801,649,630,650.630141919,0.426082841863,-0.0154109173179,0.0597797292692,0.999999935734,0.000138775094875,-0.00033015440764,1.64943782097e-05,1793196512936179712
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,743,712.785048412,674.785048412,660,633,878.214951588,784,801,649,629.785048412,650.785048412,0.425322672332,-0.0154129288172,0.0598021032387,0.999999945014,0.000140304251918,-0.000299820941984,1.98554437007e-05,1793196512952846080
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,743,712.2064665,674.2064665,660,633,878.7935335,784,801,649,629.2064665,650.2064665,0.424537933787,-0.0154117313662,0.0598183521074,0.999999946507,0.000152637925074,-0.000288334982896,2.34768840186e-05,1793196512969512704
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.371495867,660,633.371495867,878.628504133,784.371495867,801,649,629.371495867,650,0.4237536592,-0.0154075324627,0.0598259600818,0.999999947527,0.000160057749747,-0.000280543238717,2.49660959256e-05,1793196512986179328
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.949114447,660,633.949114447,878.050885553,784.949114447,801,649,629.949114447,650,0.422969642083,-0.0154016682176,0.0598287736962,0.999999948351,0.000164751148249,-0.000274801212803,2.52722508326e-05,1793196513002845952
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,634,877.477520494,785,801,649,630,650.522479506,0.422193808297,-0.0154038637489,0.0598375737108,0.999999952728,0.000165420304033,-0.000257910815186,2.57142773573e-05,1793196513019512832
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.901435326,660,634,877,785,801,649,630,651,0.421412404404,-0.0154056578025,0.0598395009038,0.999999953758,0.000165656773402,-0.000253745433462,2.55792179025e-05,1793196513036179968
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.309683497,660,634,877,785,801,649,630,651,0.420599173733,-0.0154015469995,0.0598041448772,0.999999935257,0.0001656734777,-0.0003186410686,2.24909200886e-05,1793196513052847360
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877.276130931,784.723869069,801,649,629.723869069,650.723869069,0.41980703431,-0.0153996478331,0.0597689691143,0.999999915996,0.000166321393284,-0.00037415621938,1.87839260767e-05,1793196513069513984
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877.855426634,784.144573366,801,649,629.144573366,650.144573366,0.419038051067,-0.0154001768277,0.0597339912657,0.999999897904,0.000167662317492,-0.000419372511543,1.43976643634e-05,1793196513086179840
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,878,784.432428059,801,649,629.432428059,650,0.418315781255,-0.0154015757152,0.0597473020271,0.999999910258,0.000166829878148,-0.000389136148216,1.49626443824e-05,1793196513102846208
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,742.991184834,712,674,660,633.991184834,878,785,801,649.008815166,630,650,0.417609161613,-0.0154032435026,0.0597766687355,0.999999930361,0.000165409952382,-0.000334097581081,1.72125244373e-05,1793196513119512576
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,742.405063818,712,674,660,633.405063818,878,785,801,649.594936182,630,650,0.416910072186,-0.0154035755566,0.0598058291905,0.999999940389,0.000172850727076,-0.000298097108453,2.19700823605e-05,1793196513136179456
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.178983492,742.178983492,712,674,660,633.178983492,878,785,801,649.821016508,630,650,0.416206934191,-0.0154033986161,0.0598260994416,0.999999945347,0.000179153739298,-0.000276697051406,2.54565667423e-05,1793196513152846080
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.75839159,742.75839159,712,674,660,633.75839159,878,785,801,649.24160841,630,650,0.415494738542,-0.0154020829452,0.0598264803979,0.99999994147,0.00018291133379,-0.000287961261216,2.60993869315e-05,1793196513169512960
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.662434641,742.662434641,712,674,660,633.662434641,877.662434641,785,801,649,630,650,0.414808307957,-0.0154016077753,0.0598257023925,0.99999993988,0.000185007692417,-0.00029211559622,2.60912397795e-05,1793196513186179840
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.08342851,742.08342851,712,674,660,633.08342851,877.08342851,785,801,649,630,650,0.414140305659,-0.0154017337668,0.0598240954496,0.999999939995,0.000185915865907,-0.00029118465266,2.56174936977e-05,1793196513202846976
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,742.492228224,712,674.492228224,660,633.492228224,877,785,800.507771776,649,629.507771776,650,0.413476246234,-0.0154007746418,0.0598263246666,0.999999939973,0.00018730727801,-0.00029034855853,2.58296312513e-05,1793196513219513088
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.931224766,660,634,877,785,800,649.068775234,629,650,0.412810301401,-0.0153989607688,0.0598243562811,0.999999937455,0.00018906901889,-0.000297799476923,2.56634510687e-05,1793196513236179200
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.343709892,660,634,877,785,800,649.656290108,629,650,0.412125129303,-0.0153920777611,0.0597858563441,0.999999913559,0.000193010382239,-0.000367635044478,2.17728912525e-05,1793196513252845824
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660.24038554,634,877,784.75961446,800.24038554,649.75961446,629.24038554,650,0.411476472023,-0.0153880795324,0.0597595160193,0.999999896849,0.000197396478732,-0.000408641721928,1.86777294343e-05,1793196513269512704
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660.819660283,634,877,784.180339717,800.819660283,649.180339717,629.819660283,650,0.410879292429,-0.0153881481896,0.0597503179989,0.999999895733,0.000202409549022,-0.000409006185434,1.67038992131e-05,1793196513286179328
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,743,712.398205501,674,660.601794499,634,877,784.398205501,801,649,629.601794499,650,0.410333397332,-0.0153911724143,0.0597747233864,0.999999914277,0.000196392433073,-0.000364013762196,1.92505404509e-05,1793196513302845952
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,743,712.976420986,674,660.023579014,634,877,784.976420986,801,649,629.023579014,650,0.409810685493,-0.0153955327121,0.0598143192936,0.999999937975,0.000185389088274,-0.000298517621838,2.38406740363e-05,1793196513319512832
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,743,712.45091469,674,660,634,877,784.45091469,801.54908531,649,629,650.54908531,0.409291506075,-0.0153952082139,0.0598404578352,0.999999945666,0.000194705979267,-0.000264663745177,2.6675810869e-05,1793196513336179968
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,743,712,673.874551155,660,634,877,784.125448845,802,649,629.125448845,651,0.408769911827,-0.0153948455051,0.0598590689057,0.999999949879,0.000202049908534,-0.000242039046412,2.88977693529e-05,1793196513352846848
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,743,712,673.283584638,660,634,877,784.716415362,802,649,629.716415362,651,0.408238799184,-0.0153950800599,0.0598518699023,0.99999994701,0.000198866896662,-0.000256091993877,2.91211980349e-05,1793196513369513216
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,743,712,673,660,634,877,785,801.398036469,649,629.699018234,651,0.407726534371,-0.0153932029722,0.0598415248423,0.999999942567,0.000199720325631,-0.000272376078479,2.80964190123e-05,1793196513386179840
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,743,712,673,660,634,877,785,800.240712973,649,629.120356487,651,0.407231658237,-0.0153893777237,0.0598282772917,0.999999936537,0.000204297697368,-0.000290718566361,2.5920067577e-05,1793196513402846208
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,743,712,673.456257214,660,634,877,784.543742786,800.456257214,649,629.456257214,650.543742786,0.406789794167,-0.0153883295107,0.0598260072115,0.999999937988,0.000204338571115,-0.000285747028698,2.48700092649e-05,1793196513419512576
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,743,712,673.967075356,659.967075356,634,877,784,801,649.032924644,630,650.032924644,0.406363581283,-0.0153881224575,0.0598271955727,0.999999941482,0.000203177090004,-0.000274169313926,2.4222751973e-05,1793196513436179200
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,743,712,673.380459387,659.380459387,634,877,784,801,649.619540613,630,650.619540613,0.405966454488,-0.015389796831,0.0598380641827,0.999999946936,0.000201830356987,-0.000254458377356,2.53752902792e-05,1793196513452846080
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,743,712,673.204792919,659.204792919,634,877.204792919,784.204792919,801,649.795207081,630,650.795207081,0.405572740241,-0.015389088212,0.0598433892961,0.999999949022,0.00020392741646,-0.000244368807374,2.5558925391e-05,1793196513469512704
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,743,712,673.787528537,659.787528537,634,877.787528537,784.787528537,801,649.212471463,630,650.212471463,0.405185323852,-0.0153839818112,0.0598384839566,0.9999999454,0.000212379950967,-0.000252035348096,2.39544619949e-05,1793196513486179584
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877.634930607,785,801,649.365069393,630,650,0.404813056338,-0.0153822723011,0.059826646981,0.999999940701,0.000214126235043,-0.000268782218074,2.24725505968e-05,1793196513502846208
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877.060370646,785,801,649.939629354,630,650,0.404449481783,-0.0153825120545,0.0598108323711,0.999999935036,0.00021202422077,-0.000290739723602,2.10609639916e-05,1793196513519512832
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,743,712,673.484628434,660,634,876.484628434,785,801,649.484628434,630,650.515371566,0.404111687569,-0.0153816343112,0.0597918111818,0.999999923013,0.000217780584164,-0.000325801878553,1.99918267872e-05,1793196513536179200
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,743,712,673.093071142,660,634,876.093071142,785,801.093071142,649,630,651,0.403787312896,-0.0153808890468,0.0597759850929,0.999999911671,0.00022401107748,-0.000355113121863,1.92620836364e-05,1793196513552845568
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,743,712,673.680429025,660,634,876.680429025,785,801.680429025,649,630,651,0.403518132085,-0.0153815441654,0.0597791271324,0.99999991408,0.000227859567319,-0.00034571084267,2.01212785686e-05,1793196513569512192
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877,785,801.73438447,649,630,651,0.403269563839,-0.0153819401984,0.0597890751367,0.999999919772,0.000230824487314,-0.000326642652157,2.1942658257e-05,1793196513586178816
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877,785,801.151789276,649,630,651,0.403045594184,-0.0153820270444,0.0598071452278,0.999999928787,0.000232734974342,-0.000296039378471,2.49122877641e-05,1793196513602845696
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877.422743908,784.577256092,801,649,630,651,0.402836600955,-0.0153822477559,0.0598185372907,0.999999933331,0.000235338024946,-0.000277832768946,2.76288810593e-05,1793196513619512576
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877.994436528,784.005563472,801,649,630,651,0.402632884492,-0.0153825156333,0.0598275764306,0.99999993633,0.00023818509193,-0.000263993975034,3.02563200381e-05,1793196513636179456
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,743,712,673.430631074,660,634,877.430631074,784.569368926,801,649,630,651,0.402454251631,-0.0153805041579,0.0598362597174,0.999999940209,0.000236167972605,-0.000250542985437,3.21623308242e-05,1793196513652846592
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.850570164,742.850570164,712,673.149429836,659.850570164,634,877,785,800.850570164,649,630,651,0.402278195858,-0.0153778585062,0.0598427637285,0.999999942451,0.000236423728439,-0.000240961063291,3.37576567198e-05,1793196513669513216
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.90648811,742.90648811,712,673.09351189,659.90648811,633.09351189,876.09351189,785,800.90648811,649,629.09351189,650.09351189,0.401804134522,-0.0153726852452,0.0598339335737,0.999999935914,0.000241264570707,-0.000262138138838,3.53065777344e-05,1793196513719512832
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.518599017,742.518599017,712,673,660,633.481400983,876,785,801,649,629,650,0.401682585591,-0.0153751233769,0.0598322496006,0.999999934359,0.000241556139544,-0.000267749143537,3.52511582968e-05,1793196513736179200
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.057426928,742.057426928,712,673,660,634,876,784.942573072,801.057426928,649,629.057426928,650.057426928,0.401569156969,-0.0153783718227,0.0598319265799,0.999999932463,0.000245856856359,-0.000270908933042,3.51561669944e-05,1793196513752845568
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,743,712,673.233300505,659.766699495,634,876.233300505,784,801.766699495,649,629.766699495,650.766699495,0.401402655626,-0.0153949070589,0.059840850661,0.999999930628,0.000267614930552,-0.000257467737165,2.89400510371e-05,1793196513786179328
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3440779b327802be38546035882d9a91ad818e3f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_04/simulation_data.csv
@@ -0,0 +1,427 @@
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+395,6.583333333,pose2_to_pose3_retreat,0.578289398806,-0.00999884495577,1.05001169368,0.548860634707,-0.0013251755344,1.0496612281
+396,6.600000000,pose2_to_pose3_retreat,0.578278371483,-0.00999884337434,1.05001177082,0.548849606963,-0.00132517529929,1.04966130737
+397,6.616666667,pose2_to_pose3_retreat,0.578270246034,-0.00999874320644,1.05001178347,0.548841481012,-0.00132507673321,1.04966132249
+398,6.633333333,pose2_to_pose3_retreat,0.578264315886,-0.00999864165648,1.05001177235,0.548835550304,-0.00132497698468,1.04966131369
+399,6.650000000,pose2_to_pose3_retreat,0.578260390367,-0.00999864056323,1.05001175866,0.548831623897,-0.0013249788209,1.04966130208
+400,6.666666667,pose2_to_pose3_retreat,0.578257743585,-0.0099986571423,1.05001170075,0.548828977156,-0.00132499518299,1.04966124601
+401,6.683333333,pose2_to_pose3_retreat,0.578256334836,-0.0099986892475,1.05001160449,0.548827569291,-0.0013250242254,1.04966115131
+402,6.700000000,pose2_to_pose3_retreat,0.578255521602,-0.009998707781,1.05001154892,0.548826756568,-0.00132504099083,1.04966109664
+403,6.716666667,pose2_to_pose3_retreat,0.578255178345,-0.0099987156038,1.05001152546,0.548826413526,-0.00132504806735,1.04966107357
+404,6.733333333,pose2_to_pose3_retreat,0.578255163639,-0.00999871593894,1.05001152446,0.54882639883,-0.00132504837051,1.04966107258
+405,6.750000000,pose2_to_pose3_retreat,0.578255005727,-0.00999871953774,1.05001151367,0.548826241016,-0.001325051626,1.04966106196
+406,6.766666667,pose2_to_pose3_retreat,0.578254768367,-0.00999873090206,1.05001151764,0.548826003822,-0.00132506246356,1.04966106504
+407,6.783333333,pose2_to_pose3_retreat,0.57825453788,-0.00999874792796,1.05001154181,0.548825773514,-0.00132507896721,1.04966108717
+408,6.800000000,pose2_to_pose3_retreat,0.57825438263,-0.00999875939621,1.05001155809,0.548825618384,-0.00132509008367,1.04966110208
+409,6.816666667,pose2_to_pose3_retreat,0.578254376554,-0.00999875984504,1.05001155873,0.548825612312,-0.00132509051874,1.04966110266
+410,6.833333333,pose2_to_pose3_retreat,0.578254357077,-0.00999876128381,1.05001156077,0.54882559285,-0.00132509191337,1.04966110453
+411,6.850000000,pose2_to_pose3_retreat,0.578254338573,-0.0099987626507,1.05001156271,0.54882557436,-0.00132509323833,1.04966110631
+412,6.866666667,pose2_to_pose3_retreat,0.57825427235,-0.00999876754259,1.05001156966,0.548825508188,-0.00132509798016,1.04966111267
+413,6.883333333,pose2_to_pose3_retreat,0.578254085751,-0.00999878132652,1.05001158923,0.548825321734,-0.00132511134128,1.04966113059
+414,6.900000000,pose2_to_pose3_retreat,0.578253884313,-0.00999879620662,1.05001161035,0.548825120452,-0.00132512576494,1.04966114993
+415,6.916666667,pose2_to_pose3_retreat,0.578253603894,-0.00999881692105,1.05001163976,0.54882484025,-0.00132514584396,1.04966117686
+416,6.933333333,pose2_to_pose3_retreat,0.578253230078,-0.00999884453466,1.05001167897,0.548824466722,-0.00132517261054,1.04966121275
+417,6.950000000,pose2_to_pose3_retreat,0.578253026983,-0.00999884241225,1.05001165478,0.548824263486,-0.00132517096351,1.04966118865
+418,6.966666667,pose2_to_pose3_retreat,0.578253026533,-0.00999884233458,1.05001165453,0.548824263035,-0.00132517089087,1.04966118841
+419,6.983333333,pose2_to_pose3_retreat,0.5782528262,-0.00999880774896,1.05001154436,0.548824061996,-0.00132513854928,1.04966108191
+420,7.000000000,pose2_to_pose3_retreat,0.578252544209,-0.00999875906603,1.05001138928,0.548823779013,-0.00132509302506,1.049660932
+421,7.016666667,pose2_to_pose3_retreat,0.57825251788,-0.00999875452061,1.0500113748,0.548823752592,-0.00132508877457,1.049660918
+422,7.033333333,pose2_to_pose3_retreat,0.578252370178,-0.00999872902119,1.05001129358,0.54882360437,-0.00132506492963,1.04966083947
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+425,7.083333333,pose2_to_pose3_retreat,0.578252179325,-0.00999863438498,1.05001193089,0.548823411163,-0.00132497880691,1.04966146381
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..525191c67576ded2c427ff4fe99530bb0c83322a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a1ee8796b8663b1988cec9704ac5705fa5c3d4eacd99cd7b588aac532d76bf2
+size 27208430
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..13ac028886021b09a62f75f778e3c627fcb5d03c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_05/franka_data.csv
@@ -0,0 +1,428 @@
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+39,0.650000000,BASELINE,765,743,712,673.629475227,659.629475227,634,877,784.629475227,801,649,630,650,0.40098157813,-0.0154051559949,0.0598500582638,0.999999956136,0.000163977183462,-0.000246309382269,1.30463927768e-05,1793196515233550080
+40,0.666666667,BASELINE,764.792660178,743,712,674,660,634,876.792660178,785,801,649,630,650.207339822,0.400982842293,-0.0154067491744,0.0598506960954,0.999999956628,0.000162857958987,-0.000245032020959,1.34428462102e-05,1793196515250216960
+41,0.683333333,BASELINE,764.215788546,743,712,674,660,634,876.215788546,785,801,649,630,650.784211454,0.400981907243,-0.0154051915505,0.059850080156,0.999999956045,0.000164466349029,-0.000246340502464,1.33163738008e-05,1793196515266883584
+42,0.700000000,BASELINE,764,742.632411503,712,673.632411503,660.367588497,634,876.735176995,784.632411503,801,649,629.632411503,650.632411503,0.400980679025,-0.0154042248619,0.059849657782,0.999999955596,0.000165452076977,-0.000247509624343,1.31074386825e-05,1793196515283550208
+43,0.716666667,BASELINE,764,742.045146752,712,673.045146752,660.954853248,634,877.909706496,784.045146752,801,649,629.045146752,650.045146752,0.400979275606,-0.0154036113251,0.0598493510854,0.999999955229,0.00016606569291,-0.000248595462827,1.28492226498e-05,1793196515300216576
+44,0.733333333,BASELINE,764.534702113,742.534702113,712,673,660.465297887,634,877.465297887,784.534702113,801,649,629,650,0.400979265899,-0.0154034155259,0.0598491906421,0.999999955497,0.000165446575771,-0.000247937591533,1.26763316542e-05,1793196515316883200
+45,0.750000000,BASELINE,765,742.886445614,712,673.113554386,660,634,877,784.886445614,801,649,629.113554386,650.113554386,0.400979656961,-0.0154032749118,0.0598492243869,0.999999955752,0.000165095847655,-0.0002471443038,1.25763550559e-05,1793196515333549824
+46,0.766666667,BASELINE,765,742.309141341,712,673.690858659,660,634,877,784.309141341,801,649,629.690858659,650.690858659,0.400981210736,-0.0154032175959,0.0598500014443,0.999999955743,0.000166260464054,-0.000246391026802,1.27451374595e-05,1793196515350216192
+47,0.783333333,BASELINE,765,742.265277084,712,674,660,634,876.734722916,784,801,649,630,650.734722916,0.400981750734,-0.0154029076421,0.0598502434088,0.999999955589,0.00016745230512,-0.000246211755579,1.26936557966e-05,1793196515366883072
+48,0.800000000,BASELINE,765,742.836368743,712,674,660,634,876.163631257,784,801,649,630,650.163631257,0.400981122038,-0.0154023064446,0.059849868512,0.999999955269,0.000168675531255,-0.000246694204933,1.23882511228e-05,1793196515383549696
+49,0.816666667,BASELINE,764.576815962,743,712,674,660,634,876.423184038,784.423184038,801,649.423184038,630,650,0.400979736691,-0.0154030794613,0.059849328768,0.999999955237,0.000167487600835,-0.000247627513077,1.24367422178e-05,1793196515400216320
+50,0.833333333,BASELINE,764.015935207,743,712,674,659.984064793,634,877,785,801,649.984064793,630,650.015935207,0.400978109503,-0.015404390018,0.0598487280894,0.999999955325,0.000165322227688,-0.00024871524406,1.26264814254e-05,1793196515416883200
+51,0.850000000,BASELINE,764.595302902,743,712,674,659.404697098,634,877,785,801,649.404697098,630,650.595302902,0.400978675206,-0.0154051939637,0.0598483136049,0.999999955695,0.000162833295234,-0.000248861164868,1.27853811694e-05,1793196515433549824
+52,0.866666667,BASELINE,764.826316802,743,712,673.826316802,659,634,877,785,801,649.173683198,629.826316802,651,0.400978672361,-0.0154053511928,0.059847893863,0.999999955685,0.000162035737781,-0.000249417988961,1.28635295213e-05,1793196515450216448
+53,0.883333333,BASELINE,764.250224261,743,712,673.250224261,659,634,877,785,801,649.749775739,629.250224261,651,0.400977352239,-0.0154040100338,0.0598474619401,0.999999954798,0.00016515695393,-0.000250926841353,1.27545836873e-05,1793196515466883072
+54,0.900000000,BASELINE,764.331481453,743,712,673.331481453,659.331481453,634,877,785,801,649.668518547,629.331481453,651,0.40097737508,-0.0154036183612,0.0598477484701,0.999999954781,0.0001655661329,-0.000250732839794,1.25737202296e-05,1793196515483549696
+55,0.916666667,BASELINE,764.917497324,743,712,673.917497324,659.917497324,634,877,785,801,649.082502676,629.917497324,651,0.400978429139,-0.0154039557699,0.0598485866779,0.999999955435,0.000163892821745,-0.000249231268963,1.23376334446e-05,1793196515500216320
+56,0.933333333,BASELINE,765,743,712,674,659.503193387,634,877,785,801,649,630,651,0.400980188366,-0.0154040993405,0.059849416728,0.999999956109,0.000163427232618,-0.00024681739841,1.24320892373e-05,1793196515516882944
+57,0.950000000,BASELINE,765,742.924752573,712,674,659,634,876.924752573,785,801,649,629.924752573,651,0.400981572351,-0.015404066212,0.059850034643,0.99999995657,0.000163433473892,-0.000244933948772,1.25354617511e-05,1793196515533549568
+58,0.966666667,BASELINE,765,742.344766403,712,674,659,634,876.344766403,785,801,649,629.344766403,651,0.40097966428,-0.0154030608801,0.0598492385804,0.99999995561,0.000165277230092,-0.000247611112789,1.2335349941e-05,1793196515550216192
+59,0.983333333,BASELINE,765,742.232791768,712,674,659.232791768,634,876.232791768,785,801,649,629,651,0.400977707878,-0.0154025132402,0.059848416771,0.999999954963,0.000165828970146,-0.000249852336441,1.21865337438e-05,1793196515566883328
+60,1.000000000,BASELINE,765,742.806791259,712,674,659.806791259,634,876.806791259,785,801,649,629,651,0.400975680634,-0.0154026364489,0.0598475572239,0.999999954784,0.000164486975618,-0.00025145459366,1.21129025603e-05,1793196515583549952
+61,1.016666667,BASELINE,765,743,712,673.609779432,660,634,876.609779432,784.609779432,801,649,629,651,0.400978059539,-0.0154029024927,0.0598488044903,0.999999955296,0.000165584427994,-0.000248672802475,1.2299795398e-05,1793196515600216576
+62,1.033333333,BASELINE,765,743,712,673.021565579,660,634,876.021565579,784.021565579,801,649,629,651,0.400982674072,-0.0154032410093,0.0598511207289,0.999999956135,0.000167919626853,-0.00024366659706,1.26188750359e-05,1793196515616883200
+63,1.050000000,BASELINE,765,743,712,673.557870186,659.442129814,634,876,784.557870186,801,649,629,650.442129814,0.400979165097,-0.0154035252807,0.0598501712979,0.999999955619,0.000166115992287,-0.000246990204272,1.27703215421e-05,1793196515633549824
+64,1.066666667,BASELINE,764.863792732,742.863792732,712,674,659.136207268,634,876.136207268,784.863792732,801,649,629,650,0.400976638808,-0.0154036938972,0.0598493675759,0.99999995522,0.00016470283909,-0.000249535829074,1.28612982729e-05,1793196515650216448
+65,1.083333333,BASELINE,764.287923747,742.287923747,712,674,659.712076253,634,876.712076253,784.287923747,801,649,629,650,0.400978282472,-0.0154034958568,0.0598494353655,0.999999955408,0.000165058560768,-0.000248546918359,1.27776786655e-05,1793196515666883072
+66,1.100000000,BASELINE,764.287821927,742.287821927,712,673.712178073,659.712178073,634,877,784,801,649,629.287821927,650,0.400979932853,-0.0154038525435,0.0598496464137,0.999999955823,0.000164923735351,-0.000246957939573,1.28890249231e-05,1793196515683549952
+67,1.116666667,BASELINE,764.863444264,742.863444264,712,673.136555736,659.136555736,634,877,784,801,649,629.863444264,650,0.40098158995,-0.0154047639157,0.0598500007097,0.99999995646,0.000164298399489,-0.00024476893763,1.31953224756e-05,1793196515700216576
+68,1.133333333,BASELINE,765,743,712,673.450406415,659.450406415,634,877,784.450406415,800.549593585,649,630,650.450406415,0.400980894332,-0.0154045911218,0.0598497118729,0.999999956379,0.000163967841636,-0.000245331376812,1.30292388603e-05,1793196515716883200
+69,1.150000000,BASELINE,765,742.95989919,712.04010081,674,660,634,877,785,800.04010081,649.04010081,629.95989919,650.95989919,0.400979629845,-0.0154041048427,0.0598493276038,0.999999956099,0.000163801001558,-0.000246596614382,1.27351146135e-05,1793196515733549824
+70,1.166666667,BASELINE,765,742.380883973,712.619116027,674,660,634,877,785,800.619116027,649.619116027,629.380883973,650.380883973,0.400980554012,-0.0154039371408,0.0598503489326,0.999999956162,0.000164602276675,-0.000245806524205,1.26946703555e-05,1793196515750216448
+71,1.183333333,BASELINE,765.196678531,742.196678531,712.803321469,673.803321469,660,634,877,785,801,649.803321469,629.196678531,650.196678531,0.400980784897,-0.0154041151664,0.0598507596879,0.999999956179,0.000164602186256,-0.000245735477774,1.27238362457e-05,1793196515766883072
+72,1.200000000,BASELINE,765.771448465,742.771448465,712.228551535,673.228551535,660,634,877,785,801,649.228551535,629.771448465,650.771448465,0.400979683028,-0.0154049578127,0.0598499966877,0.999999956106,0.000163061564748,-0.000247046708454,1.28868194724e-05,1793196515783549696
+73,1.216666667,BASELINE,765.646909855,743,712,673.353090145,660,634,877,785,801,649,630,650.646909855,0.400979775238,-0.0154049014137,0.0598499205231,0.999999956194,0.000162914644769,-0.000246787639378,1.29276236238e-05,1793196515800216320
+74,1.233333333,BASELINE,765.060731917,743,712,673.939268083,660,634,877,785,801,649,630,650.060731917,0.400980655704,-0.0154042515217,0.059850297764,0.999999956387,0.000163687758528,-0.00024549195759,1.28877728635e-05,1793196515816883200
+75,1.250000000,BASELINE,765,743,712,673.47662218,660,634,876.47662218,785,801,649,629.47662218,650.52337782,0.400978298628,-0.0154035244557,0.0598486463266,0.999999955274,0.00016579387076,-0.000248608626486,1.26008814901e-05,1793196515833549824
+76,1.266666667,BASELINE,765,743,712,673,659.894244274,634,876.105755726,784.894244274,801,649.105755726,629,651,0.400976668272,-0.0154029109757,0.0598476660052,0.999999954448,0.000167664075178,-0.000250677422417,1.23970414058e-05,1793196515850216448
+77,1.283333333,BASELINE,765,743,712,673,659.318500456,634,876.681499544,784.318500456,801,649.681499544,629,651,0.400979930511,-0.0154028419239,0.059850710226,0.999999955626,0.000167801181856,-0.000245822947538,1.26891825753e-05,1793196515866883072
+78,1.300000000,BASELINE,765,743,712,673.255937083,659.255937083,634,877.255937083,784.255937083,801,650,629.255937083,650.744062917,0.400981570028,-0.0154036991942,0.0598524523877,0.999999956482,0.000166449827081,-0.000243234146464,1.29785497822e-05,1793196515883549952
+79,1.316666667,BASELINE,765,743,712,673.828757239,659.828757239,634,877.828757239,784.828757239,801,650,629.828757239,650.171242761,0.400981200406,-0.0154057033705,0.0598525824324,0.999999956952,0.00016325556531,-0.000243450541741,1.32644824447e-05,1793196515900217344
+80,1.333333333,BASELINE,765,743,712,673.586437595,660,634,877.586437595,785,801,649.586437595,629.586437595,650.413562405,0.400980114895,-0.0154054523764,0.0598507477311,0.999999956339,0.000163961643898,-0.000245488026392,1.3175826893e-05,1793196515916884224
+81,1.350000000,BASELINE,764.996577798,743,712,673,660,633.996577798,876.996577798,785,801,649,629.003422202,651,0.400978736646,-0.0154042542945,0.05984809765,0.999999955268,0.000166300472568,-0.000248276978652,1.2926985181e-05,1793196515933550080
+82,1.366666667,BASELINE,764.416181461,743,712,673,660,633.416181461,876.416181461,785,801,649,629.583818539,651,0.400979471718,-0.0154055133566,0.0598492305214,0.99999995609,0.00016350485152,-0.000246835620166,1.26018956493e-05,1793196515950216704
+83,1.383333333,BASELINE,764.162933338,743,712,673,660,633.162933338,876.162933338,785,801,649,629.837066662,651,0.400979655972,-0.0154062244767,0.0598498819726,0.999999956534,0.000161903037838,-0.000246099296111,1.24452134312e-05,1793196515966883584
+84,1.400000000,BASELINE,764.738800368,743,712,673,660,633.738800368,876.738800368,785,801,649,629.261199632,651,0.400978444247,-0.0154055469083,0.0598493133262,0.99999995604,0.000163326775544,-0.000247149791286,1.27153379271e-05,1793196515983550464
+85,1.416666667,BASELINE,765,743,712,673,660,634,877,785,800.679801366,649,629.320198634,651,0.400978898808,-0.0154052097391,0.0598498376324,0.999999956005,0.000164631782074,-0.000246400964672,1.31151866949e-05,1793196516000216832
+86,1.433333333,BASELINE,765,743,712,673,660,634,877,785,800.09381176,649,629.90618824,651,0.400980736522,-0.0154051551291,0.0598512691783,0.999999956349,0.000165838231961,-0.000244158554202,1.36227171693e-05,1793196516016883200
+87,1.450000000,BASELINE,765,743,712,673,660,633.510844308,877,785,800.489155692,649,630,651,0.400979970258,-0.0154051371301,0.0598505169419,0.999999956238,0.000164859559429,-0.000245298793033,1.32042662719e-05,1793196516033549824
+88,1.466666667,BASELINE,765,743,712,673,659.9293793,633.0706207,876.9293793,785,801,649,630,651,0.400978941275,-0.0154051409869,0.0598495281648,0.999999956082,0.000163598677355,-0.000246801672309,1.26600747342e-05,1793196516050216448
+89,1.483333333,BASELINE,765,743,712,673,659.354528774,633.645471226,876.354528774,785,801,649,630,651,0.400979580273,-0.0154052510691,0.0598498224413,0.99999995626,0.000163296597888,-0.000246290288359,1.24782825845e-05,1793196516066883072
+90,1.500000000,BASELINE,765,743,712.220434675,673,659.220434675,634,876.220434675,785,801,649,630,651,0.400980032156,-0.0154051603613,0.0598503600582,0.999999956343,0.000163775963783,-0.000245632959894,1.25137510506e-05,1793196516083549952
+91,1.516666667,BASELINE,765,743,712.79557978,673,659.79557978,634,876.79557978,785,801,649,630,651,0.400980182944,-0.0154047465542,0.0598512892439,0.999999956271,0.000165512785326,-0.000244740786203,1.28988224554e-05,1793196516100216832
+92,1.533333333,BASELINE,765.378814882,743,712.621185118,673.378814882,659.621185118,634,876.621185118,785,801,649,630,650.621185118,0.40097938962,-0.0154033499749,0.0598505388758,0.999999955643,0.000167705934324,-0.000245818709592,1.27492313792e-05,1793196516116883712
+93,1.550000000,BASELINE,765.966510918,743,712.033489082,673.966510918,659.033489082,634,876.033489082,785,801,649,630,650.033489082,0.400978075707,-0.0154014114883,0.0598488623902,0.999999954701,0.000170150705606,-0.000247982958093,1.2304823737e-05,1793196516133550592
+94,1.566666667,BASELINE,765.451530987,743,712,674,659,634,876,784.451530987,801,649,630,650,0.400978509714,-0.0154024309539,0.0598494415727,0.99999995519,0.000167826444898,-0.000247594197663,1.23005978097e-05,1793196516150216960
+95,1.583333333,BASELINE,765,743,711.871399701,674,659.128600299,634,876,784.128600299,801,649,629.871399701,650,0.400979400748,-0.0154034180199,0.0598501472802,0.999999955783,0.000165661748935,-0.000246650141336,1.23753474169e-05,1793196516166883328
+96,1.600000000,BASELINE,765,743,711.296405874,674,659.703594126,634,876,784.703594126,801,649,629.296405874,650,0.400981511566,-0.0154036721841,0.059850819045,0.999999956455,0.000165051245131,-0.000244314058345,1.26319053298e-05,1793196516183549696
+97,1.616666667,BASELINE,765,743,711.277125041,673.722874959,660,634,876,784.722874959,801,649,629.277125041,650.277125041,0.400982449067,-0.0154039778477,0.0598510974441,0.999999956701,0.000165079263831,-0.000243283638658,1.26834519855e-05,1793196516200216320
+98,1.633333333,BASELINE,765,743,711.849099442,673.150900558,660,634,876,784.150900558,801,649,629.849099442,650.849099442,0.400982138208,-0.0154043383046,0.0598509573184,0.999999956498,0.000165786643596,-0.000243642389828,1.25168752904e-05,1793196516216883200
+99,1.650000000,BASELINE,765,742.563756827,712,673,659.563756827,634,876.436243173,784.436243173,801,649,629.563756827,650.563756827,0.400981541925,-0.0154049928847,0.0598504922506,0.99999995645,0.000164950399658,-0.00024440339998,1.26014392339e-05,1793196516233550080
+100,1.666666667,BASELINE,765,742,712,673,659.027973314,634,876.972026686,784.972026686,801,649,629.027973314,650,0.400980861394,-0.0154057399182,0.0598499450972,0.999999956473,0.000163521320261,-0.000245258869252,1.2767125692e-05,1793196516250217216
+101,1.683333333,BASELINE,765,742,712,673,659.603081589,634,876.396918411,784.396918411,801,649,629.603081589,650,0.400980533701,-0.0154062336287,0.0598500700801,0.99999995686,0.000161316800349,-0.000245142272448,1.27591472773e-05,1793196516266883840
+102,1.700000000,BASELINE,764.820694524,742.179305476,712,673.179305476,660,634,876.179305476,784.179305476,801,649,629.820694524,650.179305476,0.400980348007,-0.0154064335727,0.0598502599331,0.999999957014,0.000160511415031,-0.000245039242221,1.2808115603e-05,1793196516283550464
+103,1.716666667,BASELINE,764.241985684,742.758014316,712,673.758014316,660,634,876.758014316,784.758014316,801,649,629.241985684,650.758014316,0.400980478619,-0.015405979151,0.0598505942845,0.999999956656,0.00016282260555,-0.000244966431589,1.29839329256e-05,1793196516300216832
+104,1.733333333,BASELINE,764.342060499,743,712,673.657939501,660,634,877,785,801.342060499,649,629,651,0.400980415132,-0.0154050596923,0.0598506749638,0.999999956481,0.000163912102995,-0.000244965934637,1.27761277587e-05,1793196516316883456
+105,1.750000000,BASELINE,764.929942419,743,712,673.070057581,660,634,877,785,801.929942419,649,629,651,0.400980212158,-0.0154038060351,0.0598505733421,0.999999956439,0.000164123632229,-0.000245017405827,1.22926327085e-05,1793196516333549824
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,743,712,673,660,634,877,785,800,649,629,651,0.400983209809,-0.0154032368386,0.0598514531671,0.999999956993,0.000164386636696,-0.000242575179244,1.22107973317e-05,1793196516364155648
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.575064376,742.424935624,712,673.575064376,660,634,876.424935624,785,800.575064376,649,629.575064376,651,0.40098156362,-0.0154039800811,0.0598509654052,0.999999956692,0.00016506366342,-0.000243334562971,1.25518148946e-05,1793196516380823040
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.850011374,742.149988626,712,673.850011374,660,634,876,785,801,649,630,650.850011374,0.400980348553,-0.0154046568663,0.0598505408279,0.999999956473,0.000165293301469,-0.000244067197571,1.27883796424e-05,1793196516397490176
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.275483618,742.724516382,712,673.275483618,660,634,876,785,801,649,630,650.275483618,0.400980353763,-0.0154051455458,0.0598502950932,0.999999956484,0.000164256616989,-0.000244724119599,1.27292933358e-05,1793196516414157056
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,743,712,673.308258342,660,634,876.308258342,785,801,649,630,650.308258342,0.400980577873,-0.0154056087351,0.0598501311653,0.999999956616,0.000163063730103,-0.000244978334232,1.27943934905e-05,1793196516430823424
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,743,712,673.900488519,660,634,876.900488519,785,801,649,630,650.900488519,0.400981003638,-0.0154060484425,0.0598500425989,0.999999956859,0.00016172694747,-0.000244861569222,1.29738959293e-05,1793196516447489280
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,742.519863359,712,674,659.519863359,634,877,785,801,649,629.519863359,650.519863359,0.40098113246,-0.0154056924481,0.0598501027096,0.999999956756,0.00016348484417,-0.000244126200031,1.27645958555e-05,1793196516464155648
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,742,712,673.942889859,659.057110141,634,877.057110141,785,801,649,629.057110141,650.057110141,0.400981302729,-0.0154052258161,0.0598502874251,0.999999956572,0.000165743068845,-0.000243367480572,1.25484264617e-05,1793196516480822272
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,742,712,673.367128717,659.632871283,634,877.632871283,785,801,649,629.632871283,650.632871283,0.400982394049,-0.0154052138598,0.0598513310523,0.999999956339,0.000166868945286,-0.000243531319672,1.29829969281e-05,1793196516497488896
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,742.213104495,712,673,660,634,877.786895505,785,801,649,630,651,0.400986734991,-0.0154054449654,0.0598536106166,0.999999957023,0.000166908509166,-0.00024065899879,1.33914870302e-05,1793196516514155520
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,742.801207111,712,673,660,634,877.198792889,785,801,649,630,651,0.400996794264,-0.015406103785,0.0598580650484,0.999999959272,0.000165036498185,-0.000232443973642,1.37540836963e-05,1793196516530822656
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,743,712,673,660,634,877,785,801,649,629.616777719,650.616777719,0.40101728301,-0.0154078391814,0.0598665962167,0.999999962701,0.000163302755786,-0.000218437613186,1.46499208923e-05,1793196516547489024
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,743,712,673,660,634,877,785,801,649,629.037870924,650.037870924,0.401043097352,-0.0154101243094,0.0598772090863,0.999999966515,0.000161639617168,-0.000201474026611,1.58180463408e-05,1793196516564155904
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,743,712,673.539402818,660,634,877,785,801,649,629,650.539402818,0.401094524602,-0.0154117856985,0.0598930022655,0.999999971463,0.000163013433132,-0.000173766473579,1.74736805816e-05,1793196516580822528
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,743,712,673.884503404,660,634,877,785,801,649.115496596,629.115496596,651,0.401151216803,-0.0154143994294,0.0599082201094,0.999999975378,0.000163378356728,-0.000148963931549,1.90212369997e-05,1793196516597489152
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,743,712,673.312620406,660,634,877,785,801,649.687379594,629.687379594,651,0.401221629158,-0.0154209488751,0.0599197316681,0.999999977566,0.000158916624459,-0.000138612293593,2.00068807565e-05,1793196516614155776
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,743,712,673.268699718,660,634,877,785,801,649.731300282,630,651,0.401300096986,-0.0154257329639,0.0599284785757,0.999999979557,0.000156678379212,-0.000126207493478,2.02303214026e-05,1793196516630822144
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,743,712,673.861399152,660,634,877,785,801,649.138600848,630,651,0.401388278147,-0.0154283883745,0.0599338918499,0.999999981269,0.000157121228082,-0.00011132697886,1.95346929524e-05,1793196516647488768
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,743,712,674,659.554699832,634,877,785,801.445300168,649,630,650.554699832,0.401486366227,-0.0154331294013,0.0599344058967,0.999999981796,0.000155893480808,-0.000108488215092,1.83397729019e-05,1793196516664155392
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743,712,674,659.026177999,634,877,784.973822001,801.973822001,649,629.973822001,650.026177999,0.401588794846,-0.0154385798798,0.0599334391094,0.999999982025,0.000154062140186,-0.000109205698207,1.69723499441e-05,1793196516680822016
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,743,712,674,659.599991138,634,877,784.400008862,801.400008862,649,629.400008862,650.599991138,0.401718769063,-0.0154455548994,0.059932776024,0.999999982823,0.000150270818874,-0.00010743040227,1.51842704306e-05,1793196516697489152
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877,784,801.173795492,649,629.173795492,651,0.401860463688,-0.0154531355717,0.0599326107829,0.999999983885,0.000145700921809,-0.000104030067041,1.33564189675e-05,1793196516714156288
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877,784,801.747579547,649,629.747579547,651,0.402029132694,-0.0154621101465,0.0599335913254,0.999999985533,0.000139339141058,-9.68897205842e-05,1.14370330124e-05,1793196516730822656
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,876.668966276,784.331033724,801.668966276,649,630,650.668966276,0.402215183437,-0.0154715717512,0.0599343285456,0.999999986927,0.000133491043571,-9.07773255146e-05,9.22070644077e-06,1793196516747489280
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,876.077916474,784.922083526,801.077916474,649,630,650.077916474,0.402414886979,-0.0154814159028,0.0599348746442,0.999999988126,0.000128046426672,-8.54723516084e-05,6.77114259821e-06,1793196516764155392
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.496952539,743,712,673.496952539,660,634,876.503047461,785,801,649,630,650.503047461,0.402645518379,-0.0154931788681,0.0599372794087,0.999999989814,0.000118373188983,-7.96350796846e-05,4.33259752214e-06,1793196516780822016
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.081733674,743,712,673.081733674,660,633.918266326,877,785,801,649,630,651,0.402885268073,-0.0155047343345,0.0599393472848,0.999999991258,0.000109176610248,-7.45777308284e-05,1.75599429439e-06,1793196516797488384
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.655923935,743,712,673.655923935,660,633.344076065,877,785,801,649,630,651,0.403151661426,-0.0155132841049,0.0599376848997,0.999999991513,0.000106720660008,-7.47065138202e-05,-1.66251013646e-06,1793196516814155520
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.764363977,743,712,674,660,633.235636023,877,785,801,649,629.764363977,650.764363977,0.403426910407,-0.0155194788404,0.0599299216537,0.999999990711,0.000105926627562,-8.55956917728e-05,-5.5052892205e-06,1793196516830822656
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.176395465,743,712,674,660,633.823604535,877,785,801,649,629.176395465,650.176395465,0.403715400664,-0.0155221522322,0.0599130361544,0.999999987823,0.000107617561759,-0.000112574246446,-9.98246067981e-06,1793196516847489536
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.407962768,743,712,674,660,634,877.407962768,785,801,649,629.407962768,650,0.404039401805,-0.0155107318633,0.0599026173385,0.99999998908,6.76331091741e-05,-0.000130408166575,-1.6111870923e-05,1793196516864155904
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.990773661,743,712,674,660,634,877.990773661,785,801,649,629.990773661,650,0.404378622495,-0.0154932710713,0.0598949700689,0.999999989274,9.78706747981e-06,-0.000144322801014,-2.29494114424e-05,1793196516880822272
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,743,712,673.435811766,660,634,877.435811766,785,801,649.564188234,629.435811766,650,0.404756643975,-0.0154954733003,0.0598902370152,0.999999987595,-2.51591031651e-06,-0.00015517606093,-2.68945541686e-05,1793196516897489152
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,743,712,673,660,634,877.137135084,784.862864916,801,649.862864916,629,650.137135084,0.405154861169,-0.015500240141,0.0598910211889,0.999999987274,-1.08775688646e-05,-0.000156227265194,-3.04460410675e-05,1793196516914155776
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743,712,673,660,634,877.709078056,784.290921944,801,649.290921944,629,650.709078056,0.405615133021,-0.015512135639,0.0599091499533,0.999999991435,-9.06541905528e-06,-0.000126355675357,-3.28968967303e-05,1793196516930822400
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,743,712,673.291316934,660,634,877.417366132,784,801.291316934,649,629,650.708683066,0.4061063525,-0.0155216186432,0.0599328063751,0.999999995531,-1.79359479101e-05,-8.60826465314e-05,-3.47278342653e-05,1793196516947489024
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,743,712,673.884214536,660,634,876.231570929,784,801.884214536,649,629,650.115785464,0.406629610016,-0.0155286041575,0.059962185208,0.999999998024,-3.78655293322e-05,-3.50417094793e-05,-3.59170128458e-05,1793196516964155648
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,876.933363903,784.466681951,801.533318049,649,629.466681951,650,0.407163359597,-0.0155292650952,0.0599788180263,0.999999997572,-5.60956977222e-05,-1.39433377365e-05,-3.8928447601e-05,1793196516980822528
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877.953712942,784.953712942,801,649,629.953712942,650.046287058,0.407699176397,-0.0155284253625,0.0599901700948,0.999999996353,-7.39104000066e-05,-3.98692370024e-06,-4.26107279691e-05,1793196516997489408
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877.377895392,784.377895392,801,649,629.377895392,650.622104608,0.408229513855,-0.0155279766102,0.0599764962932,0.999999993864,-9.16901895257e-05,-3.83667994718e-05,-4.89084663394e-05,1793196517014155776
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877.197395177,784.197395177,801,649.197395177,629.197395177,651,0.40878088339,-0.0155285156749,0.0599637193887,0.999999990639,-0.000105174572789,-6.87590249793e-05,-5.41526820463e-05,1793196517030822400
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877.77167954,784.77167954,801,649.77167954,629.77167954,651,0.40937240971,-0.0155309407915,0.0599526549426,0.999999988063,-0.000110457679985,-9.15375758412e-05,-5.73853929136e-05,1793196517047488768
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,743,712.358315729,674,660,634,878,785,801,649.641684271,630,650.641684271,0.410021815417,-0.0155311635351,0.0599563787715,0.999999994701,-5.19430922027e-05,-7.86789848101e-05,-4.13404017311e-05,1793196517064155648
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,743,712.95310354,674,660,634,878,785,801,649.04689646,630,650.04689646,0.410709418861,-0.0155299328125,0.0599698621894,0.999999997842,4.86750727474e-05,-4.23014996576e-05,-1.25730036361e-05,1793196517080822272
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,743,712.470493382,674,660,634,877.470493382,785,801,649,630,650,0.411385192983,-0.0155282907954,0.0599646695559,0.999999997576,4.17304047278e-05,-5.27630864538e-05,-1.79637228348e-05,1793196517097489408
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743,712,674.104007805,660,634,877.104007805,785,801,649,630,650.104007805,0.412056665082,-0.0155267973151,0.0599538811727,0.99999999654,2.44932771251e-05,-7.51492352926e-05,-2.59541298239e-05,1793196517114156544
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,743,712,674.677028567,660,634,877.677028567,785,801,649,630,650.677028567,0.412713303312,-0.015526132399,0.0599250678867,0.999999990595,2.36039703897e-06,-0.000133229084915,-3.24832286568e-05,1793196517130823168
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,743,712,674.74063646,660,634,878,785,801,649,630,650.74063646,0.413417057602,-0.0155281269429,0.0599049571264,0.999999984791,-8.27711393537e-06,-0.000170307745847,-3.66764861499e-05,1793196517147489792
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,743,712,674.146270881,660,634,878,785,801,649,630,650.146270881,0.414181668553,-0.015533556528,0.0598960868158,0.999999983028,-4.06685064789e-06,-0.000180260624931,-3.78526991359e-05,1793196517164156160
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,743,712,674.435001557,660,634,878,785,801,649,630,650.435001557,0.415019398503,-0.0155396177906,0.0599356785379,0.999999993491,-1.4362214622e-05,-0.000107671771005,-3.49199652163e-05,1793196517180822528
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743,712,675,660,634,878,784.988038252,801,649,630,650.988038252,0.415880008549,-0.0155457953886,0.0599902268965,0.999999999059,-2.89788549582e-05,-9.88113812414e-06,-3.07220214548e-05,1793196517197489152
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660,634,878,784.41287846,801,649,630,650.41287846,0.416694101476,-0.0155477420045,0.0600041542298,0.999999999239,-2.4113724044e-05,5.8814994343e-06,-3.0105587812e-05,1793196517214155520
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.166238095,743,712,674.833761905,660,633.833761905,878,784,801,649,630,650,0.417505072543,-0.015548827419,0.0600073991494,0.999999999237,-2.26925089117e-05,8.14001802689e-06,-3.07285036476e-05,1793196517230822144
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.755421465,743,712,674.244578535,660,633.244578535,878,784,801,649,630,650,0.418308100881,-0.0155477217528,0.0599834657225,0.999999998667,-3.00333525738e-05,-2.39588319063e-05,-3.4504589723e-05,1793196517247489024
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.661826134,743,712,674,660,633.338173866,878,784.338173866,801,649,630,650.338173866,0.419138719304,-0.0155473555374,0.0599577726213,0.999999996741,-3.32816752551e-05,-6.32027615214e-05,-3.76282711189e-05,1793196517264155904
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.08363805,743,712,674,660,633.91636195,878,784.91636195,801,649,630,650.91636195,0.419988919373,-0.015547514137,0.0599308306167,0.999999992843,-3.36253875031e-05,-0.000107517811047,-4.02889171297e-05,1793196517280822528
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743,712,674.493794157,660,634,878.493794157,785,801,649.493794157,630,651,0.420804896683,-0.0155478228042,0.0598998600938,0.999999984362,-3.8211660685e-05,-0.000167155685,-4.32991523232e-05,1793196517297489664
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.072202567,743,712,675,660,634,879,785,801,649.927797433,630,651,0.421622871741,-0.0155478534492,0.0598726728582,0.999999973775,-4.27580365435e-05,-0.000220207511476,-4.61531024056e-05,1793196517314156544
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.658471183,743,712,675,660,634,879,785,801,649.341528817,630,651,0.422496277288,-0.0155457239428,0.059877272504,0.99999997638,-4.19119136865e-05,-0.000207918030462,-4.74733992594e-05,1793196517330822400
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.758617797,743,712,675,660.241382203,634,878.758617797,785,801,649.241382203,630,650.758617797,0.423414750966,-0.0155475082141,0.059908593152,0.999999986126,-4.51521767748e-05,-0.000153797387035,-4.5331155076e-05,1793196517347488768
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.180392142,743,712,675,660.819607858,634,878.180392142,785,801,649.819607858,630,650.180392142,0.424396116338,-0.0155547540743,0.0599772023602,0.999999996948,-5.4094899326e-05,-4.13022909557e-05,-3.835701228e-05,1793196517364155392
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743.397727209,712,675,660.602272791,634,878,785,801,649.602272791,630,650,0.425348432405,-0.0155586995928,0.060007233531,0.999999997781,-5.55410295244e-05,9.51038834682e-06,-3.55365938379e-05,1793196517380822016
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743.975798323,712,675,660.024201677,634,878,785,801,649.024201677,630,650,0.426287576407,-0.0155611486166,0.0600197720199,0.999999997442,-5.35879332108e-05,3.23540217179e-05,-3.45996248212e-05,1793196517397488896
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744,712,675,660.550269358,634,878,785,801.550269358,649,629.449730642,650.550269358,0.4271802194,-0.0155635429938,0.0599992850032,0.999999997529,-5.78394491163e-05,1.32736146827e-05,-3.76781691836e-05,1793196517414156032
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743.871825882,712,675,660.871825882,634,878,785,801.871825882,649.128174118,629,650.871825882,0.428057723875,-0.0155647093388,0.0599769805737,0.99999999715,-6.23992635211e-05,-1.15308713475e-05,-4.08950252161e-05,1793196517430822912
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743.280957934,712,675,660.280957934,634,878,785,801.280957934,649.719042066,629,650.280957934,0.428887914889,-0.0155614512484,0.0599533248122,0.999999995513,-6.70933078026e-05,-5.03856839291e-05,-4.39777784373e-05,1793196517447489536
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660,634,878,785,801,650,629,650,0.429728293438,-0.0155575160082,0.0599275664984,0.999999992136,-6.55883267943e-05,-9.60868692826e-05,-4.68384555546e-05,1793196517464155904
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660,634,878,785,801,650,629,650,0.430577907747,-0.0155529668784,0.059899902056,0.999999986115,-5.84634395161e-05,-0.000147994829959,-4.94978029283e-05,1793196517480822272
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743,712,675.458209773,660.458209773,634,878,785,801,649.541790227,629.458209773,650,0.431532387587,-0.0155580156992,0.0599357768435,0.999999993692,-6.60112971078e-05,-7.75480665038e-05,-4.73804470403e-05,1793196517497489152
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743,712.033696125,675.966303875,661,634,878,785,801,649,630,650,0.432506172343,-0.0155652270405,0.0599853713421,0.999999995918,-7.67136883197e-05,1.82039323406e-05,-4.41329555219e-05,1793196517514155776
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743,712.610540758,675.389459242,661,634,878,785,801,649,630,650,0.433358811559,-0.0155677273866,0.0599941660045,0.999999995926,-7.77739216745e-05,1.74294223713e-05,-4.23613258092e-05,1793196517530822400
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743,713,675,660.808449879,634,878.191550121,785,801.191550121,649,630,650.191550121,0.434192238856,-0.0155690119168,0.0599891900545,0.999999996043,-7.81728910505e-05,-9.26143727722e-07,-4.24429770992e-05,1793196517547489024
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743,713,675,660.218784489,634,878.781215511,785,801.781215511,649,630,650.781215511,0.434985736512,-0.0155677695111,0.059955593445,0.999999994387,-7.71974980511e-05,-5.58219473744e-05,-4.63764630032e-05,1793196517564155904
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.364706485,743,712.635293515,675,660.364706485,634,878.635293515,785,802,649.364706485,630,650.635293515,0.435785118556,-0.015567183417,0.0599313800106,0.999999990945,-8.12435534807e-05,-9.54919423007e-05,-4.89019168631e-05,1793196517580822784
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.944555105,743,712.055444895,675,660.944555105,634,878.055444895,785,802,649.944555105,630,650.055444895,0.436587971782,-0.0155669844843,0.0599127017589,0.999999986865,-8.82517859282e-05,-0.000126180155091,-5.05967655323e-05,1793196517597489408
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.479403336,743,712,675,660.479403336,633.479403336,878,785,801.479403336,649.479403336,630,650.520596664,0.43736265386,-0.0155630854043,0.0599032940531,0.999999984283,-7.44293726852e-05,-0.000152655192422,-5.09033294121e-05,1793196517614155776
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,743,712,675.098061314,660.098061314,633,878,785,801.098061314,649,630,651,0.438133730167,-0.0155595299443,0.0598985235546,0.999999982323,-6.28756016546e-05,-0.00016968470409,-5.10584807269e-05,1793196517630822144
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,743,712,675.684620324,660.684620324,633,878,785,801.684620324,649,630,651,0.438901681764,-0.015559635101,0.0599119707872,0.999999985917,-7.35946267388e-05,-0.000141879888742,-5.11905674285e-05,1793196517647488768
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,743,712.267740586,676,661,633.267740586,878,785,802,649.267740586,630,650.732259414,0.439679655182,-0.0155628555863,0.0599427440448,0.999999990948,-8.62157745191e-05,-9.07856125378e-05,-4.92879650844e-05,1793196517664155392
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,743,712.84686157,676,661,633.84686157,878,785,802,649.84686157,630,650.15313843,0.440469283854,-0.0155696991766,0.0599936673452,0.999999993802,-0.000101049076397,-1.26058605225e-05,-4.50190336477e-05,1793196517680822016
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,743,712.575563426,675.575563426,661,634,878.424436574,785,801.575563426,650,630,650.424436574,0.441184293002,-0.0155738146059,0.0600039571217,0.99999999506,-8.98290007218e-05,2.7268320995e-06,-4.24624967163e-05,1793196517697488896
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.001443386,743,712.001443386,675,661,633.998556614,878.998556614,785,801,649.998556614,630,651,0.44187233463,-0.0155769314866,0.0599995591835,0.999999996763,-6.93466340898e-05,-4.63908481527e-06,-4.05363996741e-05,1793196517714156032
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.573520875,743,712.573520875,675,661,633.426479125,878.426479125,785,801,649.426479125,630,651,0.442504134617,-0.0155730153444,0.0599634619373,0.99999999353,-8.98848789165e-05,-5.36862294059e-05,-4.44785609132e-05,1793196517730822912
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.849028536,743.150971464,712.849028536,675.150971464,661,633.150971464,878.150971464,785,801.150971464,649,630,651,0.443128613561,-0.0155703371782,0.0599358073235,0.999999989491,-0.000101362022996,-9.20154667351e-05,-4.77201186781e-05,1793196517747489536
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.255839199,743.744160801,712.255839199,675.744160801,661,633.744160801,878.744160801,785,801.744160801,649,630,651,0.443731648229,-0.0155712852268,0.059932882427,0.999999990185,-8.62978608286e-05,-9.89503715899e-05,-4.89095059135e-05,1793196517764156160
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,743.670680537,712.329319463,675.670680537,661,633.670680537,879,785,801.670680537,649.329319463,630,651,0.444323217248,-0.0155745951893,0.0599406476775,0.999999991045,-8.78465515974e-05,-8.80886442857e-05,-4.9332888541e-05,1793196517780822528
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,743.091612204,712.908387796,675.091612204,661,633.091612204,879,785,801.091612204,649.908387796,630,651,0.444906090926,-0.0155796963769,0.0599565201079,0.999999991559,-0.000101994077208,-6.37303295835e-05,-4.91753494872e-05,1793196517797488896
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,743,712.515764902,675,661,633,878.515764902,785,801.484235098,649.515764902,630,651,0.445404850511,-0.0155828647338,0.0599382019662,0.999999986148,-0.000119398220188,-0.000103887541697,-5.15273523311e-05,1793196517814155776
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,743,712,675,661,633.059313123,878.118626246,784.940686877,802,649,630,651,0.445885803841,-0.0155854146146,0.0599131865785,0.999999977439,-0.000135076685022,-0.000154624384973,-5.44709718536e-05,1793196517830822656
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,743,712,675,661,633.632969721,879.265939442,784.367030279,802,649,630,651,0.446349432025,-0.0155857513036,0.0598858169109,0.999999971354,-0.000130483189039,-0.000191960241051,-5.84549748117e-05,1793196517847489536
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660.786419929,633.786419929,879.572839859,784,802,649,630,650.786419929,0.446807643104,-0.0155865620003,0.0598705785018,0.999999966926,-0.000135847946963,-0.000209630476074,-6.12196435984e-05,1793196517864156672
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660.193457696,633.193457696,878.386915392,784,802,649,630,650.193457696,0.447256231735,-0.0155882146769,0.0598768888434,0.999999966962,-0.000158901546551,-0.000192368675464,-6.18184094263e-05,1793196517880823296
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,743.389004301,712,675,660.389004301,633,878,784,802,649,630,650.389004301,0.447679699821,-0.015594292988,0.0598846106556,0.999999968219,-0.000165408491938,-0.000179993308883,-6.16845870922e-05,1793196517897489664
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,743.966381672,712,675,660.966381672,633,878,784,802,649,630,650.966381672,0.448091003469,-0.0156025143869,0.0598930159648,0.999999970248,-0.000163902818343,-0.000169984168058,-6.11960132657e-05,1793196517914155776
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.541166908,744,712,675,661,632.458833092,878,783.458833092,801.458833092,649.541166908,629.458833092,651,0.448426496104,-0.0156084811539,0.0598768671814,0.999999964796,-0.000166603364775,-0.00019720685659,-6.13196889632e-05,1793196517930822400
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764.583887785,744,712,675.708056108,660.291943892,632,878,783,801,649.291943892,629,650.291943892,0.449010678426,-0.0156091543615,0.0598174787005,0.999999949871,-0.000110850293136,-0.000293253653505,-4.4415874159e-05,1793196517964155648
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+206,3.433333333,POSE1_TO_POSE2_PRESS,765,743,712.978098186,676,660,632,878.043803628,783,802,649.021901814,629,650.978098186,0.450007610902,-0.0156029361481,0.059761183636,0.999999922543,-0.000116173091274,-0.000372745249442,-4.97895274856e-05,1793196518030822400
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,743,712.401739844,676,660,632,879.196520312,783,802,649.598260156,629,650.401739844,0.450220816522,-0.0156055012502,0.0597679541467,0.99999992444,-0.000139706805664,-0.000359266776925,-5.02935709677e-05,1793196518047489024
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,743.178993244,712,676,660,632.178993244,879.821006756,782.821006756,802,649.821006756,629,650,0.450420660308,-0.0156061262645,0.0597728932395,0.999999925324,-0.000153610912064,-0.000350918902362,-5.1109255037e-05,1793196518064155392
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,743.769791105,712,676,660,632.769791105,879.230208895,782.230208895,802,649.230208895,629,650,0.450589762873,-0.0156022877739,0.0597736188408,0.999999925259,-0.000145360452891,-0.000354374849508,-5.26419216538e-05,1793196518080822016
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,743.646886949,712,675.646886949,660,632.646886949,878.646886949,782,802.353113051,649,629,650.353113051,0.450737223098,-0.0156037979562,0.0597710626346,0.999999923848,-0.000144034028555,-0.000358722254396,-5.36300785647e-05,1793196518097488896
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+212,3.533333333,POSE1_TO_POSE2_PRESS,765,743.506523282,712,675,660,632,878.506523282,782,802.493476718,649.506523282,629,651,0.450976868416,-0.0156104230992,0.0597591664298,0.999999918255,-0.000148694321332,-0.000371874384156,-5.5575529398e-05,1793196518130822144
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,743.991363673,712,676,660,632,878.008636327,782,802,649.008636327,629,651,0.451414236852,-0.0156179832687,0.0597598634461,0.999999918047,-0.000156567283303,-0.000369233024437,-5.53061319531e-05,1793196518230822400
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,744,712.031785229,675.031785229,660,632,878,781,802,649,629,651,0.451515725447,-0.015603238158,0.0597359200061,0.999999906809,-0.000139250267414,-0.000405293353937,-5.22285363295e-05,1793196519264090368
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,744,712,675,660,632,878,781,802,649.541493728,629,651,0.451478781054,-0.0156001918668,0.0597219389949,0.999999896489,-0.000138013151667,-0.000430210519508,-5.37979044207e-05,1793196519280756992
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,743.881335025,712,675.118664975,660,632,878.118664975,781.118664975,802,650,629,651,0.451438743678,-0.0155971070679,0.0597081663168,0.999999886734,-0.000136792225332,-0.000452497666052,-5.53642216549e-05,1793196519297424128
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,743.287947059,712,675.712052941,660,632,878.712052941,781.712052941,802,650,629,651,0.451391521942,-0.0155946464438,0.0596968807925,0.999999883082,-0.000136003904464,-0.000460578412475,-5.66177667156e-05,1793196519314090752
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,743.297114307,712,675.702885693,660,632,878.702885693,781.702885693,802,650,629,650.702885693,0.451336495098,-0.0155915438108,0.0596871647046,0.999999878292,-0.000135161119348,-0.000471019828342,-5.7346825812e-05,1793196519330757632
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,743.874325935,712,675.125674065,660,632,878.125674065,781.125674065,802,650,629,650.125674065,0.451274110183,-0.0155878359397,0.0596789281656,0.999999872352,-0.000134266989419,-0.000483686707677,-5.75814383791e-05,1793196519347424512
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.548851561,743.548851561,712,675,660,632,878,781,802,649.548851561,629,650,0.451201644789,-0.0155835843872,0.0596741880318,0.999999869491,-0.00013225432964,-0.000490085953218,-5.78206294743e-05,1793196519364090880
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.02823788,743.02823788,712,675,660.02823788,632,878.02823788,781,802,649,629,650.02823788,0.451125233308,-0.0155791550758,0.0596703038833,0.999999867359,-0.000129865325536,-0.000495026636875,-5.80163083213e-05,1793196519380757504
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.612719138,743.612719138,712,675,660.612719138,632,878.612719138,781,802,649,629,650.612719138,0.451026356865,-0.0155742049539,0.0596641120433,0.999999862579,-0.00012619533207,-0.000505598635501,-5.73297598744e-05,1793196519397423872
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,743.803360484,712,675,660.803360484,632,878.803360484,781,802,649.196639516,629,651,0.450922521189,-0.0155683811175,0.0596600501272,0.999999859037,-0.000122555543709,-0.000513521760072,-5.65856152967e-05,1793196519414090752
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,743.220541684,712,675,660.220541684,632,878.220541684,781,802,649.779458316,629,651,0.450808946112,-0.0155608413983,0.059660171158,0.999999858116,-0.000118975075445,-0.000516242774019,-5.57283580801e-05,1793196519430757120
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,743.35821438,712,675.35821438,660,632,878.35821438,781.35821438,802,649.64178562,629,651,0.450682507121,-0.0155523215101,0.0596579694179,0.999999856474,-0.000114677805195,-0.000520427851715,-5.5271906478e-05,1793196519447423744
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,743.934497247,712,675.934497247,660,632,878.934497247,781.934497247,802,649.065502753,629,651,0.450548237013,-0.0155432049282,0.0596543536554,0.999999854363,-0.000109944170415,-0.000525504200876,-5.50594513442e-05,1793196519464090624
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,743.491784757,712.508215243,675.491784757,660,632,878.491784757,782,802,649.508215243,629,651,0.450397934157,-0.0155349495373,0.0596559678944,0.99999985691,-0.000104698428346,-0.000521865699048,-5.36223970806e-05,1793196519480757504
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,743,712.915736647,675,660,632,878,782,802,650,629,650.915736647,0.450239835259,-0.0155263074031,0.0596577427242,0.999999859331,-9.89478606058e-05,-0.000518498927496,-5.20292584451e-05,1793196519497424384
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,743,712.323663741,675,660,632,878,782,802,650,629,650.323663741,0.450047144475,-0.0155146690136,0.0596564434127,0.999999857599,-9.05507552265e-05,-0.000523504881299,-5.04418983171e-05,1793196519514091008
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,632,878.262336916,782,802,649.737663084,629,650.262336916,0.44984430738,-0.0155042339056,0.0596553822358,0.999999856198,-8.28963768723e-05,-0.000527589846032,-4.87934395466e-05,1793196519530757376
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,632,878.84101526,782,802,649.15898474,629,650.84101526,0.449629235271,-0.0154952497866,0.059654608216,0.999999855244,-7.61376233635e-05,-0.000530564227198,-4.70713045041e-05,1793196519547423744
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,743.41677225,712,675.41677225,660,632,878.58322775,782,802,649.41677225,629,651,0.449394903965,-0.0154860534695,0.0596528635106,0.999999856601,-7.07299111791e-05,-0.000528884381862,-4.55641621102e-05,1793196519564090624
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,743.991422585,712,675.991422585,660,632,878.008577415,782,802,649.991422585,629,651,0.449153277061,-0.0154767767694,0.0596507510985,0.999999858814,-6.58339890213e-05,-0.000525441462329,-4.41384614238e-05,1793196519580757248
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,743.42119478,712,675.42119478,660,632,878,782,802,649.42119478,629,650.42119478,0.448894803667,-0.0154685060729,0.0596595744142,0.999999866326,-5.80098413274e-05,-0.000512153473513,-4.10079005957e-05,1793196519597423616
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.163920274,660,632,878.163920274,782.163920274,801.836079726,649,629,650.163920274,0.448623222977,-0.0154623343375,0.0596689302794,0.999999873796,-5.29035806119e-05,-0.000498170494565,-3.78881458728e-05,1793196519614090240
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.742806439,660,632,878.742806439,782.742806439,801.257193561,649,629,650.742806439,0.448319107277,-0.0154614375568,0.0596792148175,0.999999881341,-5.47900033567e-05,-0.000482805787035,-3.486114362e-05,1793196519630757376
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.67819824,660.32180176,632.32180176,879,783,801.32180176,649,629,650.67819824,0.448009382849,-0.0154657772242,0.0596931880702,0.999999892144,-5.72631835132e-05,-0.000459882652622,-3.06755586159e-05,1793196519647424256
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.099115588,660.900884412,632.900884412,879,783,801.900884412,649,629,650.099115588,0.447695174205,-0.0154743034382,0.0597101104556,0.999999905016,-6.02054770975e-05,-0.000430916544942,-2.55636849684e-05,1793196519664090880
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.475107494,743,712.475107494,675.475107494,660.524892506,633,878.524892506,783,802,649.475107494,629,650,0.447354346444,-0.0154768131213,0.0597327353592,0.99999992157,-2.00536828075e-05,-0.00039506454717,-1.95493166579e-05,1793196519680757248
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.950269426,743,712.950269426,675.950269426,660,633,878,783.049730574,801.950269426,650,629,650.049730574,0.44700455297,-0.0154772481645,0.0597558205504,0.999999934931,2.5120334469e-05,-0.000359617892653,-1.35165527669e-05,1793196519697423872
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.360401894,743,712.360401894,675.360401894,660,633,878,783.639598106,801.360401894,650,629,650.639598106,0.446617084437,-0.0154686445041,0.0597711148559,0.999999940385,2.81861225251e-05,-0.000344018165568,-9.3081959511e-06,1793196519714090496
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.224961657,660,633,878,784,801.224961657,650,629.224961657,651,0.446200208891,-0.0154617248442,0.0597775340745,0.99999994177,3.25661064632e-05,-0.000339661221799,-5.51056935981e-06,1793196519730757120
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.803251158,660,633,878,784,801.803251158,650,629.803251158,651,0.445737146314,-0.0154574500989,0.0597700139597,0.999999936945,3.90101841848e-05,-0.000352962347726,-2.35804151121e-06,1793196519747424000
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.622737698,660,633,878,784,802,649.622737698,630,651,0.445259349875,-0.0154513434289,0.0597581620985,0.999999929481,5.20411054817e-05,-0.000371925633431,-2.24993969751e-07,1793196519764090880
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.050932789,660,633,878,784,802,649.050932789,630,651,0.444773955651,-0.0154442920916,0.0597440764888,0.999999920112,6.84686599173e-05,-0.000393808720793,1.38233872368e-06,1793196519780757760
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.539094908,743,712,675,660,633,878,784,802,649,630,651,0.444308211397,-0.0154410680807,0.0597540900168,0.999999930213,7.30803130915e-05,-0.000366347397108,4.8554139707e-06,1793196519797424384
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.871919287,743,712,675,660.128080713,633,878,784,801.871919287,649,630,650.871919287,0.443834605266,-0.0154388536806,0.0597705172833,0.999999941579,8.42388376105e-05,-0.00033115260423,9.19403031677e-06,1793196519814091008
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.292875947,743,712,675,660.707124053,633,878,784,801.292875947,649,630,650.292875947,0.443326552889,-0.0154388763388,0.0598012297727,0.999999951551,0.000122516491532,-0.000285717590196,1.59377967335e-05,1793196519830757632
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.285881677,660.714118323,633,878,784.285881677,801.285881677,649,630,650,0.442775469181,-0.0154366787106,0.0598169734703,0.999999954537,0.00013860035479,-0.000266944046297,2.13881040482e-05,1793196519847424256
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.864346956,660.135653044,633,878,784.864346956,801.864346956,649,630,650,0.442180345297,-0.015432208746,0.0598173974664,0.999999953028,0.000131970143273,-0.000275456992681,2.55146305598e-05,1793196519864090624
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.560079963,660,633,878.439920037,784.560079963,802.439920037,649.439920037,629.560079963,650.439920037,0.441552745877,-0.0154266085335,0.0597971837729,0.999999940844,0.000139786685535,-0.000313058778071,2.76858986891e-05,1793196519880757504
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.014946053,743,712,675.014946053,660,633,878.985053947,784,802.970107893,649.985053947,629.014946053,650.985053947,0.440915357305,-0.0154207215376,0.0597710762251,0.999999923497,0.00015256030801,-0.000358988981239,2.9300189003e-05,1793196519897424128
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.602969615,743,712,675.602969615,660,633,878.397030385,784,801.794060769,649.397030385,629.602969615,650.397030385,0.440284084717,-0.0154171144733,0.0597613942521,0.999999909046,0.000185709408062,-0.000382573559978,3.25250710346e-05,1793196519914090752
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.229681079,743,712,675.229681079,660,633,878,784,801,649,630,650,0.439034463085,-0.015419391056,0.0597983109221,0.999999930278,0.000186255113578,-0.000321064685466,4.0866455352e-05,1793196519947424512
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633,878.346220558,784.346220558,801.346220558,649,630,650.346220558,0.438381555891,-0.0154225465781,0.0598235214609,0.999999950714,0.000138835611588,-0.000280208322312,2.79101667347e-05,1793196519964090880
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633,878.918494202,784.918494202,801.918494202,649,630,650.918494202,0.437708153892,-0.0154254401061,0.0598437765807,0.999999965998,7.12169746226e-05,-0.000250838240446,3.45666068043e-06,1793196519980757248
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633,878.509503173,785,802,649,630,650.509503173,0.43698819107,-0.0154243044302,0.059810332766,0.999999950705,5.80231243091e-05,-0.000308577571072,1.89727410099e-06,1793196519997423872
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.064931749,633.064931749,878.064931749,785,801.935068251,649,630,650.064931749,0.436259546936,-0.0154222816334,0.0597707591505,0.999999928228,5.95204065551e-05,-0.000374144422449,4.17147428566e-06,1793196520014090752
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.65957621,633.65957621,878.65957621,785,801.34042379,649,630,650.65957621,0.435523164714,-0.0154184807351,0.0597539334427,0.999999919916,0.000107129658079,-0.000385546692403,6.7016272556e-06,1793196520030757376
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.752164793,633.752164793,878.752164793,784.752164793,801.247835207,649,630,651,0.434794569379,-0.0154146732508,0.0597533262337,0.999999921509,0.00013597582059,-0.000372015936572,9.79254842341e-06,1793196520047424000
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.172456411,633.172456411,878.172456411,784.172456411,801.827543589,649,630,651,0.434076401266,-0.0154108569469,0.0597744370211,0.999999937305,0.000139696560672,-0.000325097664629,1.36343879697e-05,1793196520064090624
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633,878.80774325,784.403871625,801.596128375,649,629.596128375,651,0.433319350225,-0.0154097954453,0.0597867418721,0.999999944472,0.000133477022275,-0.000304980157079,1.50793394742e-05,1793196520080757760
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633,879.957536346,784.978768173,801.021231827,649,629.021231827,651,0.432545833723,-0.0154099005024,0.0597953177284,0.999999948439,0.000123048137835,-0.000296211800051,1.55092959704e-05,1793196520097424384
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633.566050626,878.867898747,784.433949374,801.566050626,649,629.566050626,650.433949374,0.431789439465,-0.0154131691028,0.0597958154797,0.999999946511,0.00012650774974,-0.000301186038013,1.61561593e-05,1793196520114090752
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,743,712.113138062,674.886861938,660.886861938,633,877.886861938,784,801.886861938,649,630,650,0.428664906414,-0.0154102139687,0.0598053930009,0.999999944323,0.00014286214353,-0.000300785771679,2.17339962445e-05,1793196520180757504
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.536972924,633.463027076,878,784,801.536972924,649,630,650,0.427835355018,-0.0154077922963,0.0597769051537,0.99999992963,0.000143375062676,-0.000346232000396,1.75096067619e-05,1793196520197424128
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.959467775,660,634,878,784.040532225,801,649,630,650.040532225,0.427010929517,-0.0154061253247,0.0597494458517,0.999999915143,0.000141315658225,-0.000386758085293,1.26961635392e-05,1793196520214091008
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.368721136,660,634,878,784.631278864,801,649,630,650.631278864,0.426266168317,-0.0154092158341,0.0597728665852,0.999999932415,0.000141190645484,-0.000339094025821,1.58161633541e-05,1793196520230757376
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.217145904,743,712,674.217145904,660,633.782854096,877.782854096,784.782854096,800.782854096,649,629.782854096,651,0.425505580933,-0.0154110160799,0.0597948466138,0.999999943233,0.000144441033711,-0.000303811218644,1.92365115366e-05,1793196520247424000
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.794909409,743,712,674.794909409,660,633.205090591,877.205090591,784.205090591,800.205090591,649,629.205090591,651,0.42471871064,-0.015410673565,0.0598144340451,0.999999946195,0.000153297003557,-0.000289090144364,2.31556534996e-05,1793196520264090624
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.629640281,743,712,674.629640281,660,633,877.370359719,784.370359719,800.370359719,649,629.370359719,651,0.423935402528,-0.0154075394333,0.0598258746355,0.999999948441,0.000157872291982,-0.000278542736838,2.46606460036e-05,1793196520280757248
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.055463012,743,712,674.055463012,660,633,877.944536988,784.944536988,800.944536988,649,629.944536988,651,0.423154054815,-0.0154028690102,0.059832831829,0.999999950348,0.000160091821528,-0.000270292195915,2.48370757834e-05,1793196520297423872
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.532241011,743,712,674.532241011,660,633.532241011,877.467758989,785,801,649,630,650.467758989,0.422389518273,-0.0154054118525,0.0598434712331,0.999999955913,0.000161923162509,-0.000247522520551,2.6238463385e-05,1793196520314090752
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.880858381,743,712,674.880858381,660,633.880858381,877,785,801,649.119141619,630,650,0.421613200367,-0.0154078071924,0.0598457266679,0.999999957392,0.000162221768867,-0.000241190836174,2.6965397205e-05,1793196520330757376
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.302626783,743,712,674.302626783,660,633.302626783,877,785,801,649.697373217,630,650,0.420784558802,-0.0154066622091,0.0598141589283,0.999999941145,0.000156774206663,-0.000304181934935,2.45887522647e-05,1793196520347424256
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.274902542,743,712,674.274902542,660,633,877,785,801,650,630,650,0.419977273664,-0.0154031643551,0.0597772371328,0.999999919967,0.000160648466061,-0.000365822781068,2.07773586033e-05,1793196520364091136
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.8516607,743,712,674.8516607,660,633,877,785,801,650,630,650,0.419193438918,-0.0153970829411,0.0597344363401,0.999999893881,0.000174758514091,-0.000425980983726,1.53905451342e-05,1793196520380757504
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.571818241,743,712,675,660,633.428181759,877,784.571818241,801,649.571818241,630,650,0.418464789869,-0.0153987468909,0.05974136867,0.999999904126,0.00017409145207,-0.000401501641366,1.5399287279e-05,1793196520397423872
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.995283561,660,634,877,784,801,649,630,650,0.417755320408,-0.0154030636827,0.0597656056087,0.999999925184,0.00016838020932,-0.000347822971367,1.72974228099e-05,1793196520414090240
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.406909779,660,634,877,784,801,649,630,650,0.417054722704,-0.0154037945356,0.0598003115205,0.999999937819,0.000171624625962,-0.000307296795858,2.18179751384e-05,1793196520430756864
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877.178885483,784.178885483,801,649,630,650,0.416351565629,-0.0154037525005,0.059826450135,0.999999945493,0.000175391136994,-0.000278582731408,2.53534356502e-05,1793196520447423488
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877.758898861,784.758898861,801,649,630,650,0.415642669357,-0.0154019773627,0.059833377684,0.999999945199,0.000180328379314,-0.000276355813396,2.66799542818e-05,1793196520464090368
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,878,784.664034985,801,649,630,650,0.414955489469,-0.0154010760671,0.0598328570015,0.999999943851,0.000182159832266,-0.000280015543957,2.65812073389e-05,1793196520480757248
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,878,784.089065512,801,649,630,650,0.414283758592,-0.0154007964203,0.0598270376698,0.999999941721,0.000181781836091,-0.000287863017993,2.5468530852e-05,1793196520497424384
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.49528729,660,633.50471271,877.50471271,784,800.50471271,649,629.50471271,650.49528729,0.413613893194,-0.0154017283867,0.0598284008036,0.99999994107,0.0001855547554,-0.000287678174163,2.59065329065e-05,1793196520514090752
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.919096138,660,633.080903862,877.080903862,784,800,649,629.080903862,650.919096138,0.412941782426,-0.0154017635404,0.05982594399,0.999999938333,0.000189311167097,-0.000294646594519,2.60573553051e-05,1793196520530757376
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.33630945,660,633.66369055,877.66369055,784,800,649,629.66369055,650.33630945,0.412253621411,-0.0153948576593,0.0597916232758,0.999999918969,0.000188245238415,-0.000355123323425,2.26634234569e-05,1793196520547423744
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,743,712,673.757389658,660,634,877.757389658,784.242610342,800.242610342,649,630,650,0.411601263941,-0.0153909292344,0.0597656066404,0.999999903316,0.000190637050831,-0.000395776537058,1.96527434179e-05,1793196520564090368
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,743,712,673.183746156,660,634,877.183746156,784.816253844,800.816253844,649,630,650,0.410997759188,-0.0153910634428,0.0597509206273,0.999999896504,0.000197746828477,-0.000409381267364,1.7164997169e-05,1793196520580756992
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.607694497,743,712,673.392305503,660,633.607694497,877,784.607694497,801,649,629.607694497,650,0.410449828286,-0.015392580033,0.0597720369524,0.999999912625,0.000194159943989,-0.000369714997753,1.90499455225e-05,1793196520597423872
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.030507901,743,712,673.969492099,660,633.030507901,877,784.030507901,801,649,629.030507901,650,0.409928087516,-0.0153947480957,0.0598100257783,0.999999936029,0.000185532063124,-0.000304943801722,2.29956053455e-05,1793196520614090496
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,660,633.55813504,877,784.55813504,801,649,629.55813504,650,0.409398088508,-0.0153949845628,0.0598375044605,0.999999944832,0.00019437641271,-0.00026806321209,2.63741221158e-05,1793196520630757376
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.145119376,743,712,674,660,634,877,785,801,649,630,650.145119376,0.408867593075,-0.0153949341904,0.0598569301128,0.99999994979,0.00020030897002,-0.00024382973148,2.90515864409e-05,1793196520647424512
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.725216068,743,712,674,660,634,877,785,801,649,630,650.725216068,0.408336990907,-0.0153943471529,0.0598539758589,0.999999948662,0.000194591191916,-0.00025283908525,2.97226007021e-05,1793196520664091136
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.697505243,743,712,674,660,634,877,785,801,649,630,651,0.407828316334,-0.0153923498101,0.0598467839422,0.999999946246,0.00019370129962,-0.000263008059934,2.85302984695e-05,1793196520680757504
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.122762815,743,712,674,660,634,877,785,801,649,630,651,0.407339376803,-0.0153890831812,0.0598357780957,0.999999942637,0.00019715654303,-0.000274220702051,2.56609966304e-05,1793196520697423872
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.461948617,743,712.461948617,673.538051383,660,634,877,785,801,649,630,650.538051383,0.406893157342,-0.0153895896179,0.0598299426818,0.999999941426,0.000197555042642,-0.000278452605483,2.41678505132e-05,1793196520714090752
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,743,712.951353214,673.048646786,660,634.048646786,877,785,801,649,630,650.048646786,0.406460836133,-0.0153909893565,0.0598268707475,0.999999941492,0.000197048005523,-0.000278648762749,2.32915981956e-05,1793196520730756864
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,743,712.372512602,673.627487398,660,634.627487398,877,785,801,649,630,650.627487398,0.406053527653,-0.0153909558354,0.0598386117724,0.999999947886,0.00019572039117,-0.000255524681509,2.50650101682e-05,1793196520747423744
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.206112321,743,712,673.793887679,660,634.793887679,877.206112321,785,801,649,630,651,0.405655124709,-0.0153903908131,0.0598464360918,0.999999951126,0.000198627947995,-0.000240010158479,2.62532959461e-05,1793196520764090624
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.784347766,743,712,673.215652234,660,634.215652234,877.784347766,785,801,649,630,651,0.405272800208,-0.015388866198,0.0598471890389,0.999999949396,0.000209181846299,-0.000238234227663,2.63851721779e-05,1793196520780757504
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.639335608,743,712,673.360664392,660,634,877.639335608,784.639335608,801,649,630,651,0.404896545088,-0.015386863633,0.0598358143471,0.999999944447,0.000211675174272,-0.000256286783458,2.4834250591e-05,1793196520797424384
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.064160174,743,712,673.935839826,660,634,877.064160174,784.064160174,801,649,630,651,0.404523899796,-0.0153845767994,0.0598172265439,0.999999936897,0.00020937434719,-0.000286132655331,2.2282457499e-05,1793196520814091264
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.523031032,660,633.476968968,877,784.523031032,801.523031032,649,630,651,0.40418580879,-0.0153844747559,0.0597979248543,0.999999925657,0.000214914726936,-0.000319465601881,2.09607534066e-05,1793196520830757888
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.78032637,659.890163185,633.109836815,877,785,802,649,630,650.890163185,0.403861408386,-0.0153842609187,0.0597819769573,0.999999915287,0.000221177134882,-0.000346557917763,2.01248640525e-05,1793196520847424000
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,743,712,673.622885542,659.311442771,633.688557229,877,785,802,649,630,650.311442771,0.403576931426,-0.01538239884,0.0597807287254,0.999999914615,0.000226319088064,-0.000345140544992,2.07035709476e-05,1793196520864090624
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.734037451,743,712,673.265962549,659.265962549,634,877,784.734037451,801.734037451,649,630,650.265962549,0.403321388933,-0.0153814190713,0.0597892724354,0.999999919297,0.000230756089757,-0.000328103208849,2.2476213186e-05,1793196520880757248
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.158164565,743,712,673.841835435,659.841835435,634,877,784.158164565,801.158164565,649,630,650.841835435,0.403099562072,-0.015381467406,0.0598092261126,0.999999929321,0.000234371652904,-0.000292864858415,2.56400771977e-05,1793196520897423872
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.424423755,743,712,674,659.575576245,634,877,784.424423755,801,649,630,651,0.402892720439,-0.0153812708885,0.0598220362188,0.999999934967,0.000235208877988,-0.000271961812071,2.79027284488e-05,1793196520914091008
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.009459212,634,877,784.990540788,801,649,630,651,0.402691795653,-0.0153809537383,0.059832076198,0.999999939025,0.000235026457624,-0.000256559929396,2.98194758494e-05,1793196520930757632
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.588733377,634,877,784.411266623,801,649,630,651,0.402505491607,-0.0153789547193,0.0598381870486,0.999999941319,0.0002367938368,-0.000245562980325,3.14554432324e-05,1793196520947424256
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877,784.167721283,801,649,630,650.832278717,0.402323058571,-0.0153768762741,0.0598427050595,0.999999942888,0.000237670152324,-0.000238037254826,3.28048628609e-05,1793196520964090880
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877,784.746008371,801,649,630,650.253991629,0.402150101429,-0.0153746034011,0.0598433239485,0.999999942944,0.000236365228284,-0.000239008757315,3.34528405125e-05,1793196520980757248
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877,785,801,649,630,650.321648665,0.401991964335,-0.0153728403724,0.0598416662669,0.999999941614,0.000236758007222,-0.000244067406697,3.3881843658e-05,1793196520997423872
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,877,785,801,649,630,650.895216025,0.401845434441,-0.015371476659,0.0598382255508,0.999999939146,0.000238480445242,-0.000252327153583,3.41393436823e-05,1793196521014090496
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.516838139,743,712,674.483161861,660,634,877.483161861,785,800.516838139,649,629.516838139,651,0.401720541632,-0.0153733732039,0.0598374159081,0.999999938337,0.000236316632543,-0.00025752545629,3.40837058472e-05,1793196521030757120
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.072556873,743,712,674.927443127,660,633.927443127,877.927443127,785,800.072556873,649.072556873,629.072556873,651,0.401603827525,-0.0153763057293,0.0598373885034,0.999999936715,0.00023915460527,-0.000261195930227,3.39267472043e-05,1793196521047423744
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.649679972,743,712,674.350320028,660,633.350320028,877.350320028,785,800.649679972,649.649679972,629.649679972,651,0.40151035605,-0.0153813748074,0.0598387111077,0.999999925904,0.000282816168587,-0.000259000467327,3.35519364846e-05,1793196521064090880
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.77269304,742.77269304,712,674,660,633.22730696,877,785,800.77269304,650,630,650.77269304,0.401424095049,-0.0153869902582,0.0598400318079,0.999999928045,0.000277879341047,-0.000256889401498,2.64576695374e-05,1793196521080757760
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.19428778,742.19428778,712,674,660,633.80571222,877,785,800.19428778,650,630,650.19428778,0.401348971351,-0.0153934496359,0.0598413495669,0.999999947893,0.000197877442184,-0.000254908694917,8.98453135782e-06,1793196521097424384
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.37785877,742.37785877,712,674,660,634,876.62214123,785,800,649.62214123,630,650.37785877,0.401285587034,-0.0153995274311,0.0598432710071,0.999999954463,0.000164786547863,-0.000252780897892,4.60270960083e-06,1793196521114091264
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.94683963,742.94683963,712,674,660,634,876.05316037,785,800,649.05316037,630,650.94683963,0.401228140534,-0.0154054122205,0.059845497791,0.999999956504,0.000155423381899,-0.000250578702701,6.84251514604e-06,1793196521130758144
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ad65305824b937322c6130289970279c8090db4f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_05/depth_05/simulation_data.csv
@@ -0,0 +1,428 @@
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+409,6.816666667,pose2_to_pose3_retreat,0.578254568914,-0.00999873316033,1.05001164293,0.548825804035,-0.00132506618799,1.04966118216
+410,6.833333333,pose2_to_pose3_retreat,0.578254300545,-0.00999873936367,1.05001167639,0.54882553576,-0.00132507212209,1.04966121428
+411,6.850000000,pose2_to_pose3_retreat,0.57825415933,-0.00999874262786,1.050011694,0.548825394595,-0.0013250752446,1.04966123118
+412,6.866666667,pose2_to_pose3_retreat,0.578254089643,-0.00999874423866,1.05001170268,0.548825324934,-0.00132507678549,1.04966123952
+413,6.883333333,pose2_to_pose3_retreat,0.578253939866,-0.00999874770074,1.05001172136,0.54882517521,-0.00132508009731,1.04966125745
+414,6.900000000,pose2_to_pose3_retreat,0.578253752112,-0.00999875204068,1.05001174477,0.548824987522,-0.00132508424889,1.04966127992
+415,6.916666667,pose2_to_pose3_retreat,0.578253695567,-0.00999875334771,1.05001175182,0.548824930997,-0.00132508549919,1.04966128669
+416,6.933333333,pose2_to_pose3_retreat,0.578253392426,-0.00999876035481,1.05001178961,0.548824627963,-0.00132509220216,1.04966132297
+417,6.950000000,pose2_to_pose3_retreat,0.578253026502,-0.00999872550713,1.05001177899,0.54882426129,-0.00132505996263,1.04966131072
+418,6.966666667,pose2_to_pose3_retreat,0.57825272365,-0.00999867300303,1.05001173946,0.548823957338,-0.00132501124285,1.04966126996
+419,6.983333333,pose2_to_pose3_retreat,0.578252519022,-0.00999863752758,1.05001171275,0.548823751966,-0.00132497832435,1.04966124242
+420,7.000000000,pose2_to_pose3_retreat,0.578252514775,-0.00999863679126,1.0500117122,0.548823747703,-0.00132497764109,1.04966124185
+421,7.016666667,pose2_to_pose3_retreat,0.578252394776,-0.00999863217469,1.05001172065,0.548823627469,-0.00132497378429,1.04966125127
+422,7.033333333,pose2_to_pose3_retreat,0.578252247661,-0.00999865263487,1.05001176991,0.54882348039,-0.00132499398235,1.04966130408
+423,7.050000000,pose2_to_pose3_retreat,0.578252178339,-0.00999865043446,1.05001185205,0.548823410697,-0.00132499302215,1.04966138665
+424,7.066666667,pose2_to_pose3_retreat,0.57825217872,-0.00999864423071,1.05001188252,0.548823410877,-0.00132498752743,1.04966141647
+425,7.083333333,pose2_to_pose3_retreat,0.578252179195,-0.0099986365023,1.05001192049,0.548823411101,-0.0013249806823,1.04966145363
+426,7.100000000,pose2_to_pose3_retreat,0.578252179325,-0.00999863438498,1.05001193089,0.548823411163,-0.00132497880689,1.04966146381
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3f389f28ffee95a169a7137730fdf89959303b75
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:953fa0721facfbecc2e124cb2749655a5a52920b19d97098b6049ec8e249cbb3
+size 26676577
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7e056915cd356bacacd1e3052607ba13b954ca11
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_01/franka_data.csv
@@ -0,0 +1,421 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,765,742.576801911,712,674,662.423198089,634,876.576801911,784.423198089,801,650,629.423198089,651,0.40092344707,-0.0154340197442,0.0499226017431,0.999999973479,1.29988835818e-06,-0.000225683066397,-4.59054176383e-05,1793196523072606720
+2,0.033333333,BASELINE,765,743,711.842873368,673.842873368,662,634,876.842873368,784.157126632,801,649.842873368,629,651,0.400923000383,-0.0154343996813,0.0499220247246,0.999999973324,5.739385983e-07,-0.000226335215776,-4.60831078275e-05,1793196523089273344
+3,0.050000000,BASELINE,765,743,711.252842723,673.252842723,662,634,876.252842723,784.747157277,801,649.252842723,629,651,0.400925572819,-0.0154346731617,0.0499239571573,0.999999974079,1.10210742357e-06,-0.000223032821922,-4.57898853952e-05,1793196523105939968
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+7,0.116666667,BASELINE,764.059223557,743,712,673.059223557,662,634,876.059223557,785,801,650,629,651,0.400924797932,-0.0154337933423,0.0499227655254,0.999999973778,1.29268153931e-06,-0.000224344210031,-4.59561198846e-05,1793196523172607232
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+9,0.150000000,BASELINE,765,743,712,673.766233368,662.233766632,634,876.766233368,785,801,650,629.233766632,651,0.400926019124,-0.0154344866476,0.0499229418843,0.999999973963,1.70883019163e-06,-0.000223586645985,-4.56007604873e-05,1793196523205939968
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+12,0.200000000,BASELINE,765,743,712,673.966279743,662.033720257,634,876,785,801,649.033720257,629.033720257,651,0.400925844514,-0.0154356946212,0.0499227839664,0.999999974107,1.31100381804e-06,-0.000223045286848,-4.5108941754e-05,1793196523255939840
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+15,0.250000000,BASELINE,765,742.709379984,712,674,662,634,876.709379984,785,801.709379984,649.290620016,629,651,0.400925757835,-0.0154335825683,0.0499235541819,0.999999974038,2.9604453064e-06,-0.000223208527778,-4.57604051898e-05,1793196523305940224
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+21,0.350000000,BASELINE,765,743,711.196754817,674,662.196754817,634,876,785,801.803245183,649.803245183,630,651,0.400926233255,-0.0154353952851,0.0499221070757,0.999999974058,-2.1010074497e-07,-0.000223145554667,-4.57204992087e-05,1793196523405939968
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+27,0.450000000,BASELINE,765,743,712,673.673475601,662,634,876.326524399,785,801,650,629.326524399,651,0.400926485879,-0.015434689735,0.0499230473051,0.999999974305,1.02638830802e-06,-0.000222126590105,-4.52633320033e-05,1793196523505939712
+28,0.466666667,BASELINE,765,743,712,674,662,634,876.257286498,785,801,650,629.257286498,651.257286498,0.400927379967,-0.01543428611,0.0499234918037,0.999999974554,1.70864020794e-06,-0.00022098790189,-4.53148386756e-05,1793196523522606592
+29,0.483333333,BASELINE,765,743,712,674,662,634,876.8357563,785,801,650,629.8357563,651.8357563,0.400928994879,-0.0154354417919,0.0499239093858,0.999999974769,1.16731185052e-06,-0.00022003264742,-4.52378660368e-05,1793196523539273472
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+38,0.633333333,BASELINE,765,743,711.950317677,674.950317677,662,634,876.950317677,785,801,650,630,651,0.400926681549,-0.0154350326277,0.0499222852618,0.999999974137,-4.50485579197e-07,-0.000222812562559,-4.56012985611e-05,1793196523689273088
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+46,0.766666667,BASELINE,765,743,712,673.69987596,662.30012404,634,876.69987596,785,801.69987596,650,630,651,0.400926476953,-0.0154365057921,0.0499224166632,0.999999974281,-1.39813343913e-06,-0.00022221236225,-4.53536381895e-05,1793196523822606592
+47,0.783333333,BASELINE,765,743,711.715840625,674,662.284159375,634,876.715840625,785,802,650,630,651,0.400927714577,-0.0154358193834,0.0499235208108,0.999999974633,-9.13371701108e-07,-0.000220632376893,-4.53364911602e-05,1793196523839273472
+48,0.800000000,BASELINE,765,743,711.138883687,674,662.861116313,634,876.138883687,785,802,650,630,651,0.40092872342,-0.0154353394066,0.0499246134432,0.999999974875,8.9147073331e-07,-0.000219602463513,-4.49786572199e-05,1793196523855940352
+49,0.816666667,BASELINE,765,743,711.4369851,674,663,633.5630149,876.4369851,785,801.5630149,650,630,651,0.400927446083,-0.0154355058479,0.0499241731981,0.999999974624,-3.55614353176e-08,-0.000220733864802,-4.5031719543e-05,1793196523872607232
+50,0.833333333,BASELINE,765,743,712,673.987183672,662.987183672,633,876.987183672,785,801,650,630,650.987183672,0.40092547863,-0.0154358877197,0.0499232517445,0.999999974218,-1.7928724137e-06,-0.000222525124512,-4.52106111247e-05,1793196523889273856
+51,0.850000000,BASELINE,765,743,712,673.397514005,662.397514005,633,876.397514005,785,801,650,630,650.397514005,0.400925072095,-0.0154367419519,0.0499225447228,0.999999974073,-1.93815274023e-06,-0.000223175418299,-4.51897330219e-05,1793196523905940224
+52,0.866666667,BASELINE,765,743,712,673.188744147,662,633.188744147,876.188744147,785,801,650,629.811255853,650.188744147,0.400925610575,-0.0154367329112,0.049922478981,0.999999974161,-1.19464911003e-06,-0.000222778394014,-4.52321569221e-05,1793196523922606592
+53,0.883333333,BASELINE,765,743,712,673.767944834,662,633.767944834,876.767944834,785,801,650,629.232055166,650.767944834,0.40092810402,-0.0154349380106,0.0499237398602,0.999999974721,1.38748907228e-06,-0.000220214774343,-4.5405534188e-05,1793196523939273216
+54,0.900000000,BASELINE,765,742.654591827,711.654591827,674,662.345408173,633.654591827,876.654591827,785,801,650,629.345408173,651,0.400928025946,-0.015433868633,0.049923607778,0.999999974793,2.03962728621e-06,-0.000219838241562,-4.56120105972e-05,1793196523955939584
+55,0.916666667,BASELINE,765,742.07828987,711.07828987,674,662.92171013,633.07828987,876.07828987,785,801,650,629.92171013,651,0.400926228898,-0.0154332842433,0.0499225445477,0.999999974545,1.40162512136e-06,-0.000220923703147,-4.58406126672e-05,1793196523972606464
+56,0.933333333,BASELINE,765,742.495229539,711,674,662.504770461,633.495229539,876,785,801,650,629.504770461,651,0.400925996276,-0.015434340224,0.0499220449649,0.999999974226,5.32666545505e-07,-0.000222349137518,-4.59093166327e-05,1793196523989273344
+57,0.950000000,BASELINE,765,743,711.070417604,674,662,634,876.070417604,785,801.070417604,650,629.070417604,651,0.400926162579,-0.0154356609787,0.049921804558,0.999999974004,-3.83576789448e-07,-0.000223350644607,-4.59008384761e-05,1793196524005940224
+58,0.966666667,BASELINE,765,743,711.66116774,674,662,634,876.66116774,785,801.66116774,650,629.66116774,651,0.400927459368,-0.0154370327176,0.0499228245178,0.999999974582,-1.38093364746e-06,-0.000220824730372,-4.55077845329e-05,1793196524022607104
+59,0.983333333,BASELINE,765,742.752559549,712,674,662.247440451,634,877,785,801.752559549,650,630,651,0.400928530604,-0.0154376057505,0.0499235492087,0.999999974909,-1.92416827883e-06,-0.000219396546009,-4.52010365525e-05,1793196524039273984
+60,1.000000000,BASELINE,765,742.172308942,712,674,662.827691058,634,877,785,801.172308942,650,630,651,0.400929298468,-0.0154371045151,0.0499238767599,0.999999974907,-1.85660360894e-06,-0.000219444820167,-4.50103709963e-05,1793196524055940352
+61,1.016666667,BASELINE,765,742.404152345,712,674,662.595847655,634,877,785,801,650,630,651,0.400927871461,-0.015436994208,0.0499228458129,0.9999999745,-2.0612059027e-06,-0.000221210390826,-4.54091479298e-05,1793196524072606976
+62,1.033333333,BASELINE,765,742.979013042,712,674,662.020986958,634,877,785,801,650,630,651,0.400925517372,-0.0154370490237,0.0499212410551,0.999999973915,-2.38076775525e-06,-0.000223701323731,-4.60568972159e-05,1793196524089273344
+63,1.050000000,BASELINE,765,743,712,674,662,633.434488054,876.434488054,785,801,650,630,651,0.400927627869,-0.0154362490918,0.0499227110357,0.999999974419,-1.16968729165e-06,-0.000221518813069,-4.57155185086e-05,1793196524105939968
+64,1.066666667,BASELINE,764.849526544,743,712,674,662.150473456,633.150473456,876.150473456,785.150473456,801,649.849526544,630,650.849526544,0.400929062832,-0.0154355297148,0.0499237739243,0.999999974779,-4.18394756551e-08,-0.000219950145629,-4.54378318452e-05,1793196524122606848
+65,1.083333333,BASELINE,764.270203451,743,712,674,662.729796549,633.729796549,876.729796549,785.729796549,801,649.270203451,630,650.270203451,0.400928090393,-0.0154351322239,0.0499233445586,0.999999974627,6.83500880409e-07,-0.000220635618219,-4.54484836617e-05,1793196524139273728
+66,1.100000000,BASELINE,764.30786201,742.69213799,712,674,663,634,877,785.384275979,801,649.30786201,629.69213799,650,0.400927716552,-0.0154352172992,0.0499233548105,0.999999974572,2.94304118908e-07,-0.000220881005355,-4.5468811938e-05,1793196524155940864
+67,1.116666667,BASELINE,764.884828136,742.115171864,712,674,663,634,877,784.230343728,801,649.884828136,629.115171864,650,0.40092786595,-0.0154357241887,0.0499237493351,0.999999974601,-1.06911657017e-06,-0.000220741710998,-4.54975984679e-05,1793196524172607744
+68,1.133333333,BASELINE,765,742.461075736,712,674,662.538924264,634,876.538924264,784.461075736,801,650,629.461075736,650.922151472,0.400926814413,-0.0154362847618,0.0499228943156,0.999999974306,-6.42296953918e-07,-0.00022210802466,-4.53309252629e-05,1793196524189274112
+69,1.150000000,BASELINE,765,743,712,673.962062247,662,634,876,785,801,650,630,651.962062247,0.400925659512,-0.0154367774806,0.0499218495531,0.999999973981,1.82088316653e-07,-0.00022360571407,-4.5142568932e-05,1793196524205940224
+70,1.166666667,BASELINE,765,743,712,673.373686264,662,634,876,785,801,650,630,651.373686264,0.400927350539,-0.0154360914438,0.0499225733539,0.999999974427,2.96668036203e-07,-0.000221561408867,-4.53468939872e-05,1793196524222606848
+71,1.183333333,BASELINE,765,742.788438446,712,673.211561554,662,634,876.211561554,785,801,650,629.788438446,651,0.400928221723,-0.0154354427569,0.0499228254316,0.99999997461,6.85817580202e-07,-0.000220701910629,-4.55024681033e-05,1793196524239273728
+72,1.200000000,BASELINE,765,742.20863538,712,673.79136462,662,634,876.79136462,785,801,650,629.20863538,651,0.400927665898,-0.0154348590805,0.0499222564336,0.999999974339,1.55288009932e-06,-0.000221904672905,-4.5573186951e-05,1793196524255940352
+73,1.216666667,BASELINE,765,742.368200246,712,674,662.368200246,634,877,785,801,650,629.368200246,651,0.400928129219,-0.015435299997,0.0499225464868,0.999999974477,6.06590777953e-08,-0.000221293559627,-4.55531697356e-05,1793196524272606976
+74,1.233333333,BASELINE,765,742.943367825,712,674,662.943367825,634,877,785,801,650,629.943367825,651,0.400929165407,-0.0154363168426,0.0499233194173,0.999999974836,-2.7577279184e-06,-0.000219662857103,-4.5482149288e-05,1793196524289274112
+75,1.250000000,BASELINE,765,743,712,674,662.470777848,634,877,785,801,650,630,651,0.400929136945,-0.015437899299,0.0499238852832,0.999999974914,-4.01378455004e-06,-0.000219365497419,-4.50969378505e-05,1793196524305940736
+76,1.266666667,BASELINE,765,743,712,674,662.114803904,634,877,785,801,650,630,651,0.400928707473,-0.015438870838,0.0499239900581,0.999999974847,-4.42551571995e-06,-0.000219714839822,-4.48633395697e-05,1793196524322607104
+77,1.283333333,BASELINE,765,743,712,674,662.69455482,634,877,785,801,650,630,651,0.400927124849,-0.0154371180298,0.049922319038,0.999999974305,-2.10883555925e-06,-0.000222093518622,-4.53827343431e-05,1793196524339273472
+78,1.300000000,BASELINE,765,743,712,673.726168995,662.726168995,634,877,785,801,650,630,651,0.400926308247,-0.0154360643165,0.0499214655304,0.999999974023,-7.54000149136e-07,-0.000223344346044,-4.55018624146e-05,1793196524355940096
+79,1.316666667,BASELINE,765,743,712,673.147421471,662.147421471,634,877,785,801,650,630,651,0.400926344628,-0.01543578906,0.0499215223401,0.999999974039,-4.70199022725e-07,-0.000223339287349,-4.51752851566e-05,1793196524372606720
+80,1.333333333,BASELINE,765,742.571788683,712,673,662,634,876.571788683,785,801,650,629.571788683,651,0.400926891301,-0.0154355199369,0.0499224351017,0.999999974254,1.02684694437e-06,-0.000222381768663,-4.51372773178e-05,1793196524389273344
+81,1.350000000,BASELINE,765,742.002844265,712,673.002844265,662.002844265,634,876,785,801,650,629.002844265,651,0.400927608167,-0.0154352485406,0.0499236298661,0.99999997453,2.93289114667e-06,-0.000221109519852,-4.51989066012e-05,1793196524405939968
+82,1.366666667,BASELINE,765,742.590784211,712,673.590784211,662.590784211,634,876,785,801,650,629.590784211,651,0.40092745758,-0.0154340783224,0.0499226543397,0.999999974304,3.67198675766e-06,-0.00022206060314,-4.54678824213e-05,1793196524422606592
+83,1.383333333,BASELINE,765,743,712,674,662.823726815,634,876,785,801,650,630,651,0.400927248863,-0.0154336586893,0.0499221179557,0.999999974207,3.65083799598e-06,-0.000222468347728,-4.56039907734e-05,1793196524439273216
+84,1.400000000,BASELINE,765,743,712,674,662.243849593,634,876,785,801,650,630,651,0.40092690705,-0.0154349576336,0.0499225870543,0.999999974406,1.88899525541e-06,-0.000221632036623,-4.5435879076e-05,1793196524455939840
+85,1.416666667,BASELINE,765,743,712,674.334544801,662,634,876.334544801,785,801,650,630,651,0.400926807492,-0.0154362258338,0.0499226021776,0.999999974424,-2.14530177992e-07,-0.000221580962478,-4.53133860614e-05,1793196524472606464
+86,1.433333333,BASELINE,765,743,712,674.911863098,662,634,876.911863098,785,801,650,630,651,0.400926883734,-0.0154374717235,0.0499222878585,0.99999997431,-2.56600884862e-06,-0.000222099721546,-4.52239977617e-05,1793196524489273088
+87,1.450000000,BASELINE,765,742.513338382,712,674.513338382,662.973323237,634,876.513338382,785.486661618,801,650,630,651,0.400927260254,-0.0154356404025,0.0499222990979,0.999999974317,-4.69106935734e-07,-0.000222053856058,-4.53545438676e-05,1793196524505939712
+88,1.466666667,BASELINE,765,742,712,674,663.937488069,633.937488069,876,785.937488069,801,650,629.937488069,650.937488069,0.400927773377,-0.0154334484253,0.0499224626404,0.999999974393,2.14520929346e-06,-0.000221667436557,-4.55232420786e-05,1793196524522606592
+89,1.483333333,BASELINE,765,742,712,674,663.348967248,633.348967248,876,785.348967248,801,650,629.348967248,650.348967248,0.400928980712,-0.0154328869463,0.0499234141737,0.999999974914,2.3692898052e-06,-0.000219271420987,-4.56795375517e-05,1793196524539273472
+90,1.500000000,BASELINE,765,742.236304622,712,674.236304622,662.763695378,633.236304622,876.236304622,785,801,650,629.236304622,650.236304622,0.400929092956,-0.0154338891216,0.0499236290975,0.99999997505,9.41845014128e-07,-0.000218665101691,-4.5654893908e-05,1793196524555939840
+91,1.516666667,BASELINE,765,742.816843566,712,674.816843566,662.183156434,633.816843566,876.816843566,785,801,650,629.816843566,650.816843566,0.400927609939,-0.015437169134,0.0499227709729,0.99999997462,-2.89144225307e-06,-0.000220665904198,-4.53666690577e-05,1793196524572606464
+92,1.533333333,BASELINE,765,743,712,674.605284775,662,634,876.605284775,785,801,649.605284775,629.605284775,651,0.400927728959,-0.0154371012669,0.0499229237499,0.999999974579,-3.03859660894e-06,-0.000220840588858,-4.54017776143e-05,1793196524589273088
+93,1.550000000,BASELINE,765,743,712,674.028642436,662,634,876.028642436,785,801,649.028642436,629.028642436,651,0.40092858637,-0.0154354903381,0.0499235424587,0.999999974722,-1.48678587345e-06,-0.000220173602718,-4.55859128611e-05,1793196524605939712
+94,1.566666667,BASELINE,764.443660476,743,712,674,662,634,876.556339524,785,801,649.556339524,629.556339524,651,0.400928577314,-0.0154369285168,0.0499235751621,0.999999974743,-2.89980089294e-06,-0.00022014321823,-4.51954550432e-05,1793196524622606592
+95,1.583333333,BASELINE,764.140163347,743,712,673.859836653,662.140163347,634,876.859836653,784.859836653,801,650,630,651,0.400928669372,-0.0154377420584,0.0499236210394,0.999999974752,-3.24495915582e-06,-0.000220147029543,-4.49513950352e-05,1793196524639273472
+96,1.600000000,BASELINE,764.718998466,743,712,673.281001534,662.718998466,634,876.281001534,784.281001534,801,650,630,651,0.400929219624,-0.0154361018842,0.0499238040069,0.999999974742,2.36964089407e-07,-0.000220153727701,-4.52595117131e-05,1793196524655939840
+97,1.616666667,BASELINE,765,743,712,673,662.702718349,634,876.297281651,784.297281651,801,650,630,651,0.400929374906,-0.0154354174082,0.0499237830957,0.999999974675,1.63001480097e-06,-0.000220469435756,-4.51834398655e-05,1793196524672606464
+98,1.633333333,BASELINE,765,743,712,673,662.12495594,634,876.87504406,784.87504406,801,650,630,651,0.40092915754,-0.015435634619,0.0499235698281,0.999999974561,1.05224554129e-06,-0.000221076689998,-4.47448919145e-05,1793196524689273088
+99,1.650000000,BASELINE,765.450821646,743,712,673,662,634,876.549178354,785,801,650,630,651,0.400927521725,-0.0154347847634,0.0499226139039,0.999999974258,1.45375060286e-06,-0.000222353248462,-4.51863817128e-05,1793196524705940736
+100,1.666666667,BASELINE,765.973335678,743,712,673.026664322,662.026664322,634,876,785,801,650,630,651,0.400925654448,-0.0154337761449,0.0499215354807,0.999999973934,2.02039678844e-06,-0.000223667207975,-4.58269908846e-05,1793196524722608896
+101,1.683333333,BASELINE,765.384574276,743,712,673.615425724,662.615425724,634,876,785,801,650,630,651,0.400927159447,-0.0154356282268,0.0499221950119,0.999999974348,3.71519845703e-07,-0.000221876024748,-4.55456489192e-05,1793196524739274496
+102,1.700000000,BASELINE,765,743,712,674,663,634,876.200887576,785,801,650,630,651,0.400928039375,-0.0154365947005,0.0499224595516,0.999999974579,-6.06061827148e-07,-0.000220883621907,-4.52915618516e-05,1793196524755940608
+103,1.716666667,BASELINE,765,743,712,674,663,634,876.780134858,785,801,650,630,651,0.400927742021,-0.015435893184,0.0499219801483,0.999999974475,-3.19298915416e-07,-0.000221395674245,-4.50888077819e-05,1793196524772607232
+104,1.733333333,BASELINE,765.357828047,743,712,674,662.642171953,634,877,785,801.357828047,650,630,651,0.400928459468,-0.0154359785752,0.0499227439103,0.999999974627,-9.13141453832e-07,-0.000220730411928,-4.49700172678e-05,1793196524789273600
+105,1.750000000,BASELINE,765.934570517,743,712,674,662.065429483,634,877,785,801.934570517,650,630,651,0.400929797759,-0.015436545386,0.0499242682241,0.999999974934,-2.04572662623e-06,-0.000219344884268,-4.49025945166e-05,1793196524805939968
+106,1.766666667,BASELINE,765.490510902,742.490510902,712,673.490510902,662,634,876.490510902,785,801.490510902,650,630,651,0.400928664923,-0.0154355946665,0.0499230752879,0.999999974616,-4.95213238787e-07,-0.000220755307569,-4.51123867115e-05,1793196524822606336
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,712,673,662,634,876,785,801,650,630,651,0.4009278025,-0.0154360317089,0.0499223475177,0.999999974377,-8.08667199671e-07,-0.000221879668178,-4.48766130081e-05,1793196524865159936
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,743,711.420581246,673.579418754,662,634,876,785,801,650,630,651,0.400926956383,-0.0154359737691,0.0499223049788,0.999999974365,4.33391618305e-08,-0.00022198274307,-4.46452003601e-05,1793196524881827328
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,743,711.158079601,673.841920399,662,634,876.158079601,785,801.158079601,650,630,651,0.400926830938,-0.0154360724212,0.0499223993313,0.999999974434,5.29448954736e-07,-0.000221681450338,-4.45989993411e-05,1793196524898494208
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,743,711.734733731,673.265266269,662,634,876.734733731,785,801.734733731,650,630,651,0.40092861374,-0.0154365857084,0.0499228561544,0.999999974717,4.67116981745e-08,-0.000220309443965,-4.50432149359e-05,1793196524915160320
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,743,712,673.316870188,662,634,877,785,802,650,630,651,0.400930407567,-0.0154366440759,0.0499235950533,0.999999975076,-2.33867388117e-07,-0.00021864801095,-4.51757683455e-05,1793196524931826688
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,743,712,673.903676916,662,634,877,785,802,650,630,651,0.400932210783,-0.0154363149047,0.049924574248,0.999999975497,-3.42231201166e-07,-0.000216740020187,-4.5042821802e-05,1793196524948492800
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662.48363412,634,877,785,801.51636588,650,630,651,0.400934996283,-0.0154371163707,0.0499247885232,0.999999975734,-1.94473595267e-06,-0.000215634930309,-4.50449589147e-05,1793196524965159680
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,743.062084013,711.937915987,674,663,634,876.937915987,785,801.062084013,650,629.937915987,651,0.400939457449,-0.0154381493792,0.049925366139,0.999999976187,-3.66991723352e-06,-0.000213514911229,-4.4988657903e-05,1793196524981826304
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,743.639188593,711.360811407,674,663,634,876.360811407,785,801.639188593,650,629.360811407,651,0.400956218925,-0.0154392612255,0.0499302040021,0.999999978679,-3.97864569623e-06,-0.000201667489224,-4.42275146929e-05,1793196524998492928
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,743.784483367,711.215516633,674,663,634,876.215516633,785,802,649.784483367,629.215516633,651,0.400978291833,-0.0154403385553,0.049935067808,0.999999981481,-3.67461088688e-06,-0.000187381959579,-4.37396488938e-05,1793196525015159552
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,743.209450775,711.790549225,674,663,634,876.790549225,785,802,649.209450775,629.790549225,651,0.40100922505,-0.0154413583062,0.0499399748903,0.999999984757,-2.3483896298e-06,-0.00016902928051,-4.37076532752e-05,1793196525031826432
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,743,711.624964774,673.624964774,662.624964774,634,876.624964774,785,801.249929548,649.375035226,630,651,0.401048182838,-0.0154416441529,0.0499437286111,0.999999987801,-1.22153566034e-06,-0.000149857229853,-4.40359222558e-05,1793196525048493312
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,743,711.035062627,673.035062627,662.035062627,634,876.035062627,785,800.070125253,649.964937373,630,651,0.401091738103,-0.0154415095279,0.0499468215431,0.999999990529,-2.08903996732e-07,-0.000130215739267,-4.45705956903e-05,1793196525065159936
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.546742401,743,711.546742401,673.546742401,662,634,876.546742401,785,800.546742401,650,630,651,0.401148562348,-0.0154464631093,0.049949231476,0.999999992275,-2.65259738598e-06,-0.000116387804698,-4.35582696312e-05,1793196525081826304
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.873549723,743,712,674,662.126450277,634,877,785,801.126450277,650,629.873549723,651,0.401208406174,-0.0154512543884,0.0499510903676,0.999999993354,-4.88344963256e-06,-0.00010697530465,-4.2714017828e-05,1793196525098493184
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.299454359,743,712,674,662.700545641,634,877,785,801.700545641,650,629.299454359,651,0.40127597116,-0.0154543328067,0.0499511513207,0.999999992808,-5.58760163728e-06,-0.000111893259364,-4.28108471742e-05,1793196525115159552
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,743,712,673.720363325,662.720363325,634,876.720363325,785,801.720363325,650,629.279636675,651,0.401356236861,-0.0154593767737,0.0499514766551,0.999999992673,-7.02495129156e-06,-0.000113277033813,-4.2103996222e-05,1793196525131826176
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,743,712,673.135825306,662.135825306,634,876.135825306,785,801.135825306,650,629.864174694,651,0.401450350762,-0.015466563873,0.0499520902571,0.999999992997,-9.26174163909e-06,-0.00011080732089,-4.05208538999e-05,1793196525148492800
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743,712,673.448260551,662.448260551,634,876,785.448260551,801,650,630,651,0.40156885289,-0.0154732166787,0.0499547860654,0.999999993503,-1.28124800003e-05,-0.000106168571653,-3.94644041288e-05,1793196525165160448
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,743,712,674,663,634,876,785.968257509,801,650,630,651,0.401695474073,-0.0154799392132,0.049957634243,0.999999993943,-1.69679881084e-05,-0.000101675090658,-3.85753919027e-05,1793196525181828352
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,743,712,674,663,634,876,785.392775787,801,650,630,651,0.40183471539,-0.0154906265787,0.0499522958948,0.999999992829,-2.46699914869e-05,-0.000110916804776,-3.78235497707e-05,1793196525198494208
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662.817320566,634,876.182679434,784.817320566,801,650,629.817320566,651,0.401987580755,-0.0155012795194,0.0499486688668,0.999999992082,-3.06880284865e-05,-0.000116343448293,-3.68471872469e-05,1793196525215160320
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662.241922394,634,876.758077606,784.241922394,801,650,629.241922394,651,0.402169734669,-0.0155118584534,0.0499487207838,0.999999992378,-3.30859243446e-05,-0.00011356856688,-3.53881576602e-05,1793196525231826432
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,712,673.657546085,662.342453915,634,876.657546085,784.342453915,801,650,629.342453915,651,0.40237552671,-0.0155244089898,0.0499514049935,0.999999992885,-3.85663138173e-05,-0.000107895857506,-3.31801803866e-05,1793196525248492800
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,743,712,673.066656461,662.933343539,634,876.066656461,784.933343539,801,650,629.933343539,651,0.402598467223,-0.0155383898408,0.0499559988192,0.999999993454,-4.62829211695e-05,-0.000100120897254,-3.04288733581e-05,1793196525265159424
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,743,712,673.513750317,662.486249683,634,876,785,801.513750317,650,629.486249683,651,0.402866310172,-0.0155474544383,0.0499642137345,0.999999995356,-4.56184504702e-05,-8.0247688019e-05,-2.7682101657e-05,1793196525281826048
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662.092142115,634,876.092142115,785,801.907857885,650,629,651,0.403144871193,-0.0155547774956,0.049972674053,0.999999997022,-4.23168555392e-05,-5.95936562879e-05,-2.47712930032e-05,1793196525298492928
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662.666961112,634,876.666961112,785,801.333038888,650,629,651,0.403449669926,-0.0155562522194,0.0499800080152,0.999999998385,-3.07832951035e-05,-4.29075696178e-05,-2.09981720493e-05,1793196525315159808
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662.752845808,634,877,785.247154192,801,650,629.247154192,651,0.403771366649,-0.0155542216286,0.0499849743833,0.99999999925,-1.48077209821e-05,-3.09182097834e-05,-1.80339482709e-05,1793196525331826688
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662.165250256,634,877,785.834749744,801,650,629.834749744,651,0.404116339409,-0.0155473626588,0.0499866795198,0.99999999952,7.286482935e-06,-2.53983348599e-05,-1.61839362644e-05,1793196525348493568
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.416254095,743,712,674,662.416254095,634,877,785.583745905,801.416254095,650,630,651,0.404492442461,-0.015544991176,0.0499891600792,0.999999999393,2.54119768757e-05,-1.96758806951e-05,-1.3477109373e-05,1793196525365160192
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.995375139,743,712,674,662.995375139,634,877,785.004624861,801.995375139,650,630,651,0.404880725793,-0.0155443755039,0.0499919440368,0.999999998968,4.19846406766e-05,-1.38741638625e-05,-1.04350381904e-05,1793196525381826560
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.428813742,743,712,673.428813742,663,634,877.571186258,785,801.428813742,650,630,650.428813742,0.405276232714,-0.015547400269,0.0499771050908,0.999999998677,2.72133898564e-05,-4.29470627458e-05,-7.824399934e-06,1793196525398493184
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743,712,673,662.852928139,634,877.852928139,785.147071861,801,650,629.852928139,650.147071861,0.405682127273,-0.0155488899182,0.0499610731443,0.99999999717,1.88403523566e-05,-7.26104188591e-05,-5.66047551336e-06,1793196525415160064
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,743,712,673,662.276747575,634,877.276747575,785.723252425,801,650,629.276747575,650.723252425,0.406118159899,-0.0155458150815,0.0499419743361,0.99999999422,2.98714712427e-05,-0.000103177394435,-4.78978625725e-06,1793196525431826944
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,743,712,673.305916582,662,634,877,785.694083418,800.694083418,650,629.305916582,651,0.406587670659,-0.0155448279672,0.0499277834108,0.999999990903,4.78962475585e-05,-0.000126064560795,-2.64492034816e-06,1793196525448494080
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743,712,673.894573192,662,634,877,785.105426808,800.105426808,650,629.894573192,651,0.407088123265,-0.0155457704071,0.0499181285401,0.999999987319,7.23848359512e-05,-0.000141853751647,6.77589390159e-07,1793196525465161216
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,877,785,800.476612373,650,630,651,0.407659965373,-0.0155490544995,0.0499340826992,0.999999989658,9.56856217755e-05,-0.000107130937484,7.11415052764e-06,1793196525481827840
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.056569851,743,712,674,662.056569851,633.943430149,877,785,801,650,630,651,0.408251008598,-0.0155527420652,0.0499562514921,0.999999991029,0.000118010423132,-6.17711307143e-05,1.41563717535e-05,1793196525498494720
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.630690964,743,712,674,662.630690964,633.369309036,877,785,801,650,630,651,0.408875225914,-0.0155554469714,0.0499841610611,0.999999990643,0.000133776949288,-1.9917794431e-05,2.05239938874e-05,1793196525515160576
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,743,712,674,663,633.205716197,877,785,801,650,630,651,0.409494961076,-0.0155585106178,0.0500006781601,0.999999989976,0.000139553836946,3.12008634513e-06,2.37263654978e-05,1793196525531826432
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,743,712,674,663,633.782371669,877,785,801,650,630,651,0.410106614158,-0.0155622211301,0.0499966528079,0.99999999164,0.00012731780466,-7.769317517e-06,2.12212827556e-05,1793196525548493056
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.632348662,743,712,674,662.632348662,634,877.367651338,785,801,650,629.632348662,651,0.410721718989,-0.0155616449795,0.049972724178,0.999999989853,0.000127559301006,-6.0333485959e-05,1.95677995959e-05,1793196525565159680
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.041841362,743,712,674,662.041841362,634,877.958158638,785,801,650,629.041841362,651,0.411338916113,-0.01555847042,0.0499367309544,0.999999981124,0.000135364190452,-0.000138159277518,1.8430523026e-05,1793196525581826304
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662.536790145,634,878,785,801,650,629,651,0.412060093331,-0.0155597410194,0.0499385891043,0.999999983945,0.000134100275578,-0.000117346188466,1.88857884726e-05,1793196525598493184
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,743,712,674,663,634,878,785,801,650,629.114154689,651,0.412797753236,-0.015562269041,0.0499467124892,0.99999998711,0.000132626018539,-8.82336776219e-05,2.01311172824e-05,1793196525615160320
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,743,712,674,663,634,878,785,801,650,629.690057596,651,0.413570009865,-0.0155685120653,0.049968502422,0.999999989286,0.000133098372526,-5.59774385477e-05,2.4080953063e-05,1793196525631827456
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,743,712,674,663,634,878,785,801,650,630,651,0.414313796921,-0.015571646688,0.0499695103247,0.999999989149,0.000133883843686,-5.60732519634e-05,2.5165461259e-05,1793196525648493824
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,743,712,674,663,634,878,785,801,650,630,651,0.415024406481,-0.0155711588725,0.0499462994694,0.999999986215,0.000135034212356,-9.38711830923e-05,2.2910802228e-05,1793196525665159936
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.434976933,743,712,674.434976933,662.565023067,634,878,785,801,650,630,651,0.415810183322,-0.0155707736913,0.0499297667107,0.999999984734,0.000127593768575,-0.000117846855616,1.90695134637e-05,1793196525681826304
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,743,712,674.982778309,662.017221691,634,878,785,801,650,630,651,0.416622668693,-0.0155705858024,0.0499167777274,0.99999998384,0.000117636523969,-0.000135117503414,1.49842265211e-05,1793196525698492928
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,743,712,674.403039316,662.596960684,634,878,785,801,650,630,651,0.417475863361,-0.0155757065474,0.0499456509591,0.999999988802,0.00012052444978,-8.6314992129e-05,2.04842562938e-05,1793196525715159552
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,743,712,674,663,633.825803749,877.825803749,785,801,649.825803749,629.825803749,650.825803749,0.418316582381,-0.0155790286061,0.0499656184919,0.999999990256,0.000125259945142,-5.63047092095e-05,2.50715913986e-05,1793196525731826176
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,743,712,674,663,633.254278348,877.254278348,785,801,649.254278348,629.254278348,650.254278348,0.419128845295,-0.01557824799,0.0499652727623,0.999999988222,0.00013420961445,-6.91581540821e-05,2.75771352193e-05,1793196525748493312
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,743,712,674,662.67212669,633,877.32787331,785,801.32787331,649.32787331,629,650,0.419959122944,-0.0155773950984,0.0499594282737,0.999999987411,0.000137952853886,-7.33764900999e-05,2.76234263589e-05,1793196525765160192
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,743,712,674,662.081457954,633,877.918542046,785,801.918542046,649.918542046,629,650,0.420803839638,-0.0155764842769,0.0499491764466,0.999999987716,0.000137523060471,-7.06736549104e-05,2.56985890917e-05,1793196525781826816
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,743,712,674.49990693,662.49990693,633.49990693,878,785,801.50009307,649.50009307,629.49990693,650.49990693,0.421728115282,-0.0155809717536,0.0499695787192,0.999999990253,0.000133698267046,-2.93538370027e-05,2.75152355996e-05,1793196525798493184
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,743,712,674.920825939,663,634.079174061,878,785,801,649.079174061,630,650.920825939,0.422652181503,-0.01558570186,0.0499888022693,0.999999991064,0.000130227891872,6.39080196333e-06,2.95375495568e-05,1793196525815160064
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,743,712,674.345379014,663,634.654620986,878,785,801,649.654620986,630,650.345379014,0.423495160407,-0.0155865398924,0.0499699003864,0.999999990317,0.000132383243967,-3.15319674106e-05,2.90974045316e-05,1793196525831826688
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,743,712,674,662.765132648,634.765132648,878,785,801,650,629.765132648,650,0.424350526462,-0.0155881826035,0.0499618738148,0.999999989336,0.000134597593265,-4.84604844949e-05,2.93803847793e-05,1793196525848493312
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,743,712,674,662.177681251,634.177681251,878,785,801,650,629.177681251,650,0.425224488297,-0.0155910333023,0.0499701733121,0.999999989583,0.000136900509991,-3.38723307017e-05,3.07489242855e-05,1793196525865159680
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,743,712,674.403696585,662.403696585,634,878,785,801,649.596303415,629,650,0.426118319462,-0.0155901980722,0.0499861840931,0.9999999888,0.00014502644827,-1.61186272873e-05,3.32891058725e-05,1793196525881826304
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,743,712,674.982440818,662.982440818,634,878,785,801,649.017559182,629,650,0.427020766152,-0.0155877645791,0.0500055385781,0.999999987218,0.000155677317857,3.00769527405e-06,3.6337325326e-05,1793196525898492928
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.437785501,743,712,675,662.437785501,633.437785501,878,785,801,649,629.562214499,650.562214499,0.427862654192,-0.0155801909734,0.0499675533837,0.999999984839,0.000157886168432,-6.56368235402e-05,3.2941557581e-05,1793196525915159808
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.140290379,743,712,674.859709621,662,633.140290379,878,785,801.140290379,649,630,650.859709621,0.428716069288,-0.0155753199667,0.0499387541346,0.999999980626,0.000157591478835,-0.000113989947978,3.03198459454e-05,1793196525931826688
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.713033376,743,712,674.286966624,662,633.713033376,878,785,801.713033376,649,630,650.286966624,0.429610858078,-0.0155792756388,0.0499438015527,0.999999984049,0.000150393739422,-9.1328131501e-05,3.07057364229e-05,1793196525948493312
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,743,712,674,662.294162783,633.705837217,878,785.294162783,802,649,630,650,0.43046756453,-0.0155827460521,0.0499436701917,0.999999985231,0.000145078404764,-8.67868519174e-05,3.09568847289e-05,1793196525965159936
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,743,712,674,662.883713494,633.116286506,878,785.883713494,802,649,630,650,0.431286029982,-0.0155857291856,0.0499383384823,0.99999998444,0.000141653315279,-0.000100441580023,3.10727296672e-05,1793196525981826304
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,743,712,674,662.535060708,633.464939292,878,785.535060708,802,649,630,650.464939292,0.432117725025,-0.0155806203433,0.0499280397994,0.999999981396,0.000151778327172,-0.00011522850413,2.99045216043e-05,1793196525998493440
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,743,712,674.043809173,662.043809173,634,878,785,801.956190827,649,630,651,0.432955511826,-0.0155741148777,0.0499197066699,0.99999997823,0.000164371111385,-0.000125267358368,2.88140393353e-05,1793196526015160064
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,743,712,674.618914308,662.618914308,634,878,785,801.381085692,649,630,651,0.433827753244,-0.0155747848866,0.0499500117394,0.999999982845,0.000166514282604,-7.43501636041e-05,3.24924876804e-05,1793196526031826432
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.807359867,743,712,675,663,634,878,785,801,649,630,651,0.43466443511,-0.0155740381547,0.0499714627878,0.999999984073,0.000169526063027,-4.326691592e-05,3.5243118219e-05,1793196526048493056
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.236343127,743,712,675,663,634,878,785,801,649,630,651,0.435431272377,-0.0155705087134,0.0499755231018,0.999999982858,0.000174243934514,-5.1140762798e-05,3.61713642218e-05,1793196526065159936
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.349630795,743,712,675.349630795,662.650369205,633.650369205,878,785,801,649,630,650.650369205,0.436171026642,-0.0155692380425,0.0499611107371,0.999999980501,0.000174569542938,-8.52580706284e-05,3.54294058707e-05,1793196526081826560
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.946167292,743,712,675.946167292,662.053832708,633.053832708,878,785,801,649,630,650.053832708,0.436891655122,-0.0155695624923,0.049933653155,0.999999975173,0.000171793379308,-0.000137908242367,3.35079661007e-05,1793196526098493184
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,743,712,675.476157922,662.523842078,633.523842078,878,785,801,649,630,650.523842078,0.437674077428,-0.0155739956625,0.0499522452615,0.999999980837,0.000170709716057,-8.93086461708e-05,3.47451669541e-05,1793196526115159552
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.900632718,743,712,675,663,633.900632718,878,785,801,649,630,651,0.438447636902,-0.0155778050041,0.0499705414353,0.999999983967,0.000170054640148,-4.31201539464e-05,3.59014857887e-05,1793196526131826176
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.326438931,743,712,675,663,633.326438931,878,785,801,649,630,651,0.439149555266,-0.0155766858618,0.0499655961129,0.999999983228,0.000170645332091,-5.64451355763e-05,3.51741265026e-05,1793196526148492800
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,743,712,675,662.744598726,633.255401274,878,785,801.255401274,649.255401274,630,651,0.439819143625,-0.0155743921571,0.0499532030744,0.999999981318,0.000173291838467,-7.87000906303e-05,3.37580898161e-05,1793196526165159424
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,743,712,675,662.152683735,633.847316265,878,785,801.847316265,649.847316265,630,651,0.440446134293,-0.0155705508629,0.049930997013,0.999999977196,0.000178647061602,-0.000112721072565,3.1434659919e-05,1793196526181826304
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,743.429841127,712,675,662.429841127,634,878.429841127,785,802,649.570158873,630,650.570158873,0.441085145787,-0.0155714354985,0.0499355868915,0.999999978042,0.000179743781411,-0.000102845189931,3.21253350818e-05,1793196526198493440
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.009065385,743.990934615,712,675,662.990934615,633.990934615,878.990934615,785,801.990934615,649.009065385,630,650,0.441728024298,-0.0155739512445,0.0499496872166,0.999999980351,0.000179320256719,-7.74202541618e-05,3.38793901982e-05,1793196526215160832
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.586003649,743.413996351,712,675,662.413996351,633.413996351,878.413996351,785,801.413996351,649.586003649,630,650,0.442351379536,-0.0155757342183,0.0499760498724,0.999999983199,0.000176395987371,-3.38412995076e-05,3.66124886098e-05,1793196526231826944
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.838461423,743,712,675,662,633,878,785,801,650,630,650,0.442947501501,-0.0155762423335,0.0499915926262,0.999999983913,0.000174980873617,-8.8113252346e-06,3.843495228e-05,1793196526248493312
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.266491914,743,712,675,662,633,878,785,801,650,630,650,0.443474430359,-0.0155735113381,0.0499796445994,0.999999983067,0.000177400163747,-3.0909869627e-05,3.79437113451e-05,1793196526265159936
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,743,712,675.316659392,661.683340608,633,878,784.683340608,801,649.683340608,630,650.316659392,0.443962373443,-0.0155711096857,0.0499564532153,0.99999998093,0.00017836470047,-7.08774967923e-05,3.60784491261e-05,1793196526281826560
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,743,712,675.909565416,661.090434584,633,878,784.090434584,801,649.090434584,630,650.909565416,0.444416306171,-0.0155689953449,0.0499234533765,0.99999997561,0.000178060142068,-0.000126433714036,3.30145211643e-05,1793196526298492928
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.49110651,743,712,675.50889349,661.49110651,633,878.49110651,784.49110651,801,649,630.49110651,651,0.444888177107,-0.0155691775724,0.0499236708093,0.999999977022,0.000177847344735,-0.000115062204345,3.29795926952e-05,1793196526315159808
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.929942796,743,712,675,662.070057204,633.070057204,878.929942796,785,801,649,630.929942796,651,0.445360110218,-0.0155698799583,0.0499313453251,0.999999979592,0.000177816939707,-8.98335963179e-05,3.35839162615e-05,1793196526331826432
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.35492,743,712,675,662.64508,633.64508,878.35492,785,801,649,630.35492,651,0.445809220693,-0.0155713523137,0.0499496778318,0.999999982046,0.000178982161562,-5.15480419452e-05,3.48664608517e-05,1793196526348494080
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,743,712,675.219786197,662.780213803,633.780213803,878.219786197,785,801,649.219786197,630,650.780213803,0.446227385888,-0.0155718262944,0.0499591983372,0.999999982854,0.000179102949114,-3.10464408544e-05,3.53616913749e-05,1793196526365161216
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,743,712,675.793981819,662.206018181,633.206018181,878.793981819,785,801,649.793981819,630,650.206018181,0.446595651187,-0.0155706903767,0.0499545093213,0.999999982873,0.000177539566703,-3.92218065404e-05,3.45873629288e-05,1793196526381827840
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.379201296,743,712,675.620798704,662,633,878.620798704,785,801.379201296,649.620798704,629.620798704,650,0.446900500544,-0.0155682562039,0.0499289070738,0.99999998053,0.000177203515512,-8.06342176136e-05,3.22154538951e-05,1793196526398493952
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.970589361,743,712,675.029410639,662,633,878.029410639,785,801.970589361,649.029410639,629.029410639,650,0.447169864761,-0.0155650955763,0.0498916025688,0.999999973928,0.000177554231996,-0.000140644828508,2.8949598743e-05,1793196526415159808
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.448846676,743,712,675,662,633,878.551153324,784.448846676,801.448846676,649,629.551153324,650,0.447429517278,-0.0155639998336,0.049865778692,0.999999968352,0.000175933117273,-0.000177917936757,2.62282818585e-05,1793196526431826688
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,743,712.129560692,675,662,633,878.870439308,784,801,649.129560692,630,650,0.447686871,-0.0155635193868,0.0498469257757,0.999999963503,0.000174839649752,-0.000204523704997,2.43821736559e-05,1793196526448493568
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,743,712.702526218,675,662,633,878.297473782,784,801,649.702526218,630,650,0.447938096893,-0.0155647748753,0.0498498738077,0.999999964466,0.000175905156107,-0.000198694329666,2.54338235038e-05,1793196526465160192
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,743,713,674.716700875,661.716700875,633,878,784,801,650,630,650,0.448176616952,-0.0155681668033,0.0498556291758,0.999999966589,0.000173780437146,-0.000189539797295,2.64102400044e-05,1793196526481826816
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,743,713,674.127497655,661.127497655,633,878,784,801,650,630,650,0.448401417342,-0.0155738656412,0.0498644158823,0.999999969852,0.000168210938699,-0.000176794787668,2.73054200809e-05,1793196526498493696
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,743,712.545594942,674.908810115,661.454405058,633,878,784,801,650,629.545594942,650.454405058,0.448591756857,-0.015576174066,0.049870516809,0.999999971227,0.000165311315679,-0.000171518795776,2.82802568336e-05,1793196526515160576
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,743,712,675.965967244,661.965967244,633,878,784,801,650,629.034032756,650.965967244,0.448770301469,-0.0155773747706,0.0498754246222,0.999999972017,0.000163315656546,-0.00016864974069,2.91862333809e-05,1793196526531827712
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,743,712,675.390460464,661.390460464,633,878,784,801,650,629.609539536,650.390460464,0.448912591043,-0.0155758472466,0.0498731497112,0.999999971481,0.000163972118647,-0.000171260304662,2.86466409839e-05,1793196526548493568
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.188723018,743.188723018,712,675.188723018,661.188723018,633,878.188723018,784,801,649.811276982,629.811276982,650,0.449044166909,-0.0155749998219,0.0498695073145,0.99999997075,0.00016340712189,-0.000176104218005,2.80201294294e-05,1793196526565159680
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.775664518,743.775664518,712,675.775664518,661.775664518,633,878.775664518,784,801,649.224335482,629.224335482,650,0.449153136101,-0.0155755874538,0.0498629794295,0.999999969552,0.000160264763268,-0.00018566065101,2.72102125712e-05,1793196526581826304
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.64240046,743.64240046,712,675.64240046,661.64240046,633,878.64240046,784,801,649,629,650,0.449247268028,-0.0155753347256,0.0498569476032,0.999999967409,0.000161006396423,-0.000196300550684,2.6919600425e-05,1793196526598493184
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.063562768,743.063562768,712,675.063562768,661.063562768,633,878.063562768,784,801,649,629,650,0.44933222051,-0.0155745620871,0.0498512226757,0.999999964613,0.000164150960656,-0.000207610765791,2.69502694132e-05,1793196526615159808
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,743.51541752,712.51541752,675,661,633,878,784.51541752,801,649.51541752,629,650,0.449403125136,-0.0155759295339,0.0498498806683,0.999999964729,0.000159778294574,-0.000210463025542,2.6804108468e-05,1793196526631826688
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,744,712.906206283,675.093793717,661,633,878,784.906206283,801,650,629,650.093793717,0.449469691465,-0.0155772744087,0.0498493476193,0.999999965162,0.000155566978154,-0.00021158028989,2.66191979958e-05,1793196526648494080
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,744,712.331020627,675.668979373,661,633,878,784.331020627,801,650,629,650.668979373,0.449522885736,-0.0155771484951,0.0498501915786,0.999999965466,0.000156943119328,-0.000209147706321,2.63473625944e-05,1793196526665160448
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,743.750462801,712.249537199,675.750462801,661,633,878,783.750462801,801,650,629,651,0.44956918733,-0.0155769153106,0.0498506352802,0.999999965766,0.000157282182068,-0.000207483448346,2.60794213465e-05,1793196526681826560
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+224,3.733333333,POSE1_TO_POSE2_PRESS,765,743.899875512,712.100124488,676,661,633,878.899875512,784,801.899875512,650,629.100124488,651,0.449694466961,-0.0155751824005,0.0498473170035,0.999999965822,0.000150140851283,-0.000212475471284,2.58345173337e-05,1793196526815159296
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.480982307,743.519017693,712,675.519017693,661,633,878.519017693,784,801.519017693,650,629,651,0.449694639243,-0.0155740673047,0.0498457276301,0.999999965164,0.000151438206498,-0.000214698992108,2.53546900821e-05,1793196526831825920
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.940281271,743,712,675,661,633,878.059718729,783.940281271,801,650,629,650.940281271,0.44969424044,-0.0155731050117,0.0498441479161,0.999999964406,0.000153076009208,-0.000217107328655,2.48967169292e-05,1793196526848492544
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.366159981,743,712,675,661,633,878.633840019,783.366159981,801,650,629,650.366159981,0.449693933169,-0.0155718354956,0.0498430084465,0.999999963623,0.000155015266933,-0.000219365294348,2.45524479133e-05,1793196526865159168
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,743,712.213230062,675,661.213230062,632.786769938,878.786769938,783.213230062,801,649.786769938,629.213230062,650,0.449694706102,-0.0155720041352,0.0498428293802,0.999999963574,0.000154300342809,-0.000220102659317,2.44429212565e-05,1793196526881826048
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,743,712.801896826,675,661.801896826,632.198103174,878.198103174,783.801896826,801,649.198103174,629.801896826,650,0.44969738096,-0.0155747049529,0.0498443413074,0.999999964809,0.000148912169092,-0.000218162684411,2.47467082771e-05,1793196526898492672
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.384368227,743.384368227,712.615631773,675,662,632.384368227,878,783.615631773,801,649.384368227,629.615631773,650.384368227,0.449697271557,-0.0155738699078,0.0498435145456,0.999999964644,0.00014847907166,-0.000219236250987,2.45376302666e-05,1793196526915159296
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.963697175,743.963697175,712.036302825,675,662,632.963697175,878,783.036302825,801,649.963697175,629.036302825,650.963697175,0.449695749908,-0.0155712413887,0.0498415015451,0.99999996377,0.000150559307124,-0.000221838357651,2.40684148855e-05,1793196526931825920
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.458697602,744,712.541302398,675,661.458697602,633,878.541302398,783.541302398,801,649.458697602,629.541302398,651,0.449697732278,-0.0155705754167,0.0498422656288,0.999999964071,0.000151052687748,-0.00022014417154,2.40218814074e-05,1793196526948492544
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,744,713,675,661,633,879,784,801.118599994,649,629.881400006,651,0.449699335634,-0.01556995343,0.04984298576,0.999999964279,0.000151727127194,-0.000218731248975,2.40116326152e-05,1793196526965159168
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,744,713,675,661,633,879,784,801.695154562,649,629.304845438,651,0.44969857096,-0.0155689946713,0.049842819296,0.999999963835,0.000153510328445,-0.000219513430771,2.40323795946e-05,1793196526981825792
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.276908887,744,712.723091113,675.276908887,661,633,878.723091113,784,801.723091113,649,629.276908887,651,0.449699269275,-0.0155681853754,0.0498432831782,0.999999963874,0.000154038928068,-0.000218977000126,2.39456942427e-05,1793196526998492416
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.864497183,744,712.135502817,675.864497183,661,633,878.135502817,784,801.135502817,649,629.864497183,651,0.449701609,-0.0155675437697,0.0498444542808,0.999999964453,0.000153159920911,-0.000216961145297,2.37384746145e-05,1793196527015159040
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.554448273,743.554448273,712,676,661,633,878.445551727,784,801,649,629.554448273,651,0.449700557937,-0.0155688139462,0.0498435722984,0.999999964311,0.000151482975399,-0.000218787564294,2.37139047682e-05,1793196527031825920
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,743,712,675.975492171,661,633,879,784,801,649,629,650.975492171,0.449698674891,-0.0155705196059,0.0498422176416,0.999999963971,0.000149739942997,-0.00022152395498,2.37454062542e-05,1793196527048492800
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,743,712,675.399686578,661,633,879,784,801,649,629,650.399686578,0.449700938344,-0.015569131521,0.0498440728342,0.999999964239,0.000151890252415,-0.000218824118237,2.38067363254e-05,1793196527065159680
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,743,712,675,661,633,879,784,801.179358485,649.179358485,629.179358485,650,0.449702133779,-0.0155680873708,0.0498449584367,0.999999964273,0.000153522932133,-0.000217521147643,2.38793143668e-05,1793196527081826048
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,743,712,675,661,633,879,784,801.765755202,649.765755202,629.765755202,650,0.449700905444,-0.0155678237502,0.0498436436401,0.999999963792,0.000153980896866,-0.000219388241494,2.39774186794e-05,1793196527098492672
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,743.347455055,712,675,661,633,879,784,801.652544945,650,629.652544945,650,0.449700198488,-0.0155679584451,0.049842751812,0.999999963604,0.000153730088813,-0.000220445745836,2.37393086966e-05,1793196527115159552
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,743.92603062,712,675,661,633,879,784,801.07396938,650,629.07396938,650,0.449699838343,-0.0155683580921,0.0498421413344,0.999999963611,0.000153007818535,-0.000220964726524,2.32775553399e-05,1793196527131826176
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,743.495067557,712.504932443,675,661,633,878.495067557,784,801,650,629,650.504932443,0.449699736309,-0.0155680087872,0.0498416462039,0.999999963624,0.000152312794919,-0.00022139579,2.31747963236e-05,1793196527148492800
+245,4.083333333,HOLD_POSE2,765,743,712,675,661,632,878,784,801,649,629,650,0.449698707702,-0.0155671708146,0.0498406571021,0.999999963816,0.000149448580898,-0.000222544678309,2.25276831893e-05,1793196527191886080
+246,4.100000000,HOLD_POSE2,765.591040537,743,712.591040537,675.591040537,661,632.591040537,878.591040537,783.408959463,801,649,629,650,0.449698090764,-0.0155660447457,0.0498401557996,0.99999996319,0.000152150950264,-0.000223539092545,2.23812505676e-05,1793196527208552448
+247,4.116666667,HOLD_POSE2,765.821254867,743,712.821254867,675.821254867,661,633,879,783,801,649.178745133,629,650,0.449698292617,-0.0155651411141,0.0498402105181,0.999999962911,0.000153925765746,-0.000223571005954,2.23820074221e-05,1793196527225218816
+248,4.133333333,HOLD_POSE2,765.241042782,743,712.241042782,675.241042782,661,633,879,783,801,649.758957218,629,650,0.449700333499,-0.0155647370833,0.0498415140764,0.999999963425,0.000153617267793,-0.00022144111371,2.27133562452e-05,1793196527241885440
+249,4.150000000,HOLD_POSE2,765,743.337439285,712,675,661,632.662560715,878.662560715,783.337439285,801.337439285,650,629,650.337439285,0.449701317078,-0.0155664206661,0.0498425001582,0.999999963928,0.000151894728653,-0.000220312944547,2.3130087603e-05,1793196527258552064
+250,4.166666667,HOLD_POSE2,765,743.914691816,712,675,661,632.085308184,878.085308184,783.914691816,801.914691816,650,629,650.914691816,0.449701549245,-0.015569587886,0.0498432606141,0.999999964419,0.000149167250792,-0.000219896685702,2.36074990805e-05,1793196527275218688
+251,4.183333333,HOLD_POSE2,765,744,712,675,661,632,878,784,802,649.500961862,629,651,0.449701632244,-0.0155677912992,0.0498427813485,0.999999963919,0.000151569048183,-0.000220560520102,2.32720967372e-05,1793196527291885312
+252,4.200000000,HOLD_POSE2,765,744,712,675.083580565,661.083580565,632.083580565,878,784,801.916419435,649,629,651,0.449701462482,-0.0155656058395,0.0498420523975,0.999999963301,0.000154180751965,-0.000221590562409,2.28722752849e-05,1793196527308551936
+253,4.216666667,HOLD_POSE2,765,744,712,675.662001,661.662001,632.662001,878,784,801.337999,649,629,651,0.449699949391,-0.0155662142829,0.0498411179757,0.999999963052,0.0001527690972,-0.000223679836054,2.29255573961e-05,1793196527325218560
+254,4.233333333,HOLD_POSE2,765.240157027,743.759842973,712,675.759842973,661.759842973,633,878,784,801.240157027,649,629,651,0.449699073442,-0.015567486236,0.0498407952249,0.999999963165,0.000150630894049,-0.000224589516326,2.32250971239e-05,1793196527341885440
+255,4.250000000,HOLD_POSE2,765.817941282,743.182058718,712,675.182058718,661.182058718,633,878,784,801.817941282,649,629,651,0.449699093227,-0.0155696909909,0.0498413323983,0.999999963789,0.000147471265484,-0.000223840852929,2.38708406541e-05,1793196527358553344
+256,4.266666667,HOLD_POSE2,765.605778821,743,712,675,661,633,878,784,801.211557643,649.394221179,629,651,0.449699816861,-0.0155691499781,0.0498416355642,0.999999963824,0.000148309827474,-0.000223153480226,2.36386270301e-05,1793196527375219968
+257,4.283333333,HOLD_POSE2,765.030190975,743,712,675,661,633,878,784,800.06038195,649.969809025,629,651,0.449700864309,-0.0155673457388,0.0498418310718,0.999999963585,0.000150987809635,-0.000222494305053,2.30024976609e-05,1793196527391886080
+258,4.300000000,HOLD_POSE2,765,743,712,675,661,633,878,784,800.557831236,650,629,651,0.449701584466,-0.0155660307349,0.0498424313769,0.999999963264,0.000153220373941,-0.000222383599586,2.3258500472e-05,1793196527408552448
+259,4.316666667,HOLD_POSE2,765,743.144367032,712.144367032,675,661,633,878.288734064,784,801,650,629,651,0.449701962545,-0.0155651349693,0.0498428178084,0.999999963126,0.000154302653373,-0.000222242731675,2.33708517273e-05,1793196527425219072
+260,4.333333333,HOLD_POSE2,765,743.724341032,712.724341032,675,661,633,879.448682063,784,801,650,629,651,0.449701363119,-0.0155654224789,0.0498424912942,0.999999963563,0.000151988510096,-0.000221919242643,2.29007431966e-05,1793196527441885440
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,744,712,675,661,633,879,784,801,650,630,651,0.449703961106,-0.0155684549494,0.0498437898755,0.999999964542,0.000148753407659,-0.000219635237854,2.34406896099e-05,1793196527478750464
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,744,712,675,661,633,879,784,801.586408946,650,630,651,0.449702711074,-0.0155668226905,0.0498424833476,0.999999964054,0.000149524021512,-0.000221366599397,2.30729177541e-05,1793196527495417344
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.829403467,743.829403467,712,675,661,633,878.829403467,784,801.829403467,650,629.829403467,651,0.449702194416,-0.0155657434018,0.0498420432741,0.999999963878,0.00014981250014,-0.00022198676956,2.28316023836e-05,1793196527512084480
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.25053196,743.25053196,712,675,661,633,878.25053196,784,801.25053196,650,629.25053196,651,0.449703432883,-0.0155659874919,0.0498436768161,0.999999964457,0.000148947123432,-0.000219947615021,2.28929250845e-05,1793196527528751360
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,661.328276735,633,878.328276735,784,801.328276735,650,629,651,0.449703054363,-0.0155658334138,0.0498439332626,0.999999964357,0.000149873185276,-0.000219765629351,2.29696901485e-05,1793196527545417728
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,661.907037468,633,878.907037468,784,801.907037468,650,629,651,0.449701442037,-0.0155653755225,0.0498431389482,0.999999963736,0.00015216616307,-0.000221000713707,2.30582381483e-05,1793196527562084096
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.481507464,743.481507464,712,675,661.518492536,633,879,784,802,650,629,651,0.449700455296,-0.0155661771064,0.0498418172197,0.999999963413,0.000151764756975,-0.000222724499833,2.31285059251e-05,1793196527578750208
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,743.94331051,712,675,661,633,879,784,802,649.94331051,629,651,0.449699823974,-0.0155670798597,0.0498406197692,0.999999963211,0.000150896777089,-0.000224213023688,2.3148116705e-05,1793196527595417088
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,743.353716621,712,675,661,633,879,784,802,649.353716621,629,651,0.449701408396,-0.0155666680197,0.0498415393306,0.99999996364,0.000150489648039,-0.000222610877076,2.27244146641e-05,1793196527612083712
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,743,712,675,661,633,878.768201219,783.768201219,802.231798781,649,629,651,0.449700258931,-0.0155661945563,0.0498410751317,0.999999963516,0.000150009740386,-0.00022352131566,2.24162223335e-05,1793196527628750336
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,743,712,675,661,633,878.188801882,783.188801882,802.811198118,649,629,651,0.449695009787,-0.0155656286841,0.0498385358749,0.999999962551,0.00014942069551,-0.000228199574058,2.2281245962e-05,1793196527645417216
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.611547485,743,712,675.388452515,661,633,878,783.388452515,803,649,629,651,0.449685535307,-0.0155650187027,0.0498340763264,0.99999996093,0.000149468375701,-0.000235230202395,2.16086204029e-05,1793196527662084096
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.035329828,743,712,675.964670172,661,633,878,783.964670172,803,649,629,651,0.449674018438,-0.0155643874003,0.0498286885718,0.999999958941,0.00014982382774,-0.000243397889221,2.06761129368e-05,1793196527678750976
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.54060282,743.54060282,712,675.45939718,661,632.45939718,878.54060282,784,802.45939718,649,629,651,0.449645942683,-0.015561792655,0.0498175360966,0.999999953595,0.000151400170826,-0.000263620453126,1.9804223887e-05,1793196527695417600
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.880557747,743.880557747,712,675.119442253,661,632.119442253,879,784,802,649.119442253,629,651,0.449612061629,-0.0155591729528,0.0498050844992,0.99999994713,0.000152484450739,-0.000286592964929,1.88020349312e-05,1793196527712084224
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.290184004,743.290184004,712,675.709815996,661,632.709815996,879,784,802,649.709815996,629,651,0.449559556171,-0.0155569605035,0.0497889953885,0.999999938062,0.00015131422636,-0.000317303315839,1.7270493898e-05,1793196527728750592
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,743.294523584,712,676,661.294523584,633,878.705476416,784,801.705476416,650,629,651,0.449502337243,-0.0155534756086,0.0497746032446,0.999999930958,0.000152208285308,-0.000338645780039,1.53745774714e-05,1793196527745417216
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,743.873753841,712,676,661.873753841,633,878.126246159,784,801.126246159,650,629,651,0.449440561956,-0.0155487606806,0.049761851506,0.999999926309,0.000155097822095,-0.000350932601512,1.31264309284e-05,1793196527762083840
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.449270841,744,712.449270841,676,662,633,878.449270841,784,801.449270841,650,629,650.550729159,0.449368114625,-0.0155437331943,0.0497535716771,0.999999921721,0.000156979880804,-0.000363015376264,1.15926405822e-05,1793196527778750464
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.975701093,744,713,675.975701093,661.975701093,633,879,784,802,649.975701093,629.024298907,650.024298907,0.44929213953,-0.0155386009241,0.0497467881519,0.999999917211,0.00015861369941,-0.00037458351191,1.02963184467e-05,1793196527795417088
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.388014666,744,713,675.388014666,661.388014666,633,879,784,802,649.388014666,629.611985334,650.611985334,0.449203331646,-0.01553305886,0.0497458007587,0.999999916476,0.000161002049342,-0.000375537892747,9.8898158931e-06,1793196527812083968
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,743.803022194,712.803022194,675,661,633,878.803022194,784,802,649.196977806,629.803022194,651,0.44910974066,-0.0155268980857,0.0497459960883,0.99999991614,0.000164480070424,-0.000374934763138,9.47870250225e-06,1793196527828750848
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,743.22326485,712.22326485,675,661,633,878.22326485,784,802,649.77673515,629.22326485,651,0.449006854863,-0.015519534996,0.0497484897588,0.999999916562,0.00017007560805,-0.000371304982137,9.05862909257e-06,1793196527845417472
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.354978866,743,712.354978866,675.354978866,661,633,878.709957733,784,802,650,629,651,0.448888089762,-0.0155109630449,0.0497492911527,0.999999915514,0.000175218445987,-0.000371752619236,8.3741023698e-06,1793196527862083840
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.932274681,743,712.932274681,675.932274681,661,633,879.864549363,784,802,650,629,651,0.448759379725,-0.0155016340045,0.0497490327041,0.999999913537,0.000180077766707,-0.000374753870394,7.52395320072e-06,1793196527878750208
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.495587935,743,712.495587935,675.495587935,661.504412065,633,879.495587935,784,802,650,629,651,0.44861611456,-0.0154933658372,0.0497512961091,0.999999915325,0.000183192890807,-0.000368433244085,6.94662599993e-06,1793196527895416832
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.078770602,661.921229398,633,879,784,802,650,629.078770602,651,0.448465211132,-0.0154848411507,0.049753230758,0.999999916958,0.000186162376163,-0.000362475132778,6.20651700547e-06,1793196527912083456
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.672117986,661.327882014,633,879,784,802,650,629.672117986,651,0.448277047064,-0.0154737196465,0.049750828238,0.999999914663,0.000189694820231,-0.000366978680205,4.16614839165e-06,1793196527928750080
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,743,712,676,661,633,878.740874937,784,802.259125063,650,629.740874937,651,0.44807793157,-0.0154626960589,0.049747225153,0.999999911936,0.000193563711713,-0.00037236658406,2.21636891892e-06,1793196527945416960
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,743,712,676,661,633,878.161698947,784,802.838301053,650,629.161698947,651,0.447865289746,-0.015451793411,0.0497421392244,0.999999908666,0.000197848156405,-0.00037884677525,3.78478161412e-07,1793196527962084096
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.585547395,661,633,878,784,802.585547395,649.585547395,629.414452605,651,0.447631987223,-0.0154420913149,0.0497376585237,0.999999906172,0.000200534084708,-0.000383980310308,-1.44840024362e-06,1793196527978750720
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.010567295,661,633,878,784,802.010567295,649.010567295,629.989432705,651,0.447390682318,-0.0154328542217,0.0497334122423,0.999999903969,0.000202600868939,-0.000388592252796,-3.27101325606e-06,1793196527995417600
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,743,712.577235921,675,661.577235921,633,878.577235921,784.577235921,802,649.577235921,630,650.422764079,0.447135478031,-0.0154285772143,0.0497367398534,0.999999908393,0.000194245068142,-0.000381369046919,-6.29145461046e-06,1793196528012083712
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,743.162758678,712.837241322,675,662,633,878.837241322,784.837241322,802.162758678,649.837241322,630,650.162758678,0.446865624056,-0.0154278329753,0.0497398065957,0.999999912819,0.000182479737146,-0.000375488197739,-8.51859860527e-06,1793196528028750336
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,743.741834107,712.258165893,675,662,633,878.258165893,784.258165893,802.741834107,649.258165893,630,650.741834107,0.446558963659,-0.0154358875861,0.0497418433521,0.999999916969,0.000162492386807,-0.000373607721335,-8.65922045301e-06,1793196528045417216
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,743.682221249,712,674.682221249,662,633,878,784.317778751,802.682221249,649,630,651,0.446249028274,-0.0154389910812,0.0497491601001,0.999999923745,0.000147884232792,-0.000361316342187,-9.5350077302e-06,1793196528062083840
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,743.108795204,712,674.108795204,662,633,878,784.891204796,802.108795204,649,630,651,0.445936458187,-0.0154381114936,0.0497607245067,0.999999932451,0.000137603543369,-0.000340649578593,-1.10022223979e-05,1793196528078750720
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.468225724,743,712,674.468225724,662,633,878.468225724,784.531774276,801.531774276,649,630,651,0.445599589021,-0.015429648751,0.0497811605451,0.999999943468,0.0001341696515,-0.00030809311229,-1.18922082125e-05,1793196528095417600
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.953128794,743,712,675,662,633,878.953128794,784.046871206,801.046871206,649,630,651,0.445252783245,-0.0154198654381,0.0498025112316,0.999999953267,0.000131724750533,-0.00027559564174,-1.27149157342e-05,1793196528112084736
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.365450849,743,712,675,662,633,878.365450849,784.634549151,801.634549151,649,630,651,0.444856976074,-0.0154153326243,0.0498104467581,0.999999954371,0.000122192952627,-0.000275901301236,-1.43208585213e-05,1793196528128751360
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,662,633,878.220328748,784.779671252,801.779671252,649,630,651,0.444433848737,-0.0154122286668,0.0498123843204,0.999999954235,0.000110117093646,-0.000281303189102,-1.65286960654e-05,1793196528145417984
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,662,633,878.802986489,784.197013511,801.197013511,649,630,651,0.443965793614,-0.0154114744533,0.0498044582747,0.999999951863,9.38575456171e-05,-0.00029508578671,-1.97263449809e-05,1793196528162084096
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,662,633.380402345,878.619597655,784.380402345,801,649.380402345,630,651,0.443476657738,-0.0154115667998,0.0497879065789,0.999999944402,7.59814296757e-05,-0.000323792212391,-2.41299284798e-05,1793196528178750464
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,662,633.955140269,878.044859731,784.955140269,801,649.955140269,630,651,0.442976752384,-0.0154120916272,0.0497669483103,0.99999993309,5.72794605004e-05,-0.000360122751026,-2.91495858517e-05,1793196528195417088
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.529911654,743,712,675.529911654,662,633.470088346,878,785,801.529911654,650,630,651,0.442482195648,-0.01541137444,0.0497618700134,0.999999933275,4.0158006385e-05,-0.0003615753905,-3.31880108606e-05,1793196528212083968
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.892875567,743,712,675.892875567,662,633.107124433,878,785,801.892875567,649.892875567,630,650.892875567,0.441989500841,-0.015410640356,0.0497637107122,0.999999937033,2.35006490086e-05,-0.000352200880307,-3.65423049469e-05,1793196528228750592
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.304712681,743,712,675.304712681,662,633.695287319,878,785,801.304712681,649.304712681,630,650.304712681,0.441503133741,-0.0154103025676,0.0497905839096,0.999999952006,8.32645031304e-06,-0.000307466789098,-3.7197562298e-05,1793196528245417216
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.280475303,743,712,675,662,633.719524697,878.280475303,785,801,649,630,650.280475303,0.440975830099,-0.0154107846328,0.0498134823097,0.999999962171,-9.88865932086e-06,-0.000272215620142,-3.81890173338e-05,1793196528262083840
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.862465302,743,712,675,662,633.137534698,878.862465302,785,801,649,630,650.862465302,0.440404519068,-0.0154121480515,0.0498321077529,0.999999968182,-3.13727906836e-05,-0.000247158713955,-3.95418894879e-05,1793196528278750464
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.561270642,743,712,675,662,633,878.122541284,785,801,649,630,650.561270642,0.439795729025,-0.015409132829,0.0498190764182,0.999999962128,-4.67539516033e-05,-0.000267499187935,-4.47498386353e-05,1793196528295417088
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,662,633,877.026526542,785,801,649,629.986736729,650,0.439174452447,-0.0154047236919,0.0497960426803,0.999999951288,-5.88323190147e-05,-0.000302231808496,-5.11704562477e-05,1793196528312083712
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,662,633,878.179139862,785,801,649,629.410430069,650,0.438515442514,-0.0153986604805,0.0497642488315,0.999999936432,-1.08736572486e-05,-0.000351573346813,-5.84287499586e-05,1793196528328750336
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.169492995,743,712,675,662,633.169492995,878.830507005,785,801,649.169492995,629.169492995,650.169492995,0.437866065538,-0.0153946358018,0.0497441171685,0.999999924245,1.69638382163e-05,-0.000383575843647,-6.3974477498e-05,1793196528345416960
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.758364129,743,712,675,662,633.758364129,878.241635871,785,801,649.758364129,629.758364129,650.758364129,0.437240523522,-0.0153956550847,0.0497528413654,0.999999928413,-4.98466353003e-06,-0.000372676184767,-6.52827863138e-05,1793196528362083584
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,743,712,675,662.341825473,633.658174527,878,785,801.341825473,649.658174527,630,651,0.436596342752,-0.0153966455334,0.0497822759839,0.999999941956,-2.75871001439e-05,-0.000333399336335,-6.45908978379e-05,1793196528378749952
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,743,712,675,662.921522201,633.078477799,878,785,801.921522201,649.078477799,630,651,0.435939191577,-0.0153976159167,0.0498261226758,0.999999959123,-5.06445993003e-05,-0.000274375223861,-6.25071016181e-05,1793196528395416576
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.503509093,743,712.496490907,674.503509093,662.503509093,633.496490907,878,785,801.503509093,649,630,651,0.435229151518,-0.0153949256046,0.0498181385325,0.999999953237,-6.35556324922e-05,-0.000291977783533,-6.50811758988e-05,1793196528412083456
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.072263117,743,712.927736883,674,662,634,878.072263117,785,801,649,630,650.927736883,0.434512980123,-0.0153913905452,0.0498016215218,0.99999994404,-6.78799152619e-05,-0.000320739776057,-6.66234660282e-05,1793196528428750080
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.659026538,743,712.340973462,674,662,634,878.659026538,785,801,649,630,650.340973462,0.433812114434,-0.0153859219015,0.0497821319126,0.999999939195,-2.23791399627e-05,-0.000343533184966,-5.56271480406e-05,1793196528445416704
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.755884151,743,712,674,662.244115849,634,878.755884151,785,801.244115849,649.244115849,630,650,0.433105359388,-0.0153819655718,0.0497794966542,0.999999939606,-4.13594140397e-06,-0.000343862056574,-5.0290346167e-05,1793196528462083584
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.173117174,743,712,674,662.826882826,634,878.173117174,785,801.826882826,649.826882826,630,650,0.432390434195,-0.0153801072075,0.0498002426892,0.999999949332,-2.37059679973e-05,-0.000313026872321,-5.28047394265e-05,1793196528478750208
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.404193252,743.404193252,712.404193252,674.404193252,662.595806748,633.595806748,878,785,801.595806748,649.595806748,630,650.404193252,0.431642086972,-0.0153800643833,0.0498088885241,0.99999995147,-4.02647390213e-05,-0.000303858850711,-5.57485981261e-05,1793196528495416832
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.979197718,743.979197718,712.979197718,674.979197718,662.020802282,633.020802282,878,785,801.020802282,649.020802282,630,650.979197718,0.430879615714,-0.0153807888027,0.0498124208389,0.999999950562,-5.55509586462e-05,-0.00030384732806,-5.88739478687e-05,1793196528512083456
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.850023595,743,712,674,662,633.850023595,878,785,801,649.850023595,630,650,0.429328232686,-0.0153768092864,0.0497550091863,0.999999920871,-3.9075326229e-05,-0.000389958761417,-6.82926337676e-05,1793196528545416960
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.266910037,743,712,674,662,633.266910037,878,785,801,649.266910037,630,650,0.428571589641,-0.0153770524365,0.0497608758856,0.999999928074,-3.90701624604e-05,-0.000371203690698,-6.7333866844e-05,1793196528562083328
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.312665749,662,633.312665749,878,785,801,649.312665749,630,650.312665749,0.427807418497,-0.0153757857131,0.0497775639724,0.999999935475,-4.08324840366e-05,-0.000350949310201,-6.49479467456e-05,1793196528578749952
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.889255242,662,633.889255242,878,785,801,649.889255242,630,650.889255242,0.427036892862,-0.015373244493,0.0498033864819,0.999999942884,-4.40867546089e-05,-0.000329429350812,-6.13573548833e-05,1793196528595416576
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,662,634,877.537204864,785,801,650,630,651,0.426242214609,-0.015375783625,0.0497938489782,0.999999938986,-5.81402027856e-05,-0.000338705006272,-6.26644165677e-05,1793196528612083456
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.963431234,662,634,877,785,801,650,630,650.963431234,0.425447444356,-0.0153794279155,0.0497787136058,0.999999933726,-7.44877482601e-05,-0.000350399605984,-6.49647714825e-05,1793196528628750080
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.37519534,662,634,877,785,801,650,630,650.37519534,0.424737906075,-0.0153815245851,0.0498059424755,0.999999952635,-8.67141611399e-05,-0.000288142902485,-6.46851509401e-05,1793196528645416960
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.210744681,634,877,785.210744681,801,650,629.789255319,650.210744681,0.424006999922,-0.0153833630084,0.049828666099,0.999999965303,-8.00873753965e-05,-0.000242722729173,-6.37555547491e-05,1793196528662083584
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.792641434,634,877,785.792641434,801,650,629.207358566,650.792641434,0.423238461715,-0.015384746623,0.0498434553325,0.999999971533,-4.025736403e-05,-0.000226954128155,-6.16812570451e-05,1793196528678750208
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.94532506,662.05467494,634,877.94532506,785.05467494,801,650,629.94532506,651,0.421635950715,-0.0153801655651,0.0497978164938,0.999999951224,-4.13277405953e-05,-0.000302385454923,-6.63801975431e-05,1793196528712083200
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.147559894,743,713,674,662,633.852440106,877,785,801,650,630,651,0.41785392509,-0.0153816600081,0.0498032159291,0.999999938195,-9.95640443732e-05,-0.000330516325027,-6.67553796114e-05,1793196528795416320
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,743,712.571050149,674,662,634,877.428949851,785,801,649.571050149,630,651,0.417133033195,-0.0153819760609,0.0497957938983,0.999999935549,-0.000107153389235,-0.000335878835996,-6.78604598809e-05,1793196528812083200
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.004397804,634,877.995602196,785,801,649.004397804,630,651,0.416428363748,-0.0153839493395,0.0497945147343,0.999999937092,-0.000114951220604,-0.000328552224248,-6.82298117061e-05,1793196528828749824
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.591137841,634,877.408862159,785,801,649.591137841,630,651,0.415752920497,-0.0153839152383,0.0498139471445,0.999999948837,-0.000102488392645,-0.000295487226396,-6.71589165272e-05,1793196528845416704
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.823965137,634,877.176034863,785.176034863,801.176034863,650,630,651,0.415070367359,-0.0153825043275,0.0498237344871,0.999999955219,-8.78453290214e-05,-0.000278139401695,-6.69613621788e-05,1793196528862083328
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.334742544,743,712,674,662,634,877.665257456,786,802,649.665257456,630,650.665257456,0.413682348348,-0.0153769686341,0.0497930433619,0.999999940806,-6.84805702285e-05,-0.000329657746275,-7.0877952104e-05,1793196528895416832
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.910904052,743,712,674,662,634,877.089095948,786,802,649.089095948,630,650.089095948,0.413000273106,-0.0153786160359,0.049770460481,0.999999924498,-8.31541584903e-05,-0.000372465465954,-7.31987661689e-05,1793196528912083456
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.063117482,634,877,785,801,650,630,651,0.411782125068,-0.0153824280097,0.0498003035301,0.999999943217,-0.000102800698783,-0.000312979939008,-7.10051132546e-05,1793196528945416704
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.652471152,634,877,785,801,650,630,651,0.411190861146,-0.0153834509054,0.0498241958651,0.999999950315,-0.000110774508874,-0.000287209344942,-6.78957344737e-05,1793196528962083584
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,663,634,877.815094862,785,801,650,630,651,0.40999338152,-0.0153814104365,0.0498133629611,0.999999941386,-0.000119077598308,-0.000313525280193,-6.89267679646e-05,1793196528995416576
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.607141793,634,877.607141793,785,801,649.607141793,630,651,0.409430645358,-0.0153821429827,0.0497997529676,0.999999933504,-0.000128483447755,-0.0003338009447,-7.1138645378e-05,1793196529012083456
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.544075402,634,876.455924598,785,801.544075402,649,630,651,0.408405090839,-0.0153858823419,0.0498061053659,0.999999938247,-0.000142398379728,-0.000313094033285,-7.21098982681e-05,1793196529045416704
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,663,634.116897589,876,785,801.883102411,649.116897589,629.883102411,651,0.407928046129,-0.0153874747992,0.0498243751126,0.999999949015,-0.000137949511976,-0.000279244349583,-7.044917708e-05,1793196529062083328
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,663,634.687790029,876,785,801.312209971,649.687790029,629.312209971,651,0.407454069853,-0.0153883748542,0.0498372801749,0.999999955481,-0.000113598578807,-0.000267351257581,-6.8243335967e-05,1793196529078749952
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,663,634.728351716,876.271648284,785.271648284,801,650,629.271648284,651,0.406981362726,-0.015388552816,0.0498358687405,0.999999954854,-9.61968194098e-05,-0.000276681766407,-6.69702028555e-05,1793196529095416576
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,663,634.128844748,876.871155252,785.871155252,801,650,629.871155252,651,0.406510187395,-0.0153878592663,0.0498171783898,0.999999945411,-8.71821822108e-05,-0.000311627537317,-6.68227770145e-05,1793196529112083456
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,662,634,876.974290764,784.974290764,801,650,630,651,0.405617279643,-0.015384940118,0.0497714235637,0.999999914531,-9.84275866382e-05,-0.000395131876078,-7.15639205466e-05,1793196529145416448
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,662,634,876.383504478,784.383504478,801,650,630,651,0.405233496135,-0.0153829901431,0.0497729173324,0.999999916637,-0.000100859234762,-0.000389015359982,-7.22480877039e-05,1793196529162083328
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,662,634,876.782271792,784.782271792,801,650,630,651,0.40456082606,-0.0153863420414,0.0498024741028,0.999999935685,-0.000114213482463,-0.000332473590693,-7.10325295599e-05,1793196529195416576
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,743,712,673.641296498,662,634,877,785,801.358703502,650,630,651,0.404263141595,-0.0153912058127,0.0498238602353,0.999999945855,-0.000121951144178,-0.000297867484956,-6.85088420206e-05,1793196529212083200
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,743,712,673,662,634,877,785,802,650,630,651,0.403694918842,-0.0153996052379,0.049854514914,0.999999956227,-0.000133696365674,-0.000256240871014,-6.33356252163e-05,1793196529245416704
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,743,712,673.088521606,662,634,877,785,801.911478394,650,630,651,0.403417811613,-0.0154010499071,0.0498597614024,0.999999956639,-0.000137406162504,-0.000252938243273,-6.21653668192e-05,1793196529262083328
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,662,634,877,785,801,650,630,651,0.402673127079,-0.0153991389254,0.0498423068977,0.999999944297,-0.000146709253351,-0.000292669402204,-6.50217925188e-05,1793196529312083712
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.415588783,743,712,674,662,634,876.584411217,785,801.415588783,650,630,651,0.402465776134,-0.0154008420001,0.0498378929759,0.999999940907,-0.000151208434065,-0.000301761113707,-6.528492484e-05,1793196529328750336
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.988081627,743,712,674,662,634,876.011918373,785,801.988081627,650,630,651,0.402266699928,-0.0154024037425,0.0498332867221,0.99999993764,-0.000155221283744,-0.000310358475461,-6.55997698476e-05,1793196529345416704
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.419884797,743,712,674,662,634,876.580115203,785,801.419884797,650,630,651,0.402100364929,-0.0154010040169,0.0498299153267,0.999999936025,-0.000152150539607,-0.000317110078604,-6.51268087199e-05,1793196529362083584
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,743,712,673.831300051,662,634,877,785,801,649.831300051,630,651,0.401942203442,-0.0153995591538,0.0498267667371,0.999999935195,-0.000147697966342,-0.000321928277766,-6.44781606947e-05,1793196529378750208
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,743,712,673.252118008,662,634,877,785,801,649.252118008,630,651,0.401802236054,-0.0153981576657,0.0498240963986,0.999999936266,-0.000140249567211,-0.000322137587179,-6.34427850842e-05,1793196529395416832
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,743,712,673.323355264,662.323355264,634,877,785,801,649.323355264,630,651.323355264,0.40168091918,-0.0153982822738,0.0498252123072,0.999999938211,-0.000136904897264,-0.00031764521858,-6.27438149834e-05,1793196529412083712
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,743,712,673.895969682,662.895969682,634,877,785,801,649.895969682,630,651.895969682,0.401573979082,-0.0153995832763,0.0498292468528,0.999999940808,-0.00013672359567,-0.000309528550608,-6.23041637377e-05,1793196529428750336
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.517169545,743,712,673.517169545,662.517169545,634,877,785,801,650,630,651.517169545,0.401483424549,-0.0154023791805,0.0498315516772,0.999999941883,-0.000141804647982,-0.000303726809133,-6.22547649348e-05,1793196529445416960
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.071547757,743,712,673.071547757,662.071547757,634,877,785,801,650,629.928452243,651,0.401398487018,-0.0154052540951,0.0498337079875,0.999999942691,-0.000147457609259,-0.000298328501103,-6.22430928725e-05,1793196529462083584
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.650992276,743,712,673.650992276,662.650992276,634,877,785,801,650,629.349007724,651,0.401327599513,-0.0154063339423,0.0498375360541,0.999999944328,-0.000148877003902,-0.000292145760469,-6.1884200431e-05,1793196529478750208
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.769550851,634,877,785,801,649.769550851,629,650.769550851,0.401262812991,-0.0154073984244,0.0498404843025,0.999999945466,-0.000151356954733,-0.00028695567082,-6.17779061452e-05,1793196529495416832
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.190075301,634,877,785,801,649.190075301,629,650.190075301,0.401207266706,-0.015408439635,0.0498421000232,0.999999945873,-0.000155443169211,-0.000283268999562,-6.20541840273e-05,1793196529512083200
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.614281907,743,712,673.614281907,662,634,876.614281907,785,801,649.385718093,629.385718093,650.385718093,0.401160825965,-0.015410794086,0.0498429400663,0.999999946064,-0.000158986857882,-0.000280651226154,-6.18848241017e-05,1793196529528750080
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.546997549,743,712,673,662,634,876,785,801.546997549,650,629.453002451,651,0.401087539285,-0.015414617668,0.0498437667706,0.99999994618,-0.000162807640942,-0.000278194315187,-6.11728403619e-05,1793196529562083584
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.866698912,743,712,673,662,634,876,785,801.866698912,650,629,651,0.401059334609,-0.0154149353914,0.0498441860337,0.999999946293,-0.000163005020467,-0.000277699267835,-6.10483036798e-05,1793196529578750208
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.287035149,743,712,673,662,634,876,785,801.287035149,650,629,651,0.401038757241,-0.0154140918913,0.0498448103334,0.999999946686,-0.000162740498119,-0.0002763164315,-6.15797341229e-05,1793196529595416832
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.290366989,743,712,673,662,634,876,784.709633011,801,649.709633011,629.290366989,651,0.401021975299,-0.0154146221316,0.0498448270134,0.999999946729,-0.000164252612185,-0.000275220592741,-6.17728058179e-05,1793196529612083456
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.865550799,743,712,673,662,634,876,784.134449201,801,649.134449201,629.865550799,651,0.401008916234,-0.015416499854,0.0498442476882,0.999999946422,-0.000167507403438,-0.000274406265629,-6.16339863242e-05,1793196529628750336
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.985365079,634,876.985365079,785,801.985365079,649.014634921,629.985365079,651,0.40099211616,-0.0154139296764,0.0498473053193,0.999999948398,-0.000161689561692,-0.000270639541089,-6.1755703096e-05,1793196529662083584
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..26fd4570522da3c3cbef0f2ead17f3895d848ea6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_01/simulation_data.csv
@@ -0,0 +1,421 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9a26e43331ad4c9f2dcdeb31db8ffba37cc67455
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fbe9a162636b4ef36264bc13f184ba285997abea7b82a9fd682e230cb5f1797
+size 26817597
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cf1eba244b7384561e581c6185705e64182d38ca
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_02/franka_data.csv
@@ -0,0 +1,423 @@
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+3,0.050000000,BASELINE,764.740854601,743,712,673.740854601,662,634,876.259145399,785,801,649.259145399,630,651,0.400981993509,-0.0154193376732,0.049854906937,0.999999952633,-0.000159948507414,-0.000256226475216,-5.914003797e-05,1793196530285656064
+4,0.066666667,BASELINE,765,743,712,673.675225096,662,634,876.324774904,785,801,649.324774904,630,651,0.400981757449,-0.0154196698748,0.0498552120225,0.999999952585,-0.000159866641368,-0.000256473805078,-5.91166939265e-05,1793196530302322688
+5,0.083333333,BASELINE,765,743,712,673.094530459,662,634,876.905469541,785,801,649.905469541,630,651,0.400981316804,-0.0154196958318,0.0498549086973,0.999999952563,-0.000158726675267,-0.00025723456647,-5.92397083614e-05,1793196530318989312
+6,0.100000000,BASELINE,765,743,712,673.481275555,662,634,877,785,801,649.518724445,629.518724445,650.518724445,0.400979589668,-0.0154205574284,0.0498538839999,0.999999952138,-0.000158902796536,-0.000258839780677,-5.89514443583e-05,1793196530335657216
+7,0.116666667,BASELINE,765,743,712,674,662,633.943774175,877,785,801.056225825,649.056225825,629.056225825,650.056225825,0.400978147242,-0.0154214064472,0.0498530598401,0.999999951782,-0.000159283705706,-0.000260043288907,-5.86671701426e-05,1793196530352324864
+8,0.133333333,BASELINE,765,743,712,674,662,633.367947747,877,785,801.632052253,649.632052253,629.632052253,650.632052253,0.400981647592,-0.0154206376747,0.0498553851408,0.999999952807,-0.000159192254176,-0.000256017112696,-5.91587908268e-05,1793196530368990720
+9,0.150000000,BASELINE,765,743,712,674,662,633.212971604,876.787028396,785,801.787028396,650,629.787028396,650.787028396,0.400983317913,-0.0154202845998,0.0498565721703,0.999999953396,-0.000158820613292,-0.000253892539437,-5.9349397117e-05,1793196530385656576
+10,0.166666667,BASELINE,765,743,712,674,662,633.802905426,876.197094574,785,801.197094574,650,629.197094574,650.197094574,0.40098174906,-0.0154206673148,0.0498557444465,0.999999953238,-0.000157953033999,-0.000255133825981,-5.9007204374e-05,1793196530402323200
+11,0.183333333,BASELINE,765,743,712,674,662,634,876,785,801,650,629.385241376,650.385241376,0.400981506588,-0.0154205488727,0.0498555693882,0.999999953104,-0.000158723220895,-0.00025517531004,-5.90223625429e-05,1793196530418990080
+12,0.200000000,BASELINE,765,743,712,674,662,634,876,785,801,650,629.963765387,650.963765387,0.400981929587,-0.015420178991,0.0498557217841,0.999999952982,-0.000160315104925,-0.000254614831389,-5.92168101606e-05,1793196530435656960
+13,0.216666667,BASELINE,765,743,712,673.458554918,662,634,876.541445082,785,801,650,630,651,0.400980858887,-0.0154203150361,0.0498546462303,0.999999953078,-0.000157960524048,-0.000255741164428,-5.90703739017e-05,1793196530452323072
+14,0.233333333,BASELINE,765,743,712,673.118043543,662,634,877,785,801,650,630,651,0.400980317545,-0.015420458121,0.0498540657048,0.999999953245,-0.00015605099679,-0.000256293167939,-5.89306986257e-05,1793196530468989440
+15,0.250000000,BASELINE,765,743,712,673.690695402,662,634,877,785,801,650,630,651,0.400982199231,-0.0154204981279,0.049855707614,0.999999953652,-0.000156870992931,-0.000254199254203,-5.89047802312e-05,1793196530485656320
+16,0.266666667,BASELINE,765,743,712,674,662,633.727210462,876.727210462,785,801.272789538,650,629.727210462,651,0.40098249301,-0.0154207769101,0.0498562657295,0.999999953623,-0.000157813637524,-0.000253729781335,-5.89054307987e-05,1793196530502323200
+17,0.283333333,BASELINE,765,743,712,674,662,633.134026291,876.134026291,785,801.865973709,650,629.134026291,651,0.400980921772,-0.0154213361367,0.0498555509161,0.999999953083,-0.000158900334168,-0.000255168234172,-5.89372869371e-05,1793196530518989568
+18,0.300000000,BASELINE,765,743,712,673.553572388,662,633.446427612,876,785,802,650,629.446427612,651,0.400980195185,-0.0154222122357,0.0498552772998,0.999999952717,-0.000160493035601,-0.000255622825352,-5.88585183285e-05,1793196530535656704
+19,0.316666667,BASELINE,765,743,712,673.023114553,662,634,876,785,801.976885447,650,630,651,0.400979798992,-0.015423104875,0.0498551767148,0.999999952442,-0.000162071180605,-0.000255729003716,-5.87466192623e-05,1793196530552324096
+20,0.333333333,BASELINE,765,743,712,673.59858183,662,634,876,785,801.40141817,650,630,651,0.400981406323,-0.0154221825059,0.0498561334889,0.999999953166,-0.000159771977978,-0.000254372066578,-5.8614657998e-05,1793196530568989952
+21,0.350000000,BASELINE,765,743,712,673.821590598,662.178409402,634,876,785.178409402,801,649.821590598,630,651,0.400982247364,-0.0154218085019,0.0498566750815,0.999999953577,-0.000158307708978,-0.000253717429042,-5.84213560128e-05,1793196530585656064
+22,0.366666667,BASELINE,765,743,712,673.23170674,662.76829326,634,876,785.76829326,801,649.23170674,630,651,0.400981321071,-0.0154226992198,0.0498562591201,0.999999953278,-0.00015876908915,-0.000254682540115,-5.80865808976e-05,1793196530602322688
+23,0.383333333,BASELINE,765,743,712,673.35177568,662.64822432,634,876.35177568,785.64822432,801.35177568,649.35177568,630,651,0.40097964319,-0.0154221337808,0.0498548034258,0.99999995272,-0.000158890758351,-0.000256708942889,-5.84359880614e-05,1793196530618989568
+24,0.400000000,BASELINE,765,743,712,673.931117033,662.068882967,634,876.931117033,785.068882967,801.931117033,649.931117033,630,651,0.400977479103,-0.0154206263456,0.0498526751223,0.999999951989,-0.000158792666653,-0.000259421901349,-5.92279965693e-05,1793196530635656192
+25,0.416666667,BASELINE,765,743,712,674,662,634,877,785,802,650,630,651,0.400978066761,-0.0154201973549,0.0498538404439,0.999999952292,-0.000158646384626,-0.000258301417057,-5.94015103177e-05,1793196530652322816
+26,0.433333333,BASELINE,765,743,712,674,662,634,877,785.0842364,802,650,630,651,0.400979139166,-0.0154201098458,0.0498554039792,0.999999952742,-0.000158609367743,-0.000256566216663,-5.94331686998e-05,1793196530668989696
+27,0.450000000,BASELINE,765,743,712,674,662,634,877,785.671091058,802,650,630,651,0.4009808883,-0.0154211915391,0.0498566916174,0.999999953249,-0.000159263111143,-0.00025424974305,-5.91164065589e-05,1793196530685656320
+28,0.466666667,BASELINE,765.254690961,743,712,673.745309039,662,634,877,785.745309039,801.745309039,650,629.745309039,651,0.400980841766,-0.0154213253215,0.0498566171961,0.999999953338,-0.00015892601727,-0.000254146757557,-5.89515461733e-05,1793196530702322944
+29,0.483333333,BASELINE,765.834140663,743,712,673.165859337,662,634,877,785.165859337,801.165859337,650,629.165859337,651,0.400978505561,-0.015420250414,0.0498548060003,0.999999952895,-0.000157325497819,-0.000256866210858,-5.89803771043e-05,1793196530718989568
+30,0.500000000,BASELINE,765.586602983,743,712,673.413397017,662,634,877,785,801.413397017,650,629.413397017,651,0.400978254844,-0.0154204019739,0.0498544832913,0.999999952704,-0.000157848575572,-0.000257310724863,-5.88884044613e-05,1793196530735656192
+31,0.516666667,BASELINE,765.00742418,743,712,673.99257582,662,634,877,785,801.99257582,650,629.99257582,651,0.400978840457,-0.0154210453757,0.0498547575,0.999999952614,-0.000159223265063,-0.000256842935418,-5.87479867845e-05,1793196530752322816
+32,0.533333333,BASELINE,764.436547379,743,712,674,662.563452621,634,877,785,801.436547379,650,630,651,0.400980386901,-0.0154209018777,0.0498559427932,0.999999953233,-0.000158293266784,-0.000255021355478,-5.86698452125e-05,1793196530768989696
+33,0.550000000,BASELINE,764.139113718,743,712,674,662.860886282,634.139113718,876.860886282,785,801.278227436,650,630,651,0.400981536696,-0.0154211640439,0.049856776283,0.999999953642,-0.000157881449757,-0.000253709286503,-5.84821462809e-05,1793196530785656320
+34,0.566666667,BASELINE,764.730685936,743,712,674,662.269314064,634.730685936,876.269314064,785,802.461371873,650,630,651,0.400981355837,-0.01542277884,0.0498564270767,0.999999953355,-0.000159252317328,-0.000254111543895,-5.79354889555e-05,1793196530802322944
+35,0.583333333,BASELINE,765,743,712,674,662,634.684317543,876.315682457,785,802.684317543,650,630,651,0.400981222884,-0.0154226962323,0.0498562661301,0.999999953255,-0.000159459544773,-0.000254356134047,-5.80159440139e-05,1793196530818989824
+36,0.600000000,BASELINE,765,743,712,674,662,634.10481633,876.89518367,785,802.10481633,650,630,651,0.400981129964,-0.0154211950885,0.0498562625139,0.999999953313,-0.000158694307524,-0.000254468960269,-5.86204826469e-05,1793196530835656448
+37,0.616666667,BASELINE,765,743,712,674,662.47218702,634,877,785,801.52781298,649.52781298,630,651,0.40098106845,-0.0154218441759,0.0498559872194,0.999999953328,-0.000158839214236,-0.000254324735059,-5.85864177124e-05,1793196530852323072
+38,0.633333333,BASELINE,765,743,712,673.951525064,663,633.951525064,877,785,801,649.048474936,629.951525064,651,0.400981015744,-0.0154228134751,0.049855765163,0.999999953348,-0.000159104676669,-0.000254120154946,-5.84203324214e-05,1793196530868989696
+39,0.650000000,BASELINE,765,743,712,673.377015052,663,633.377015052,877,785,801,649.622984948,629.377015052,651,0.400980983387,-0.0154221052564,0.0498567718225,0.99999995351,-0.000158497496299,-0.000253876565573,-5.83518173699e-05,1793196530885656320
+40,0.666666667,BASELINE,765,743,712,673.203253266,662.796746734,633.203253266,876.796746734,785,801.203253266,650,629.203253266,651,0.400981068002,-0.0154217932542,0.0498573360533,0.999999953672,-0.000157758441579,-0.000253726354442,-5.82382862987e-05,1793196530902322944
+41,0.683333333,BASELINE,765,743,712,673.794514074,662.205485926,633.794514074,876.205485926,785,801.794514074,650,629.794514074,651,0.400981375916,-0.0154222376236,0.0498570556942,0.999999953832,-0.000156767640671,-0.000253754401034,-5.8038820302e-05,1793196530918989824
+42,0.700000000,BASELINE,765,743,712,673.622290543,662.377709457,634,876.377709457,785,801.622290543,650,630,651,0.400980683242,-0.0154221820448,0.0498565763967,0.999999953548,-0.000157453505904,-0.000254420523898,-5.81635516049e-05,1793196530935656448
+43,0.716666667,BASELINE,765,743,712,673.043391289,662.956608711,634,876.956608711,785,801.043391289,650,630,651,0.400979457596,-0.0154218601646,0.0498559911332,0.999999953024,-0.000159032460064,-0.000255426522913,-5.8460969057e-05,1793196530952323072
+44,0.733333333,BASELINE,765,743,712,673.531245881,662.468754119,634,877,785,802.062491763,650,630,651,0.400978822297,-0.0154209132746,0.0498551907379,0.999999952669,-0.00015829730987,-0.000257222993852,-5.86615996e-05,1793196530968989696
+45,0.750000000,BASELINE,765,743,712,674,662.105901935,634,877,785,802.894098065,650,630,651,0.400978752871,-0.0154205609963,0.0498547595099,0.999999952534,-0.000157657349493,-0.000258133820214,-5.86763486457e-05,1793196530985656064
+46,0.766666667,BASELINE,765,743,712,674,662.682175597,634,877,785,802.317824403,650,630,651,0.400980984353,-0.0154230746703,0.049856045392,0.99999995333,-0.000158273013358,-0.000254826500746,-5.79003234062e-05,1793196531002322944
+47,0.783333333,BASELINE,765,743,712,674,662.734613562,634,877,785,802,650,630,651,0.400981605151,-0.0154241574807,0.0498564750642,0.999999953503,-0.000159266602913,-0.000253572500724,-5.77045689028e-05,1793196531018989568
+48,0.800000000,BASELINE,765,743,712,674,662.14287174,634,877,785,802,650,630,651,0.400980245233,-0.0154234807063,0.049855851824,0.999999952916,-0.000160724941556,-0.000254843542088,-5.82223943875e-05,1793196531035656192
+49,0.816666667,BASELINE,765,743,712,673.562422324,662,634,877,785,801.562422324,650,630,651,0.400980464343,-0.015423549014,0.0498557320342,0.999999952843,-0.000160623154375,-0.000255179097827,-5.82964951479e-05,1793196531052322816
+50,0.833333333,BASELINE,765,743,712,673.014374614,662.014374614,634,876.985625386,785,801,650,630,651,0.400981166793,-0.0154238598947,0.0498557831196,0.999999952932,-0.000160087008041,-0.000255180657394,-5.82295980049e-05,1793196531068989440
+51,0.850000000,BASELINE,765,743,712,673.588905063,662.588905063,634,876.411094937,785,801,650,630,651,0.400981119056,-0.0154243819596,0.0498562484756,0.99999995299,-0.000161975332923,-0.000253770055798,-5.81719015777e-05,1793196531085656064
+52,0.866666667,BASELINE,764.832339149,743,712,674,662.832339149,634,876.167660851,785,801,650,630,651,0.400980912165,-0.015424331388,0.049856557175,0.999999953045,-0.000162572926042,-0.000253166553065,-5.8187729612e-05,1793196531102322688
+53,0.883333333,BASELINE,764.242955259,743,712,674,662.242955259,634,876.757044741,785,801,650,630,651,0.400980304952,-0.0154228404442,0.0498564718306,0.999999953099,-0.000159923897565,-0.000254593173618,-5.83884962271e-05,1793196531118989312
+54,0.900000000,BASELINE,764,743,712,674,662,633.659398383,877,785,801.340601617,650,630,651,0.400979720202,-0.0154229662332,0.0498563213774,0.999999952886,-0.000160315625633,-0.000255200819433,-5.83131895395e-05,1793196531135655936
+55,0.916666667,BASELINE,764,743,712,674,662,633.079928097,877,785,801.920071903,650,630,651,0.400979151205,-0.0154242258597,0.0498561252624,0.999999952485,-0.000162839878823,-0.000255234106772,-5.80442687826e-05,1793196531152322560
+56,0.933333333,BASELINE,764.495603231,743,712,673.504396769,662,633.495603231,876.504396769,785,801.504396769,650,630,651,0.400980182429,-0.0154236023804,0.0498568535138,0.999999953253,-0.000160547598466,-0.000253658112327,-5.8105276898e-05,1793196531168989184
+57,0.950000000,BASELINE,765.070587466,742.929412534,712,673.070587466,662,634,876.070587466,785,801,650,630,651,0.400981362238,-0.0154226276319,0.0498575949953,0.999999954096,-0.000157687007306,-0.000252093661204,-5.82330282874e-05,1793196531185656064
+58,0.966666667,BASELINE,765.646166288,742.353833712,712,673.646166288,662,634,876.646166288,785,801,650,630,651,0.400981773301,-0.015421295413,0.0498573730236,0.999999954214,-0.00015627403674,-0.000252453904127,-5.84606065668e-05,1793196531202322688
+59,0.983333333,BASELINE,765.771790447,742.228209553,712,673.771790447,662,634,876.771790447,785,801.228209553,650,630,651,0.400981828504,-0.0154205337853,0.0498571290875,0.999999954254,-0.000155529551734,-0.000252720310088,-5.86133247768e-05,1793196531218989312
+60,1.000000000,BASELINE,765.179431922,742.820568078,712,673.179431922,662,634,876.179431922,785,801.820568078,650,630,651,0.400981315867,-0.0154206826375,0.0498568501031,0.999999954172,-0.000155851754239,-0.000252836982522,-5.86465904532e-05,1793196531235655936
+61,1.016666667,BASELINE,765,743,712,673.804281675,662,634,876.402140838,785.402140838,802,650,630,651,0.400979052933,-0.0154214118265,0.0498554644273,0.999999953282,-0.000157190657745,-0.000255471063131,-5.88327019809e-05,1793196531252322560
+62,1.033333333,BASELINE,765,743,712,674.958053493,662,634,876.979026747,785.979026747,802,650,630,651,0.40097602943,-0.0154223931933,0.0498535978532,0.999999952026,-0.000158971355428,-0.000259199050714,-5.90852306829e-05,1793196531268989440
+63,1.050000000,BASELINE,765,743,712,674.445970864,662,634,877,785.445970864,802,650,630,651,0.400979486621,-0.0154225757878,0.0498560767024,0.999999953305,-0.000157460203537,-0.000255226044724,-5.8788068433e-05,1793196531285655808
+64,1.066666667,BASELINE,765,743,712,673.867693253,662.132306747,634,877,785.132306747,801.867693253,650,630,651,0.400982042624,-0.0154223199794,0.0498577848143,0.999999954263,-0.000156195513763,-0.000252282941943,-5.85731164485e-05,1793196531302322688
+65,1.083333333,BASELINE,765,743,712,673.277843564,662.722156436,634,877,785.722156436,801.277843564,650,630,651,0.400980636607,-0.0154206523022,0.049856260618,0.999999953841,-0.000156212624998,-0.000253906193777,-5.871418179e-05,1793196531318989568
+66,1.100000000,BASELINE,765,743,712,673.306638706,662.693361294,634,876.693361294,785.693361294,801,650,630,651,0.400979389969,-0.0154206390279,0.0498554728639,0.999999953351,-0.000157151959337,-0.000255237591796,-5.87861714425e-05,1793196531335655936
+67,1.116666667,BASELINE,765,743,712,673.88634122,662.11365878,634,876.11365878,785.11365878,801,650,630,651,0.400978285261,-0.0154220990104,0.0498553409165,0.999999952798,-0.000158912539486,-0.000256309091962,-5.87966487264e-05,1793196531352322816
+68,1.133333333,BASELINE,765,743,712,674,662.46235705,634,876.46235705,785,801.46235705,650,630,651,0.400979025483,-0.0154219951699,0.0498555894788,0.99999995334,-0.000157616924188,-0.000255076756877,-5.8414064518e-05,1793196531368989440
+69,1.150000000,BASELINE,764.961781786,743,712,673.961781786,662.961781786,634,877,785,802,650,630,651,0.400980184188,-0.0154216194628,0.0498559183463,0.999999954083,-0.000155813217085,-0.000253368340206,-5.79664825481e-05,1793196531385656064
+70,1.166666667,BASELINE,764.375240598,743,712,673.375240598,662.375240598,634,877,785,802,650,630,651,0.400980891526,-0.0154228150398,0.0498560679654,0.999999953954,-0.000157413425086,-0.000252890595403,-5.79616847577e-05,1793196531402322688
+71,1.183333333,BASELINE,764.208770005,743,712,673.208770005,662,634,877,785,802,650,630,651,0.400981565264,-0.015423583631,0.0498564736934,0.999999953914,-0.000158485680148,-0.000252386433825,-5.79191802022e-05,1793196531418989568
+72,1.200000000,BASELINE,764.788286734,743,712,673.788286734,662,634,877,785,802,650,630,651,0.400982179335,-0.0154235939544,0.0498573342356,0.999999954038,-0.000158620363899,-0.000251835359615,-5.78097136343e-05,1793196531435656192
+73,1.216666667,BASELINE,765,743,712,674,662.366940388,634,876.633059612,785,801.633059612,650,630,651,0.40098220811,-0.015423010162,0.0498574188581,0.999999954113,-0.000158075838139,-0.000251830826993,-5.80318475659e-05,1793196531452322816
+74,1.233333333,BASELINE,765,743,712,674,662.945097209,634,876.054902791,785,801.054902791,650,630,651,0.400981899982,-0.0154220843874,0.0498570568492,0.999999954158,-0.000157140349113,-0.000252140891999,-5.84448557626e-05,1793196531468989440
+75,1.250000000,BASELINE,765,743,712,673.480940422,662.480940422,634,876.519059578,785,801.519059578,650,630,651,0.400981381993,-0.015421325571,0.0498567601665,0.999999954273,-0.000156065163232,-0.000252321499816,-5.85871965808e-05,1793196531485656064
+76,1.266666667,BASELINE,765,743,712,673.095315266,662.095315266,634,877,785,802,650,630,651,0.400980969245,-0.015420799439,0.0498565551264,0.999999954342,-0.000155402299668,-0.000252439468527,-5.86631052557e-05,1793196531502322688
+77,1.283333333,BASELINE,765,743,712,673.685770419,662.685770419,634,877,785,802,650,630,651,0.400981217588,-0.0154213910439,0.0498567905407,0.99999995414,-0.000156957495117,-0.000252302604573,-5.85414458921e-05,1793196531518989312
+78,1.300000000,BASELINE,765,743,712,674,662.728963367,634.271036633,877,785,801.728963367,650,630,651,0.400981281183,-0.0154220756255,0.0498570917905,0.999999953993,-0.000158238491172,-0.000252110027822,-5.84443652681e-05,1793196531535656192
+79,1.316666667,BASELINE,765,743,712,674,662.149600043,634.850399957,877,785,801.149600043,650,630,651,0.400981134611,-0.0154228659759,0.0498574679336,0.999999953907,-0.000159207562527,-0.000251854073145,-5.8375245011e-05,1793196531552322816
+80,1.333333333,BASELINE,765,743,712,674,662,634.573128675,877,785,801,650,630,651,0.400980232505,-0.0154234328633,0.0498567838865,0.999999953433,-0.000160358586168,-0.000253004533603,-5.83809714958e-05,1793196531568989184
+81,1.350000000,BASELINE,765,743,712,673.997665339,662,634,876.997665339,785,801,650,630,651,0.400979072396,-0.0154239163274,0.049855735144,0.999999952823,-0.000161563017835,-0.000254637520454,-5.84127895248e-05,1793196531585656064
+82,1.366666667,BASELINE,765,743,712,673.422543594,662,634,876.422543594,785,801,650,630,651,0.400979138381,-0.0154230169881,0.0498557549711,0.999999953043,-0.000160331357841,-0.000254542075491,-5.8453804795e-05,1793196531602322688
+83,1.383333333,BASELINE,765,743,712.155778526,673.155778526,662,634,876.155778526,785,801.155778526,650,630,651,0.400979557553,-0.0154223891997,0.0498559434227,0.999999953338,-0.000159028390159,-0.000254212806075,-5.83907190268e-05,1793196531618989312
+84,1.400000000,BASELINE,765,743,712.742963765,673.742963765,662,634,876.742963765,785,801.742963765,650,630,651,0.400980954826,-0.0154225134333,0.0498565988561,0.999999953844,-0.000157527945587,-0.000253235992712,-5.80393400868e-05,1793196531635656192
+85,1.416666667,BASELINE,765,743,712.672928742,674,662,634,877,785,801.672928742,650,630,651,0.400981640725,-0.0154217030295,0.0498571028024,0.999999954371,-0.000155699662638,-0.000252254700273,-5.81636400139e-05,1793196531652323072
+86,1.433333333,BASELINE,765,743,712.091217453,674,662,634,877,785,801.091217453,650,630,651,0.400981772785,-0.0154201649673,0.049857488809,0.999999954912,-0.00015361614251,-0.000251269920726,-5.86582778599e-05,1793196531668989696
+87,1.450000000,BASELINE,764.514863825,743,712,674,662.485136175,634,876.514863825,785,801,650,629.514863825,651,0.400981546178,-0.0154205309713,0.0498573509032,0.999999954851,-0.00015395876375,-0.000251365991857,-5.83942249009e-05,1793196531685656320
+88,1.466666667,BASELINE,764.060437053,743,712,673.939562947,663,634,876,785.060437053,801.060437053,650,629.060437053,651,0.400981299252,-0.01542119141,0.049857176947,0.999999954711,-0.000154577512947,-0.000251625000832,-5.80379824614e-05,1793196531702322944
+89,1.483333333,BASELINE,764.635258077,743,712,673.364741923,663,634,876,785.635258077,801.635258077,650,629.635258077,651,0.40098144709,-0.0154213440305,0.0498575254157,0.999999954858,-0.000153706287871,-0.000251560004907,-5.80979716124e-05,1793196531718989824
+90,1.500000000,BASELINE,765,743,712,673.215466525,662.784533475,634,876.215466525,785.784533475,802,649.784533475,630,651,0.400981590313,-0.0154220905056,0.0498576931199,0.999999954751,-0.000154526278083,-0.000251484375165,-5.80940692874e-05,1793196531735656192
+91,1.516666667,BASELINE,765,743,712,673.805028623,662.194971377,634,876.805028623,785.194971377,802,649.194971377,630,651,0.400981725523,-0.0154238680382,0.0498575469784,0.999999954194,-0.000158282576724,-0.000251390282861,-5.79792378057e-05,1793196531752323072
+92,1.533333333,BASELINE,765,743,712,674,662,634,877,785,802,649.389131434,630,651,0.400981621722,-0.0154238684652,0.0498575715177,0.999999953931,-0.000159757386553,-0.000251474970413,-5.81070722617e-05,1793196531768989696
+93,1.550000000,BASELINE,765,743,712,674,662,634,877,785,802,649.970536807,630,651,0.400981399824,-0.0154229908059,0.049857680392,0.999999953817,-0.000160104889071,-0.000251647994966,-5.83548105029e-05,1793196531785656320
+94,1.566666667,BASELINE,765,743,712,674,662,634,876.455431244,785,802,650,630,651,0.400981088373,-0.0154236682571,0.0498578916976,0.999999953938,-0.000159718530993,-0.000251469123465,-5.81155030866e-05,1793196531802322944
+95,1.583333333,BASELINE,765,743,712,673.879083243,662.120916757,634,876.120916757,785,801.879083243,650,630,651,0.400980966749,-0.0154240831618,0.049857989585,0.999999954053,-0.000159246800974,-0.000251348344473,-5.79556916055e-05,1793196531818989824
+96,1.600000000,BASELINE,765,743,712,673.29229526,662.70770474,634,876.70770474,785,801.29229526,650,630,651,0.400981594909,-0.0154231666842,0.0498576294254,0.999999954098,-0.000158597078861,-0.000251523759326,-5.82023335088e-05,1793196531835656448
+97,1.616666667,BASELINE,765,743,712,673.292847149,662.707152851,634,876.707152851,785,801,650,630,651,0.400981647901,-0.0154229361195,0.0498572551212,0.999999954189,-0.000157624770532,-0.000251756591733,-5.82598328285e-05,1793196531852323072
+98,1.633333333,BASELINE,765,743,712,673.87635623,662.12364377,634,876.12364377,785,801,650,630,651,0.400981130016,-0.0154233863494,0.0498568667781,0.999999954327,-0.000156332283157,-0.000252046413234,-5.81296009271e-05,1793196531868989696
+99,1.650000000,BASELINE,765,743,712,674,662,634,876.452474502,785,801,650,630,651,0.400979482002,-0.0154242460837,0.0498557854103,0.999999953534,-0.000158318532886,-0.000253979238531,-5.79887329056e-05,1793196531885656320
+100,1.666666667,BASELINE,765,743,712,673.973343413,662,634,876.973343413,785,801,650,629.973343413,651,0.400977731472,-0.015425148693,0.0498546800499,0.999999952564,-0.000161050204828,-0.000256103487571,-5.7845479956e-05,1793196531902323200
+101,1.683333333,BASELINE,765,743,712,673.398112132,662,634,876.398112132,785,801,650,629.398112132,651,0.400980124399,-0.0154246677907,0.0498569155496,0.999999953354,-0.000160980407336,-0.000253076115383,-5.77119980567e-05,1793196531918989824
+102,1.700000000,BASELINE,765,743,712,673.181292953,662.181292953,634,876,785,801.181292953,650,629.181292953,651,0.400981346211,-0.0154241535097,0.0498579960964,0.999999953869,-0.00016020332018,-0.000251517211837,-5.77495156177e-05,1793196531935656192
+103,1.716666667,BASELINE,765,743,712,673.770079453,662.770079453,634,876,785,801.770079453,650,629.770079453,651,0.400979935701,-0.0154235642034,0.0498564806468,0.999999953782,-0.000157836452686,-0.000253258996814,-5.81713899822e-05,1793196531952322816
+104,1.733333333,BASELINE,765,743,712,673.646652811,662.646652811,634,876.353347189,785,802,650,630,651,0.400980028808,-0.0154229928753,0.0498567132196,0.999999954131,-0.000156318239989,-0.000252778913912,-5.83533125784e-05,1793196531968990208
+105,1.750000000,BASELINE,765,743,712,673.066920817,662.066920817,634,876.933079183,785,802,650,630,651,0.400981085262,-0.0154224330656,0.0498580657267,0.999999954761,-0.000155343748809,-0.000250875310222,-5.83815013353e-05,1793196531985658112
+106,1.766666667,BASELINE,765,743,712,673,662,634,876.491921727,785,801.491921727,650,630,651,0.40098064781,-0.0154225506738,0.0498570540101,0.99999995396,-0.000158131359711,-0.000252281973407,-5.85567122245e-05,1793196532002324224
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,877,785,801,650,629,651,0.400976362969,-0.0154210996208,0.0498548826212,0.999999953327,-0.000155410014874,-0.000256369398304,-5.88936892625e-05,1793196532044959744
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662.583368312,634,876.416631688,785,801.583368312,650,629.583368312,651.583368312,0.400978732443,-0.0154206646915,0.0498562715273,0.999999954095,-0.00015448194038,-0.00025398382766,-5.86383064179e-05,1793196532061626624
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662.83609013,634,876.16390987,785,802,650,630,651.83609013,0.400980587367,-0.0154209964568,0.0498573359525,0.999999954558,-0.000154605229738,-0.000252146057406,-5.83461490078e-05,1793196532078293760
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662.262611778,634,876.737388222,785,802,650,630,651.262611778,0.400981156568,-0.0154232439943,0.0498575895842,0.999999954269,-0.000157355605942,-0.000251677098511,-5.79621013916e-05,1793196532094959872
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662.312529056,634,877,785,801.687470944,650,630,651,0.40098089634,-0.0154232907808,0.0498573302278,0.999999954078,-0.000158078771574,-0.000251957703626,-5.80722392053e-05,1793196532111626240
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662.889074275,634,877,785,801.110925725,650,630,651,0.400979935432,-0.0154214784318,0.049856637513,0.999999953972,-0.000157089403926,-0.00025287152034,-5.85998516384e-05,1793196532128292608
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662.525132422,634,877,785,801,650,630,651,0.400981109234,-0.0154213115456,0.0498566616358,0.999999954207,-0.000156294217561,-0.000252466696894,-5.84697373067e-05,1793196532144959488
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,877,785,801,650,630,651,0.400983198314,-0.0154216729992,0.0498572252304,0.999999954607,-0.000155927061984,-0.000251181554262,-5.81487658995e-05,1793196532161626112
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,877,785,801,650,630,651,0.400988684907,-0.0154231733386,0.0498608687266,0.99999995569,-0.000158749010306,-0.00024516688242,-5.7542397364e-05,1793196532178292992
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662.220059376,634,877,785,801,649.779940624,630,650.779940624,0.400997938871,-0.0154244610823,0.0498650787999,0.99999995737,-0.000159842911911,-0.000237636372188,-5.69177346308e-05,1793196532194959616
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662.796200703,634,877,785,801,649.203799297,630,650.203799297,0.401013288883,-0.0154254048212,0.0498702056612,0.99999996,-0.000158140630429,-0.000227653057756,-5.62634697928e-05,1793196532211626496
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,743,712.378998263,674,662.621001737,634,877,785,801,649.378998263,630,650.378998263,0.401043876617,-0.0154276801023,0.0498802463531,0.999999964372,-0.000158965954231,-0.000207245715782,-5.50878109855e-05,1793196532228293120
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,743,712.965439129,674,662.034560871,634,877,785,801,649.965439129,630,650.965439129,0.401082804634,-0.0154306841959,0.0498929766034,0.999999969169,-0.000161174748562,-0.000181132838951,-5.36267699828e-05,1793196532244959744
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,743,713,674,662,634,877,785,801.544839873,650,630,651,0.401144839718,-0.0154342286417,0.0499073779019,0.999999974439,-0.000160706328509,-0.000150362513791,-5.18382117118e-05,1793196532261626112
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,743,712.876602904,674,662,634,877,785,801.876602904,650,630,651,0.40120986967,-0.0154385560581,0.049920206083,0.999999977911,-0.000160940568748,-0.000125633709082,-4.99198722765e-05,1793196532278292480
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,743,712.299525864,674,662,634,877,785,801.299525864,650,630,651,0.401280590316,-0.0154456377221,0.0499268658219,0.999999977646,-0.000164374607113,-0.000124189401513,-4.75997892271e-05,1793196532294959616
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,877,785,801,650,630,651,0.401361584222,-0.015450524008,0.0499302849753,0.999999977611,-0.000165648978133,-0.000123296794437,-4.62168905918e-05,1793196532311626496
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,877,785,801,650,630,651,0.401453664755,-0.0154530411002,0.0499302069747,0.999999977839,-0.000164592693517,-0.000122999567913,-4.58453765345e-05,1793196532328293120
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,877,785,801,650,630,651,0.401559902941,-0.0154606092152,0.04992983962,0.999999977309,-0.000166664311233,-0.000124969473226,-4.45810368575e-05,1793196532344959744
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,743,712,673.97260244,662.02739756,634,877,785,801,650,630,651,0.401672224847,-0.0154698188522,0.0499292083644,0.999999976479,-0.000169733448894,-0.000127976520642,-4.30722272499e-05,1793196532361626624
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,743,712,673.392899778,662.607100222,634,877,785,801,650,630,651,0.401809953696,-0.0154774295448,0.0499252444257,0.9999999751,-0.000171429183425,-0.000136320646359,-4.27670637692e-05,1793196532378292992
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,712,673.185286648,662.814713352,634,877,785,801.185286648,650,629.814713352,651,0.401962055817,-0.0154862430946,0.0499241269026,0.999999974306,-0.000173988230563,-0.000139117944926,-4.19793703263e-05,1793196532394959616
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,712,673.760283927,662.239716073,634,877,785,801.760283927,650,629.239716073,651,0.402144389008,-0.0154975865952,0.0499289962031,0.999999974804,-0.000178363069969,-0.000130248684002,-4.01767788837e-05,1793196532411625984
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.664023012,743,712,674,662,634,876.664023012,785,802,649.664023012,629.335976988,651,0.402348817102,-0.0155101437771,0.0499334569005,0.999999975291,-0.000181412383714,-0.000122824855206,-3.769913762e-05,1793196532428292608
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.087832428,743,712,674,662,634,876.087832428,785,802,649.087832428,629.912167572,651,0.402569042415,-0.0155235687063,0.0499376254594,0.999999975779,-0.000183513986318,-0.000116434466663,-3.47388555413e-05,1793196532444959232
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.500016867,743,712,674,662,634.500016867,876.500016867,785,801.499983133,649.500016867,630,651,0.402819967945,-0.0155341077384,0.0499437919022,0.999999977541,-0.000182584808397,-0.000102719794011,-3.2077932011e-05,1793196532461625856
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.08833458,743,712,673.91166542,662.08833458,634.91166542,877,785,801,650,630,651,0.403083473142,-0.0155428079282,0.0499503917624,0.999999979786,-0.000178778193282,-8.72440131866e-05,-2.92433147794e-05,1793196532478292736
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.667602277,743,712,673.332397723,662.667602277,634.332397723,877,785,801,650,630,651,0.403386205242,-0.0155441730922,0.0499574034078,0.999999984159,-0.000162009215716,-6.93016421398e-05,-2.51441406341e-05,1793196532494959616
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.758547632,743,712,673.241452368,662.758547632,634,877,785,801,649.758547632,630,651,0.403703691153,-0.015539949484,0.0499638776932,0.999999988747,-0.000138009081107,-5.45411402046e-05,-2.20050792442e-05,1793196532511626496
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.191992102,743,712,673.808007898,662.191992102,634,877,785,801,649.191992102,630,651,0.404041042292,-0.0155282008822,0.0499696284507,0.99999999339,-0.00010427256741,-4.40648620144e-05,-2.01587604099e-05,1793196532528292864
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,743,712,673.60513506,662,634,877,785,801.39486494,649.39486494,630,651,0.404411441332,-0.0155252922575,0.0499733083319,0.999999996058,-7.93102721996e-05,-3.60453369831e-05,-1.71667661042e-05,1793196532544959488
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,743,712,673.007871975,662,634,877,785,801.992128025,649.992128025,630,651,0.40479877991,-0.0155269147901,0.0499759267321,0.999999997747,-5.88454285951e-05,-2.92850840726e-05,-1.35875265311e-05,1793196532561626112
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,743,712,673.569925407,662,634,877,785,801.430074593,650,630,651,0.405190877757,-0.0155340269594,0.0499608315795,0.999999996989,-4.80776087495e-05,-5.98806569713e-05,-1.11367425695e-05,1793196532578292736
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,877,785,801.146867259,650,629.853132741,651,0.405591481578,-0.0155388069007,0.0499441668693,0.999999995116,-3.41519079048e-05,-9.23098119247e-05,-8.98403817322e-06,1793196532594959104
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,877,785,801.722072111,650,629.277927889,651,0.406016707571,-0.0155365710715,0.0499236145521,0.999999991641,-1.06385370682e-05,-0.000128631471022,-7.65672494785e-06,1793196532611625984
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,743,712.304574282,673.695425718,662,634,877,785,802,650,629,651,0.406480312478,-0.0155370842294,0.0499104027907,0.999999988429,1.17454041113e-05,-0.000151590311702,-4.84024998996e-06,1793196532628292864
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743,712.893898875,673.106101125,662,634,877,785,802,650,629,651,0.40697979836,-0.0155401674494,0.0499040538043,0.999999986322,3.30734300799e-05,-0.000162056090418,-6.31538931343e-07,1793196532644959744
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,743.475336032,712.524663968,673.475336032,662.475336032,634,877,785,802,650,629.475336032,651,0.407541603599,-0.0155417400228,0.0499160431676,0.999999989293,5.98311025716e-05,-0.000133450987149,4.94454850572e-06,1793196532661626368
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,743.945292093,712,674,663,634,877,784.945292093,801.945292093,650,629.945292093,651,0.408121584556,-0.0155430714903,0.0499332941793,0.999999991502,8.80934766111e-05,-9.54671030415e-05,1.10246586377e-05,1793196532678292992
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,743.369098282,712,674,663,634,877,784.369098282,801.369098282,650,629.369098282,651,0.408744387206,-0.015545266443,0.0499623184651,0.999999991455,0.000119334838074,-4.98573768616e-05,1.90473229975e-05,1793196532694959616
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662.793018683,634,877,784.206981317,801.206981317,650,629.206981317,651,0.409364726864,-0.0155475647709,0.0499816294224,0.999999988601,0.0001471984937,-2.13063772833e-05,2.59951355754e-05,1793196532711626240
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662.217142673,634,877,784.782857327,801.782857327,650,629.782857327,651,0.409980676789,-0.0155500473405,0.049983628693,0.999999984963,0.0001690421952,-2.31584806399e-05,3.10272815397e-05,1793196532728293376
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662.366906764,634,877,785,802,649.633093236,630,651,0.410592440028,-0.0155501263897,0.0499620579685,0.999999981882,0.000174109813759,-7.16162242708e-05,2.81529124572e-05,1793196532744960512
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662.955903587,634,877,785,802,649.044096413,630,651,0.411201669026,-0.0155487505788,0.0499262202361,0.999999974512,0.000169022803933,-0.000148284538757,2.04926994444e-05,1793196532761627392
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743,712,674,661.926871952,634,877.536564024,785.536564024,801.463435976,649.536564024,629.463435976,651,0.411915453685,-0.0155554897444,0.0499251738089,0.99999998096,0.000140601457993,-0.000134703651172,1.28940909529e-05,1793196532778294016
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.115665061,743,712.115665061,674,661.346995182,634,877.884334939,785.884334939,801.115665061,650,629.115665061,651,0.412648552715,-0.0155632487064,0.0499316968853,0.99999998665,0.000120468117803,-0.000110070003615,8.52144726265e-06,1793196532794960384
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.691247838,743,712.691247838,674,663.073743514,634,877.308752162,785.308752162,801.691247838,650,629.691247838,651,0.413424806771,-0.0155724514049,0.0499571232202,0.999999987457,0.000140798902126,-7.05281173089e-05,1.69563508439e-05,1793196532811626752
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.733300364,743,712.733300364,674.266699636,663.466600728,634,877.266699636,785,802,649.733300364,630,651,0.414178323909,-0.0155741282379,0.0499613410905,0.999999991393,0.000111741485747,-6.54459639802e-05,2.10857285542e-05,1793196532828293120
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.158000049,743,712.158000049,674.841999951,662.316000099,634,877.841999951,785,802,649.158000049,630,651,0.414905532044,-0.0155670968217,0.0499410184485,0.999999994445,2.55365159068e-05,-0.000100237489187,2.02331424299e-05,1793196532844959488
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743,712,674.574437136,662,634,878,785,802,649.425562864,630,651,0.415672032927,-0.0155650797717,0.0499206970858,0.999999991226,4.15434096678e-06,-0.000131462070775,1.57641562697e-05,1793196532861626112
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,878,785,802,650,629.987808486,651,0.416455097471,-0.0155650646455,0.0499014597539,0.99999998718,7.69828452102e-06,-0.000159615137814,1.01736388299e-05,1793196532878292736
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,878,785,802,650,629.404116576,651,0.417317220827,-0.0155698948296,0.0499330156664,0.999999993709,2.91786851962e-05,-0.000107093946683,1.61957255514e-05,1793196532894959616
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,878,785,802,650,629.176152057,651,0.418167826479,-0.0155738571019,0.0499570434343,0.999999996015,5.15621829955e-05,-6.96196157041e-05,2.15504023439e-05,1793196532911626240
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,878,785,802,650,629.748716908,651,0.418992512626,-0.015575866224,0.0499641298549,0.999999994613,7.59780104925e-05,-6.60067601103e-05,2.54031387864e-05,1793196532928293120
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.322795402,743,712,673.677204598,662,633.677204598,878,785,802,650,630,650.677204598,0.419826555942,-0.0155767802422,0.0499590542869,0.999999993027,9.19319413958e-05,-6.94612280787e-05,2.58794143357e-05,1793196532944959744
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.89805773,743,712,673.10194227,662,633.10194227,878,785,802,650,630,650.10194227,0.420667917711,-0.0155768377503,0.0499444665018,0.999999991515,0.000101267595295,-7.84432392011e-05,2.37148692475e-05,1793196532961626368
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,743,712,673.485501753,662.485501753,633.485501753,878,785,801.514498247,650,630,650.485501753,0.421582054041,-0.0155825895991,0.0499643695849,0.999999994933,8.93317513834e-05,-3.86162450368e-05,2.57237965597e-05,1793196532978292992
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.925782743,743.074217257,712,674,662.925782743,634,878,785,801,650,630,650.925782743,0.422502612739,-0.0155884687641,0.0499861135423,0.999999996656,7.67560672265e-05,1.50821434965e-06,2.81725144796e-05,1793196532994959616
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.34627353,743.65372647,712,674,662.34627353,634,878,785,801,650,630,650.34627353,0.423360183468,-0.0155868648482,0.0499698150804,0.999999995091,9.10155860665e-05,-2.79130835339e-05,2.74956890497e-05,1793196533011626240
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.231730166,743.768269834,712,674.231730166,662,634,878,785,801,649.768269834,629.768269834,650,0.424232531896,-0.0155867398554,0.0499615075161,0.99999999333,0.000103646704029,-4.28579172689e-05,2.75663968676e-05,1793196533028292864
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.80749878,743.19250122,712,674.80749878,662,634,878,785,801,649.19250122,629.19250122,650,0.42512682018,-0.0155888105474,0.0499650636442,0.999999992446,0.000113860217042,-3.63102567464e-05,2.87469306882e-05,1793196533044959488
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.609417285,743,712,675,662.390582715,634,878,785,801,649.390582715,629.390582715,650.390582715,0.426014035316,-0.0155896088534,0.0499795594072,0.99999999179,0.000122921607304,-1.89468897063e-05,3.08431570518e-05,1793196533061626368
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.022659168,743,712,675,662.977340832,634,878,785,801,649.977340832,629.977340832,650.977340832,0.426897697814,-0.0155897680862,0.0499995497484,0.999999990801,0.000131404327808,3.84881048114e-06,3.3399302181e-05,1793196533078293248
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.558364909,743,712.558364909,674.441635091,662.441635091,634,878,785,801,650,630,651,0.427743323052,-0.0155812100744,0.0499646512874,0.999999988619,0.000132523312105,-6.52412021267e-05,3.07208393187e-05,1793196533094959872
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,743,712.861999804,674.138000196,662,634,878,785,801.138000196,650,630,651,0.42860062876,-0.0155749850356,0.0499362826314,0.999999984387,0.000128806738653,-0.000117573572907,2.84824877052e-05,1793196533111626240
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,743,712.286041047,674.713958953,662,634,878,785,801.713958953,650,630,651,0.429499852648,-0.0155772752137,0.0499356342435,0.99999998796,0.000110682729981,-0.000105010161726,2.83081850809e-05,1793196533128292864
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,743,712.289438635,675,662.289438635,634,878,785,801.710561365,650,630,651,0.430374096351,-0.0155793595862,0.049933781497,0.999999988625,0.000106605809735,-0.0001028671574,2.83320707437e-05,1793196533144959488
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,743,712.864445615,675,662.864445615,634,878,785,801.135554385,650,630,651,0.431223693843,-0.0155812409047,0.0499307404964,0.999999986658,0.000116388145326,-0.000111005221971,2.85514945931e-05,1793196533161626368
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,743.450736908,713,675,662.098526184,634,878,785,801.450736908,650,630,650.549263092,0.432050691177,-0.0155787079255,0.0499211890451,0.999999983511,0.000129278261193,-0.000124529420395,2.75369807571e-05,1793196533178292992
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,743.960108342,713,675,661.079783316,634,878.039891658,785,801.960108342,650,630,650,0.432875435828,-0.0155750143651,0.0499124006837,0.99999998034,0.000142475368256,-0.000135354519403,2.64634828642e-05,1793196533194959616
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,743.379324534,713,675,662.241350933,634,878.620675466,785,801.379324534,650,630,650,0.433764159318,-0.0155740470061,0.0499411886857,0.999999984988,0.000146836846645,-8.70552318472e-05,2.97510952486e-05,1793196533211626752
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.80058009,743.19941991,712.80058009,675,663,634,879,785.19941991,801.19941991,649.80058009,630,650.19941991,0.434616235872,-0.0155727788913,0.0499614790868,0.999999987258,0.000144938684118,-5.85859568075e-05,3.23322565372e-05,1793196533228293632
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.225675437,743.774324563,712.225675437,675,663,634,879,785.774324563,801.774324563,649.225675437,630,650.774324563,0.435399310616,-0.0155709444877,0.049965769488,0.999999988547,0.000131254339275,-6.74543055437e-05,3.35832523729e-05,1793196533244960512
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.357304809,743.642695191,712.357304809,674.642695191,663,634,878.642695191,785.642695191,801.642695191,649,630,651,0.436145619088,-0.0155707620195,0.0499510579022,0.999999985957,0.000128652688389,-0.000102045001362,3.3472890205e-05,1793196533261626880
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.945503549,743.054496451,712.945503549,674.054496451,663,634,878.054496451,785.054496451,801.054496451,649,630,651,0.436868168782,-0.0155716470484,0.0499240670427,0.999999978856,0.000133212785416,-0.000153257733632,3.24828047779e-05,1793196533278292736
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,743.525493835,712.474506165,674.525493835,662.474506165,634,878.525493835,785,801.525493835,649,630,651,0.437669541308,-0.0155733834947,0.0499450314864,0.999999984332,0.000141249803584,-0.000101123513477,3.40516229768e-05,1793196533294959360
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,743.895948517,712,674.895948517,662.104051483,634,878.895948517,785,802,649,630,651,0.438462469474,-0.0155748581403,0.0499653577118,0.999999987017,0.000148340522231,-5.20956578942e-05,3.53039763455e-05,1793196533311625984
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,743.320086455,712,674.320086455,662.679913545,634,878.320086455,785,802,649,630,651,0.439180611934,-0.015574751465,0.0499605863101,0.999999986132,0.000149530503935,-6.50037630912e-05,3.39365604643e-05,1793196533328292608
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.745179655,743,712.254820345,674.254820345,662.745179655,634,878,785,802,649.254820345,630,650.745179655,0.439868561837,-0.0155740349851,0.0499490837101,0.999999984442,0.000150807202383,-8.58672216653e-05,3.16310083758e-05,1793196533344959232
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.171468343,743,712.828531657,674.828531657,662.171468343,634,878,785,802,649.828531657,630,650.171468343,0.44051872768,-0.015572555375,0.0499291574568,0.999999981215,0.000152192420984,-0.000116686282737,2.81514403772e-05,1793196533361626368
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.415376237,743.415376237,712.584623763,675,662,634,878,785,802,650,630,650.415376237,0.441168862046,-0.0155739219745,0.049934230825,0.999999981655,0.000157489913206,-0.000104895357533,2.97425104795e-05,1793196533378292992
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,744,712.00764825,675,662.00764825,634,878.00764825,785,801.99235175,649.99235175,629.99235175,650.99235175,0.441818825899,-0.0155764726737,0.049950066662,0.999999983112,0.000164496731586,-7.48035222006e-05,3.34935804246e-05,1793196533394959872
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,744,712.587129597,675,662.587129597,634,878.587129597,785,801.412870403,649.412870403,629.412870403,650.412870403,0.442457040189,-0.0155768413611,0.0499737990211,0.999999983472,0.000174613807391,-3.4461179537e-05,3.71313991504e-05,1793196533411626496
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.834675829,743.834675829,712.834675829,675,662.834675829,634,879,785,801,649,629.165324171,650.165324171,0.443066795485,-0.0155755271028,0.049986155743,0.99999998206,0.000184663114846,-1.47597981567e-05,3.95117875047e-05,1793196533428293120
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.259669821,743.259669821,712.259669821,675,662.259669821,634,879,785,801,649,629.740330179,650.740330179,0.443606028057,-0.0155700424179,0.0499703230529,0.999999979257,0.000194544491461,-4.62077766718e-05,3.87761993195e-05,1793196533444960000
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,743,712,675,662,634,878.677633766,785,801.322366234,649,630,650.677633766,0.444108260875,-0.0155662013297,0.0499459034157,0.999999974557,0.000204754278419,-8.68517704174e-05,3.76550451388e-05,1793196533461626624
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,743,712,675,662,634,878.089808714,785,801.910191286,649,630,650.089808714,0.444580025486,-0.0155637136938,0.0499144126887,0.99999996706,0.000215234500487,-0.000135068401834,3.6216389051e-05,1793196533478293248
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,743.490298757,712,675,662,633.509701243,878,785,802,649.490298757,630.490298757,650,0.44507516515,-0.0155625062144,0.0499197816728,0.999999969951,0.000214715427351,-0.000112319556781,3.71302257781e-05,1793196533494959872
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.068645544,743.931354456,712,675.068645544,662,633,878.068645544,785,802.068645544,650,630.931354456,650,0.445570389393,-0.0155621210458,0.0499326171429,0.999999974632,0.000208266962473,-7.66516808989e-05,3.8538812105e-05,1793196533511626752
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.644267489,743.355732511,712,675.644267489,662,633,878.644267489,785,802.644267489,650,630.355732511,650,0.446035106593,-0.0155661040347,0.0499515047362,0.999999983469,0.000172676672365,-4.00855679936e-05,4.04682026114e-05,1793196533528293632
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.780177919,743,712,676,662,633,878.780177919,784.780177919,802.780177919,650,630,650.219822081,0.446461257003,-0.0155687337848,0.0499567684352,0.999999989606,0.000136193482329,-3.04578150956e-05,3.62121916941e-05,1793196533544960256
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.204732345,743,712,676,662,633,878.204732345,784.204732345,802.204732345,650,630,650.795267655,0.446825014834,-0.0155691742936,0.0499399916856,0.999999992857,9.82657814927e-05,-6.44103724624e-05,2.19495696077e-05,1793196533561626368
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,743,712,675.240012377,661.620006188,633,878,784.379993812,802,649.620006188,630,651,0.447140208653,-0.0155684169104,0.0499077895182,0.999999989357,9.21763361266e-05,-0.000111999494472,1.56510657258e-05,1793196533578292992
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,743,712,674.060309254,661.030154627,633,878,784.969845373,802,649.030154627,630,651,0.447428582241,-0.0155669979719,0.0498670684118,0.999999980567,0.000103670080428,-0.000167119633598,1.3750874036e-05,1793196533594959616
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,743,712.870470571,675.129529429,661,633,878,784,802,650,629.870470571,651,0.447985465566,-0.0155643620385,0.0498362360026,0.99999996853,0.000124330317197,-0.00021746184761,1.38571818195e-05,1793196533628292864
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,743,712.297077017,675.702922983,661,633,878,784,802,650,629.297077017,651,0.448258782078,-0.0155673646965,0.049843127503,0.99999997043,0.000128759206538,-0.00020564926256,1.64268368535e-05,1793196533644959744
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.721613594,743,712,675.721613594,661,633,878.278386406,784,802,650,629,651,0.448519734769,-0.0155706174999,0.0498536503665,0.999999972955,0.000132423664831,-0.000190234382237,1.90937647975e-05,1793196533661626368
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.143924821,743,712,675.143924821,661,633,878.856075179,784,802,650,629,651,0.448767394693,-0.0155741392428,0.0498680774274,0.999999976001,0.000135266257913,-0.000170946556635,2.18652738846e-05,1793196533678292992
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,743.441603988,712,675,661,633,879,784,802,650,629.441603988,651,0.448964785693,-0.015576123781,0.0498722973601,0.999999976298,0.000137223200189,-0.000167410815778,2.34127746081e-05,1793196533694959360
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,743.970650055,712.029349945,675,661.029349945,633,879,784.029349945,802,650,630,651,0.449143747754,-0.0155774096333,0.0498726218172,0.999999975602,0.000139130020306,-0.00016981738693,2.45062676725e-05,1793196533711625728
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,743.390119214,712.609880786,675,661.609880786,633,879,784.609880786,802,650,630,651,0.449289855196,-0.0155751530005,0.0498633929893,0.999999971858,0.000145614199871,-0.000185664530457,2.47006639685e-05,1793196533728292352
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.188739521,743,712.811260479,675,661.811260479,633,879,784.811260479,802,650,629.811260479,651,0.449428752735,-0.0155733001994,0.049854560606,0.99999996838,0.000150755456167,-0.000199776999059,2.45230088475e-05,1793196533744958976
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.76417234,743,712.23582766,675,661.23582766,633,879,784.23582766,802,650,629.23582766,651,0.449552878463,-0.0155722747774,0.0498465404674,0.999999965875,0.00015314530373,-0.000210335429185,2.35830873439e-05,1793196533761625856
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.661036319,743,712,675,661,633,879,784,802.338963681,650,629,650.661036319,0.449666137388,-0.0155718768349,0.0498457840919,0.999999965364,0.00015316442026,-0.00021276374622,2.33081293351e-05,1793196533778292992
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.086690374,743,712,675,661,633,879,784,802.913309626,650,629,650.086690374,0.449771850229,-0.0155719146251,0.0498500717989,0.999999966287,0.000151537260257,-0.000209546372677,2.34949334261e-05,1793196533794960384
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.501923663,743,712,675.501923663,661,633,879,784,802.498076337,650,629,650.501923663,0.449854474009,-0.0155749210155,0.0498523303244,0.999999967031,0.000149500944659,-0.000207342396142,2.44104836752e-05,1793196533811627264
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.908883572,743,712,675.908883572,661,633,878.908883572,784,802,650,629,651,0.449930040121,-0.0155779950291,0.0498540871249,0.999999967766,0.000147520249824,-0.000205101826131,2.52781624838e-05,1793196533828293632
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.330167036,743,712,675.330167036,661,633,878.330167036,784,802,650,629,651,0.449989802876,-0.015578606846,0.0498550893892,0.99999996865,0.000146226439188,-0.000201701368403,2.51963947826e-05,1793196533844959744
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,743,712.24725269,675,661,633,878.24725269,784,802,649.75274731,629,650.75274731,0.450039931023,-0.0155776350337,0.0498546372601,0.999999968365,0.000147677280262,-0.000202088254112,2.4941219367e-05,1793196533861626112
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,743.406651967,712.593348033,675.406651967,661.406651967,633,878.593348033,784,802.406651967,649.406651967,629,650.406651967,0.450107450267,-0.0155733768305,0.0498511068301,0.999999965911,0.000153482621293,-0.00020982250726,2.44066082974e-05,1793196533894959360
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,743.846319984,713,675.846319984,661,632.153680016,878.846319984,784,802,650,629.846319984,651,0.450166337445,-0.0155750437777,0.0498494737443,0.999999965866,0.000148618460673,-0.000213471591559,2.47114620888e-05,1793196533944959488
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+223,3.716666667,POSE1_TO_POSE2_PRESS,765,743,712.695334312,675.304665688,660.695334312,633,878,784,802,650,629,651,0.450181960988,-0.0155727331429,0.0498488108438,0.99999996579,0.000147687763857,-0.000214524490237,2.42416668108e-05,1793196533978292736
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,743,712.119280385,675.880719615,660.119280385,633,878,784,802,650,629,651,0.450185900703,-0.0155698074711,0.049848836078,0.999999965328,0.000150934790032,-0.000214464369392,2.38213578521e-05,1793196533994959360
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660.0562716,633,878,784,802,650,629,651,0.45018778397,-0.0155733793348,0.0498474080435,0.999999965349,0.000144073036273,-0.000218927877816,2.47945912716e-05,1793196534028292608
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660.633453519,633,878,784,802,650,629,651,0.450188557801,-0.0155717866759,0.0498464497017,0.99999996451,0.000147647565795,-0.000220398332949,2.45915696964e-05,1793196534044959488
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,743,712,675.210755647,661.210755647,632.789244353,878,783.789244353,802,650,629,651,0.450189505427,-0.015569894829,0.0498460212189,0.999999963947,0.000150271169227,-0.000221207207796,2.43170149986e-05,1793196534061626112
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,743,712,675.788266927,661.788266927,632.211733073,878,783.211733073,802,650,629,651,0.450190755491,-0.0155674823373,0.0498465147934,0.999999963887,0.000151239976926,-0.000220864804757,2.39179788293e-05,1793196534078292736
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,743,712,675.04046812,661.04046812,632.95953188,878,783.95953188,802.95953188,650,629,651,0.450191818251,-0.0155685555082,0.0498463905556,0.99999996441,0.000148130947169,-0.000220653567526,2.34371070397e-05,1793196534111625984
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765,743.495834379,712.504165621,675,661,633,878.504165621,784,802.504165621,650,629.495834379,650.495834379,0.450192772356,-0.0155666643305,0.0498427799647,0.999999964028,0.000143262716339,-0.000225639001935,2.25023021184e-05,1793196534328292352
+245,4.083333333,HOLD_POSE2,765,744,712,675,660,633,879,784,802,650,629,651,0.450192112881,-0.0155671237406,0.0498418079272,0.999999963578,0.000143289998728,-0.000227610881179,2.24899441303e-05,1793196534371452416
+246,4.100000000,HOLD_POSE2,765,743.426791424,712,675,660.573208576,633,878.426791424,784,802,650,629,651,0.450193294925,-0.0155665023575,0.0498418716609,0.99999996415,0.000140960548134,-0.000226597127793,2.20130840257e-05,1793196534388120064
+247,4.116666667,HOLD_POSE2,765,743,712,675,660.849244033,632.849244033,878,783.849244033,802,650,629,651,0.450194126435,-0.0155659251783,0.0498422386455,0.999999964553,0.00013961490381,-0.000225679034602,2.16732873292e-05,1793196534404787200
+248,4.133333333,HOLD_POSE2,765,743,712,675,660.259049288,632.259049288,878,783.259049288,802,650,629,651,0.450193936169,-0.0155654768492,0.0498434895766,0.999999964483,0.000141136957213,-0.00022503978121,2.17330168407e-05,1793196534421453056
+249,4.150000000,HOLD_POSE2,765,743,712.32558794,675,660,632,878,783.32558794,802,650,629,651,0.450194026112,-0.0155656282904,0.049843869213,0.999999964504,0.0001410205443,-0.000225018708782,2.17135041653e-05,1793196534438119168
+250,4.166666667,HOLD_POSE2,765,743,712.905877585,675,660,632,878,783.905877585,802,650,629,651,0.450194335257,-0.0155662489214,0.0498435672506,0.999999964598,0.000139622387991,-0.00022548122846,2.16320017208e-05,1793196534454785792
+251,4.183333333,HOLD_POSE2,765,743,712.517215138,675.482784862,660.482784862,632,878,784,802,650,629,651,0.450194784778,-0.0155653855514,0.0498438142396,0.999999964544,0.000140679276303,-0.000225032110729,2.19479204754e-05,1793196534471452672
+252,4.200000000,HOLD_POSE2,765,743,712,675.941180055,661,632.058819945,878,784,802,649.941180055,629,651,0.450195163534,-0.0155644288756,0.0498440371267,0.999999964454,0.000142042774678,-0.000224540919414,2.23130314626e-05,1793196534488119040
+253,4.216666667,HOLD_POSE2,765,743,712,675.367049247,661,632.632950753,878,784,802,649.367049247,629,651,0.450194684237,-0.0155651717813,0.0498431177828,0.999999964313,0.000141928421177,-0.000225227359431,2.24350396411e-05,1793196534504785664
+254,4.233333333,HOLD_POSE2,765,743,712,675,661,633,878,784,802.213583591,649.213583591,629,651,0.450194072302,-0.0155654047572,0.0498423349069,0.999999964036,0.000142597189406,-0.000226031264743,2.24483265409e-05,1793196534521452544
+255,4.250000000,HOLD_POSE2,765,743,712,675,661,633,878,784,802.805741126,649.805741126,629,651,0.45019322527,-0.0155647338896,0.0498417939188,0.999999963515,0.000144654030015,-0.000227043375582,2.22689064742e-05,1793196534538119424
+256,4.266666667,HOLD_POSE2,765,743.389001488,712,675,661.389001488,632.610998512,878,784,802.610998512,650,629.389001488,651,0.450193482539,-0.0155646458057,0.0498421063083,0.999999963867,0.000143195901609,-0.000226433668018,2.20962706125e-05,1793196534554786048
+257,4.283333333,HOLD_POSE2,765,743.967918197,712,675,661.967918197,632.032081803,878,784,802.032081803,650,629.967918197,651,0.450194278942,-0.0155648422436,0.049842835327,0.999999964637,0.000140021723102,-0.000225032169231,2.19269468653e-05,1793196534571452672
+258,4.300000000,HOLD_POSE2,765,743.457856009,712,675,661.457856009,632.542143991,878,784,802,650,629.457856009,651,0.450194306095,-0.0155660555159,0.049843127375,0.999999964509,0.000140443992332,-0.000225295887813,2.23252354396e-05,1793196534588119296
+259,4.316666667,HOLD_POSE2,765,743.11919613,712,675,661,632.88080387,878,784,802,650,629,651,0.450194379159,-0.0155668477595,0.0498431438898,0.99999996436,0.000140775097011,-0.000225727141699,2.25809824546e-05,1793196534604785664
+260,4.333333333,HOLD_POSE2,765,743.708480404,712,675,661,632.291519596,878,784,802,650,629,651,0.450194811277,-0.0155657442699,0.0498421748555,0.999999964331,0.000139914530928,-0.000226433832304,2.21432389887e-05,1793196534621452288
+261,4.350000000,HOLD_POSE2,765,743.707521059,712,675,661,632,878,784,801.707521059,650,629,651,0.450193962591,-0.0155643536581,0.0498414952505,0.999999964063,0.000139599227006,-0.00022785272004,2.16642898103e-05,1793196534638119168
+262,4.366666667,HOLD_POSE2,765,743.128697433,712,675,661,632,878,784,801.128697433,650,629,651,0.450191859963,-0.0155626819459,0.0498410990043,0.999999963559,0.000139817749333,-0.00022996886772,2.11449991664e-05,1793196534654786048
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,661,633,878,784,802,650,630,651,0.45019768059,-0.0155640572619,0.0498453911071,0.999999965133,0.000140211447146,-0.000222686153865,2.20276459806e-05,1793196534687495680
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,743.570758206,712,675,661,633,878,784,802,650,629.429241794,651,0.450197386767,-0.0155639964936,0.0498445780566,0.999999965139,0.000139726296035,-0.000222979086404,2.18856023065e-05,1793196534704161792
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,743.851700251,712.148299749,675,661,633,878,784,802,650,629,651,0.450197373346,-0.015564348317,0.049844184403,0.999999965233,0.000138977500794,-0.0002230187281,2.19452311126e-05,1793196534720828160
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,743.253583622,712.746416378,675,661,633,878,784,802,650,629,651,0.450198210429,-0.0155659515967,0.0498450628469,0.999999965594,0.000137429030581,-0.000222290098197,2.26165648001e-05,1793196534737494784
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,743,712.667599705,675,661,633,878,784,801.667599705,650,629,651,0.450197906321,-0.0155657494062,0.0498447535396,0.999999965556,0.000137002094117,-0.000222764129711,2.22462088343e-05,1793196534754161408
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,743,712.090545758,675,661,633,878,784,801.090545758,650,629,651,0.450196762274,-0.0155642183513,0.0498435700222,0.999999965222,0.000137400630324,-0.000224123345526,2.11091471946e-05,1793196534770828032
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.515721089,661,632.515721089,878,784,801.968557821,650,629,651,0.450195727372,-0.0155630368988,0.0498426100519,0.999999964724,0.000138527281116,-0.000225673234266,2.083278508e-05,1793196534787494912
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.059910672,660.940089328,632.059910672,878,784,802.940089328,650,629,651,0.450194754534,-0.0155622351707,0.049841821704,0.999999964259,0.000139628325725,-0.000227052420031,2.08135632785e-05,1793196534804161792
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.646280589,660.353719411,632.646280589,878,784,802.353719411,650,629,651,0.450194148573,-0.0155641984753,0.0498421758691,0.999999964383,0.000139313560102,-0.000226619733017,2.16463020715e-05,1793196534820828416
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,743,712.231117158,675,660.231117158,632.768882842,878.231117158,784,802,650,629.231117158,651,0.450191124656,-0.0155649060469,0.0498411176743,0.999999963937,0.000138924854985,-0.000228789265508,2.19476212188e-05,1793196534837495040
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,743,712.813622388,675,660.813622388,632.186377612,878.813622388,784,802,650,629.813622388,651,0.450184424503,-0.0155637044153,0.0498379121423,0.999999962597,0.00013842373307,-0.000234915184906,2.14409755092e-05,1793196534854161664
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,743.391692127,712.608307873,675.391692127,661,632.391692127,878.608307873,784,802,650,629.608307873,651,0.450168793352,-0.0155629671245,0.049831288987,0.999999959834,0.000137997092538,-0.000246691591593,2.07926394706e-05,1793196534870828288
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,743.967675023,712.032324977,675.967675023,661,632.967675023,878.032324977,784,802,650,629.032324977,651,0.450148960173,-0.0155624483055,0.0498230578428,0.999999956237,0.000137605495356,-0.000261126547626,2.00776382201e-05,1793196534887494912
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,743.461313309,712,674.922626618,661,632.461313309,878,784,802,650,629,651,0.450106850508,-0.0155609749162,0.0498074583673,0.999999948453,0.000137249049559,-0.000289670533291,1.86559746482e-05,1793196534904161280
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.113598297,743,712,674.227196593,661,632.113598297,878,783.886401703,802,650,629,651,0.450060856289,-0.0155588727232,0.0497917287646,0.999999939971,0.000137163948575,-0.000317730040536,1.70784817338e-05,1793196534920827904
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.70620112,743,712,675.412402241,661,632.70620112,878,783.29379888,802,650,629,651,0.450004067297,-0.0155543584082,0.0497772978067,0.999999932464,0.000138214201645,-0.000340209335424,1.50210810902e-05,1793196534937494528
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.707598211,743,712,675.707598211,661,633,878,783.292401789,802,650,629,651,0.44994401459,-0.0155493355603,0.0497659560005,0.999999927187,0.000140682485364,-0.000354487047933,1.31651588869e-05,1793196534954161408
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.127692495,743,712,675.127692495,661,633,878,783.872307505,802,650,629,651,0.449880752841,-0.015543812698,0.0497576516019,0.999999924435,0.00014454504707,-0.000360700556999,1.15073403981e-05,1793196534970828800
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,661,633,878,784,802.448777397,650,629,650.551222603,0.449806112961,-0.0155390989478,0.049755347933,0.999999922931,0.000146177323504,-0.000364212645862,1.09466464755e-05,1793196534987495168
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,743,712.024266015,675,661,633,878,784,802.975733985,650,629,650.024266015,0.449727565859,-0.0155345287173,0.0497548871306,0.999999921893,0.000147291706358,-0.000366613622766,1.06795755816e-05,1793196535004161280
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,743,712.599502975,675,661,633,878,784,802.400497025,650,629,650.599502975,0.449633253117,-0.0155280296344,0.0497577964203,0.999999923358,0.000150946313275,-0.00036110616133,1.00452534572e-05,1793196535020827904
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,743.17969775,712.82030225,675.17969775,661,633,878.17969775,784,802,650,629,651,0.449531193213,-0.0155214449154,0.0497586296365,0.999999923565,0.000154639228659,-0.000358983037712,9.39722244332e-06,1793196535037494528
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,743.771255565,712.228744435,675.771255565,661,633,878.771255565,784,802,650,629,651,0.449411377136,-0.0155146639228,0.0497547045749,0.999999920941,0.000158419945022,-0.00036461668193,8.71777128994e-06,1793196535054161408
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,743.645543475,712,675.645543475,661,632.645543475,879,784,802,650,629.354456525,651,0.449273344734,-0.0155050130176,0.0497494427617,0.999999916566,0.000164093334265,-0.000374014327827,7.34480447336e-06,1793196535070828032
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,743.067611239,712,675.067611239,661,632.067611239,879,784,802,650,629.932388761,651,0.449123827398,-0.0154935527057,0.0497433381607,0.999999910956,0.000170960005364,-0.000385785080353,5.53459382318e-06,1793196535087494656
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,743.505645557,712,675,661,632.505645557,878.494354443,784,802,650,630,651,0.448959316906,-0.0154827919286,0.0497415110391,0.999999909419,0.00017598618595,-0.000387528061207,3.6318063225e-06,1793196535104161280
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,743.919199683,712,675,661.080800317,633,878,784,802,650,630,651,0.448789833723,-0.01547226289,0.0497409187725,0.999999908665,0.000180668504037,-0.000387329870231,1.99901707675e-06,1793196535120828160
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,743.328147346,712,675,661.671852654,633,878,784,802,650,630,651,0.44860149217,-0.0154626120001,0.0497445458043,0.999999909492,0.000184719199107,-0.000383263026049,2.14871437529e-06,1793196535137494528
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,743.257950578,712,675,661.742049422,633,878,784,802,650,629.742049422,651,0.448398453608,-0.0154537906693,0.0497472558235,0.99999991055,0.000187129191835,-0.00037931666458,1.42106104608e-06,1793196535154161152
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,743.837864567,712,675,661.162135433,633,878,784,802,650,629.162135433,651,0.448177070853,-0.0154460047611,0.0497488212647,0.999999911916,0.000187491326438,-0.000375520684979,-4.01665634841e-07,1793196535170827776
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,743.585393535,712,675,661.414606465,633,878,784,802,650,629,651,0.447931980415,-0.0154362954621,0.0497448445281,0.999999911348,0.000186489814503,-0.000377509044181,-3.54572875268e-06,1793196535187494656
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,743.009882706,712,675,661.990117294,633,878,784,802,650,629,651,0.447677689283,-0.0154258397158,0.0497387169311,0.999999910006,0.00018495908582,-0.000381742243904,-7.20258846285e-06,1793196535204161024
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,743,712.562698594,675,662,633,878,784,802,650,629,651,0.447394210083,-0.0154249161782,0.0497378300768,0.999999912201,0.000175061354206,-0.000380612871998,-9.26848011405e-06,1793196535220827648
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,743,713,675,662,633.140365465,878,784.140365465,802,650,629.140365465,651,0.44710275771,-0.0154260753788,0.0497377954124,0.999999914913,0.000162412275108,-0.000379044148939,-1.10312078949e-05,1793196535237494528
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,743,713,675,662,633.73464341,878,784.73464341,802,650,629.73464341,651,0.446787170985,-0.0154334311378,0.0497402204435,0.999999919118,0.000141338661837,-0.000376357647718,-1.19034582973e-05,1793196535254161408
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.318930834,743,712.681069166,675,661.681069166,633.681069166,878,784.681069166,802,649.681069166,630,651,0.446459711272,-0.015435332213,0.0497449831432,0.999999923985,0.000127466985444,-0.00036824781504,-1.32757964737e-05,1793196535270828032
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.895158492,743,712.104841508,675,661.104841508,633.104841508,878,784.104841508,802,649.104841508,630,651,0.446122673014,-0.0154328327335,0.0497516317527,0.999999929474,0.00011940545517,-0.000355762720131,-1.50515795721e-05,1793196535287494656
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.528678332,743,712,675.471321668,661.471321668,633,878.471321668,784.471321668,802,649.471321668,630,651,0.445775632548,-0.015424467537,0.0497714035414,0.999999941268,0.000116893969841,-0.000321762756609,-1.64167091631e-05,1793196535304161280
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,743,712,676,662,633,879,785,802,649.951461142,630,651,0.445420837212,-0.01541534708,0.0497935808303,0.999999952592,0.000114788353132,-0.000285181854536,-1.76523891496e-05,1793196535320827904
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,743,712,676,662,633,879,785,802,649.362345274,630,651,0.445004451041,-0.0154123446135,0.0498100421789,0.999999957173,0.000103455481381,-0.000273149169615,-1.84635758376e-05,1793196535337494528
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,743,712,676,662,633,879,785,802,649.223169284,630,651,0.444569585136,-0.0154100662758,0.0498195392362,0.999999959596,9.11238652475e-05,-0.000268524949329,-1.99521514237e-05,1793196535354161408
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,743,712,676,662,633,879,785,802,649.802929456,630,651,0.444105191427,-0.015408944987,0.0498179084045,0.999999958751,7.71964067772e-05,-0.000275738340025,-2.25230923572e-05,1793196535370828032
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.620893655,662,633,879,785,802,650,630.379106345,651,0.44360516118,-0.0154083707482,0.0498017090054,0.99999995207,6.02296696278e-05,-0.000302509736335,-2.68552614661e-05,1793196535387495168
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.04656204,662,633,879,785,802,650,630.95343796,651,0.443086779493,-0.0154080782192,0.0497780073513,0.999999941035,4.16978205222e-05,-0.00033935275705,-3.20943956242e-05,1793196535404162304
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.540072081,662,633,878.459927919,785,802,650,630.459927919,651,0.44257394702,-0.0154057976636,0.049764049548,0.999999934973,2.48323884609e-05,-0.000357843277596,-3.72342545209e-05,1793196535420828928
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,743,712,675,662,633,878.28456123,785,802,649.71543877,630,651,0.440990548407,-0.0154046311703,0.0498127553971,0.99999996148,-2.79776682123e-05,-0.000272709215928,-4.34438701552e-05,1793196535470828544
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,743,712,675,662,633,878.8614683,785,802,649.1385317,630,651,0.44042647408,-0.0154056136926,0.0498313989755,0.999999967097,-4.87975759088e-05,-0.000247827128116,-4.47933383825e-05,1793196535487494656
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.07386609,743,712,675,662,633.07386609,878,785,802,649,630,650.92613391,0.434415737812,-0.0153881893854,0.0497993434554,0.999999939826,-8.56525621108e-05,-0.000327456168263,-7.60593203866e-05,1793196535637494528
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.72172049,743,712,674.72172049,662,634,878,785.72172049,801,649,630,650.27827951,0.428414372364,-0.0153771344779,0.0497640986524,0.99999993002,-2.88227131431e-05,-0.00036730226975,-6.4954917066e-05,1793196535770828032
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.689702422,634,877.689702422,785,801.689702422,649.310297578,630,650.689702422,0.41917491497,-0.015392192432,0.0498240685183,0.999999953862,-8.52320617175e-05,-0.00028492446358,-6.18825641348e-05,1793196535970828032
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,662,633.001276941,876.998723059,785,801,650,630,650.998723059,0.416232859842,-0.0153891860536,0.0498055265133,0.999999945781,-8.84742179805e-05,-0.000310575848286,-6.44381957698e-05,1793196536037495040
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eb385e5109774eb5bbe8e2f9ff66d535754df663
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,423 @@
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+362,6.033333333,pose2_to_pose3_retreat,0.582589035968,-0.00999870402772,1.04001173666,0.553160271804,-0.00132503467196,1.03966127387
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+382,6.366666667,pose2_to_pose3_retreat,0.578596257499,-0.00999882886374,1.04001170031,0.5491674934,-0.00132515958405,1.03966123132
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+385,6.416666667,pose2_to_pose3_retreat,0.578434342758,-0.00999873661771,1.0400117559,0.549005577521,-0.00132507112644,1.03966128843
+386,6.433333333,pose2_to_pose3_retreat,0.578395068132,-0.00999889258347,1.04001157197,0.548966305032,-0.00132521976503,1.03966110634
+387,6.450000000,pose2_to_pose3_retreat,0.578362344644,-0.00999871032379,1.04001162625,0.548933578883,-0.00132504619388,1.039661169
+388,6.466666667,pose2_to_pose3_retreat,0.57833558778,-0.0099987560224,1.04001176016,0.548906822564,-0.00132509043034,1.03966129329
+389,6.483333333,pose2_to_pose3_retreat,0.578313990342,-0.00999879172334,1.04001175926,0.548885225668,-0.00132512446533,1.03966128812
+390,6.500000000,pose2_to_pose3_retreat,0.578297298533,-0.00999871161101,1.04001155826,0.548868532933,-0.00132504706361,1.03966109781
+391,6.516666667,pose2_to_pose3_retreat,0.578283761906,-0.0099987814901,1.04001174548,0.548854996837,-0.00132511523221,1.0396612828
+392,6.533333333,pose2_to_pose3_retreat,0.578273295835,-0.00999884005558,1.04001167364,0.548844531642,-0.00132517093043,1.03966120833
+393,6.550000000,pose2_to_pose3_retreat,0.578265812807,-0.00999886841302,1.04001157099,0.548837049369,-0.00132519674406,1.03966110524
+394,6.566666667,pose2_to_pose3_retreat,0.578260855677,-0.00999886346664,1.04001155919,0.548832092647,-0.00132519031531,1.03966109591
+395,6.583333333,pose2_to_pose3_retreat,0.578258043735,-0.00999875341149,1.04001163967,0.548829278858,-0.00132508673748,1.03966117114
+396,6.600000000,pose2_to_pose3_retreat,0.578256390876,-0.00999867546819,1.04001169775,0.548827624658,-0.00132501350586,1.03966122531
+397,6.616666667,pose2_to_pose3_retreat,0.578255665651,-0.00999865337453,1.04001172358,0.548826899118,-0.0013249925054,1.03966125054
+398,6.633333333,pose2_to_pose3_retreat,0.57825506307,-0.00999866605678,1.04001174591,0.548826296977,-0.00132500359818,1.03966127526
+399,6.650000000,pose2_to_pose3_retreat,0.57825453189,-0.00999867723629,1.0400117656,0.548825766185,-0.00132501337655,1.03966129705
+400,6.666666667,pose2_to_pose3_retreat,0.578254094236,-0.0099986864474,1.04001178182,0.54882532885,-0.00132502143322,1.039661315
+401,6.683333333,pose2_to_pose3_retreat,0.578253787823,-0.00999869289632,1.04001179318,0.548825022662,-0.00132502707389,1.03966132756
+402,6.700000000,pose2_to_pose3_retreat,0.578253697514,-0.00999869479701,1.04001179652,0.548824932419,-0.00132502873637,1.03966133127
+403,6.716666667,pose2_to_pose3_retreat,0.578253646447,-0.0099986958718,1.04001179842,0.548824881389,-0.00132502967646,1.03966133336
+404,6.733333333,pose2_to_pose3_retreat,0.578253560304,-0.00999869768482,1.04001180161,0.548824795308,-0.00132503126225,1.03966133689
+405,6.750000000,pose2_to_pose3_retreat,0.578253492218,-0.00999869746391,1.04001180404,0.548824727219,-0.00132503105495,1.03966133936
+406,6.766666667,pose2_to_pose3_retreat,0.578253379451,-0.00999869184496,1.04001180779,0.548824614273,-0.0013250260722,1.03966134241
+407,6.783333333,pose2_to_pose3_retreat,0.578253152365,-0.00999868052972,1.04001181534,0.548824386826,-0.00132501603811,1.03966134856
+408,6.800000000,pose2_to_pose3_retreat,0.578252975071,-0.00999867169551,1.04001182123,0.54882420925,-0.00132500820413,1.03966135336
+409,6.816666667,pose2_to_pose3_retreat,0.578252919164,-0.00999866890973,1.04001182309,0.548824153254,-0.00132500573377,1.03966135487
+410,6.833333333,pose2_to_pose3_retreat,0.578252899887,-0.0099986679492,1.04001182373,0.548824133946,-0.00132500488199,1.03966135539
+411,6.850000000,pose2_to_pose3_retreat,0.578252832682,-0.00999866460051,1.04001182597,0.548824066634,-0.00132500191245,1.03966135721
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+414,6.900000000,pose2_to_pose3_retreat,0.578252461774,-0.00999865068493,1.04001183796,0.548823695175,-0.00132498995609,1.03966136698
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+416,6.933333333,pose2_to_pose3_retreat,0.578252304154,-0.0099986948987,1.04001183934,0.548823537744,-0.00132503353876,1.03966136823
+417,6.950000000,pose2_to_pose3_retreat,0.578252245778,-0.00999871127386,1.04001183986,0.548823479437,-0.00132504968018,1.03966136869
+418,6.966666667,pose2_to_pose3_retreat,0.578252176546,-0.00999877027326,1.04001184509,0.548823410806,-0.0013251066899,1.0396613727
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+420,7.000000000,pose2_to_pose3_retreat,0.578252175943,-0.00999880938518,1.04001184964,0.548823410714,-0.00132514411448,1.03966137611
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..787a54d22f993615cf64c17095bc8de53c461693
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ef336ad59ea7a0c6037dc4ba6f9fe7289304a2d9f7452099c9aa60e5ea35a94
+size 26807027
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..31976e516455eec1572efa2e8cc2ea9b1dc37d49
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_03/franka_data.csv
@@ -0,0 +1,423 @@
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+26,0.433333333,BASELINE,765,743,712,673.080442673,662,634,876,785,801.080442673,650,630,651,0.400981674976,-0.0154241273878,0.049853414184,0.99999995899,-0.000116919334829,-0.000255380806304,-5.59465635902e-05,1793196537877679616
+27,0.450000000,BASELINE,765,743,712,673.655398713,662,634,876,785,801.655398713,650,630,651,0.400983341422,-0.0154229777302,0.0498544315604,0.999999959486,-0.000116177302785,-0.000253758260238,-5.60140929431e-05,1793196537894346240
+28,0.466666667,BASELINE,765,743,712,674,662,634,876.236317631,785,802,650,629.763682369,651,0.400984297695,-0.015422370887,0.0498553927866,0.999999959904,-0.000115713527089,-0.000252326680708,-5.59853034213e-05,1793196537911013376
+29,0.483333333,BASELINE,765,743,712,674,662,634,876.826156737,785,802,650,629.173843263,651,0.400984191578,-0.0154225760719,0.0498562700143,0.999999960207,-0.000115666011509,-0.00025118077937,-5.5812424814e-05,1793196537927681024
+30,0.500000000,BASELINE,764.591332836,743,712,674,662.408667164,634,876.591332836,785,802,650,629,651,0.40098448317,-0.0154227312309,0.0498562878497,0.999999960239,-0.000115846489871,-0.000250944535797,-5.59370975155e-05,1793196537944347648
+31,0.516666667,BASELINE,764.011885053,743,712,674,662.988114947,634,876.011885053,785,802,650,629,651,0.400984940964,-0.0154228654844,0.049855946548,0.999999960157,-0.000116122246126,-0.00025108843514,-5.61861159016e-05,1793196537961013248
+32,0.533333333,BASELINE,764.563240376,743,712,673.436759624,662.436759624,634,876.563240376,785,801.436759624,650,629.563240376,651,0.400985888915,-0.0154236878972,0.0498560081055,0.999999960126,-0.000117588302176,-0.000250615223985,-5.57905584943e-05,1793196537977680128
+33,0.550000000,BASELINE,764.858875717,743,712,673.141124283,662,634,877,785,801.141124283,650,630,651,0.400986367553,-0.0154240232538,0.0498561859128,0.999999960123,-0.000118309287627,-0.000250328361293,-5.56091184265e-05,1793196537994346496
+34,0.566666667,BASELINE,764.271993038,743,712,673.728006962,662,634,877,785,801.728006962,650,630,651,0.40098533139,-0.0154227746668,0.0498567042631,0.999999960208,-0.000116598145495,-0.000250670920873,-5.61466286669e-05,1793196538011013120
+35,0.583333333,BASELINE,764.31084727,743,712,673.68915273,662,634,876.68915273,785,801.68915273,649.68915273,630,651,0.400985443355,-0.0154226431146,0.0498570523768,0.999999960416,-0.000115511375498,-0.000250312079566,-5.6289015992e-05,1793196538027680256
+36,0.600000000,BASELINE,764.890195954,743,712,673.109804046,662,634,876.109804046,785,801.109804046,649.109804046,630,651,0.400986547042,-0.0154234764267,0.0498572534448,0.999999960732,-0.00011496392097,-0.000249347387301,-5.60901069557e-05,1793196538044347392
+37,0.616666667,BASELINE,765,743,712.468232613,673,662,634,876,785,801.468232613,649.468232613,629.531767387,651,0.400985567441,-0.015423452429,0.0498569983107,0.999999960526,-0.00011419592713,-0.000250604047865,-5.57284255874e-05,1793196538061013760
+38,0.633333333,BASELINE,765,743,712.954303285,673.045696715,662,634,876,785,802,650,629.045696715,651,0.40098420246,-0.0154232851509,0.0498566213209,0.999999960212,-0.000113530807984,-0.000252232871423,-5.53629152359e-05,1793196538077680128
+39,0.650000000,BASELINE,765,743,712.379913219,673.620086781,662,634,876,785,802,650,629.620086781,651,0.400984015277,-0.0154237796933,0.0498560687979,0.999999960101,-0.000114652595404,-0.000252157431414,-5.53934982381e-05,1793196538094346496
+40,0.666666667,BASELINE,765,743,712,674,662,634,876.199815559,785,801.800184441,650,630,651,0.40098440921,-0.0154239700718,0.0498561881161,0.999999960145,-0.00011571581848,-0.000251472472122,-5.551677598e-05,1793196538111013120
+41,0.683333333,BASELINE,765,743,712,674,662,634,876.789973551,785,801.210026449,650,630,651,0.400985938362,-0.0154235662622,0.0498576198853,0.999999960487,-0.000116664635244,-0.000249596808564,-5.58211341645e-05,1793196538127679744
+42,0.700000000,BASELINE,765,743,712,673.626792843,662,634,876.626792843,785,801.373207157,650,630,651,0.400985834764,-0.0154237696376,0.0498576096618,0.999999960337,-0.00011782309278,-0.000249613105641,-5.60092985532e-05,1793196538144346624
+43,0.716666667,BASELINE,765,743,712,673.047385046,662,634,876.047385046,785,801.952614954,650,630,651,0.400984829055,-0.0154243084887,0.0498568027231,0.999999959914,-0.000119097378882,-0.000250674729713,-5.61332647125e-05,1793196538161013248
+44,0.733333333,BASELINE,765,743,712,673,662,634,876.526677756,785,802,650,630,651,0.40098553422,-0.0154243243663,0.0498569107913,0.999999960284,-0.00011713584186,-0.000250222685884,-5.56681157054e-05,1793196538177680128
+45,0.750000000,BASELINE,765,743,712,673.099890337,662,634,876.900109663,785.099890337,801.900109663,650,630,651,0.400985938597,-0.0154244581097,0.0498569416021,0.99999996053,-0.0001157448813,-0.000249974828052,-5.52724474049e-05,1793196538194346752
+46,0.766666667,BASELINE,765,743,712,673.67133641,662,634,876.32866359,785.67133641,801.32866359,650,630,651,0.400984203686,-0.0154253681537,0.049856222981,0.99999995987,-0.000118407982848,-0.000251327309127,-5.54524762813e-05,1793196538211013632
+47,0.783333333,BASELINE,765,743,712,673.746349066,662,634,876.253650934,785.746349066,801.253650934,650,630,651,0.400983660723,-0.0154257417716,0.0498558560881,0.999999959579,-0.000118929271345,-0.000252242824218,-5.54251293235e-05,1793196538227680000
+48,0.800000000,BASELINE,765,743,712,673.149321432,662,634,876.850678568,785.149321432,801.850678568,650,630,651,0.400984731341,-0.0154253892097,0.0498559653429,0.999999959794,-0.000116551108271,-0.000252566802404,-5.51170500156e-05,1793196538244346368
+49,0.816666667,BASELINE,765,743,712,673,662.433307939,634,876.566692061,785,801.566692061,650,630,651,0.400985572464,-0.0154242869322,0.0498566786131,0.999999960252,-0.000116406415309,-0.000250747602176,-5.54128124351e-05,1793196538261012992
+50,0.833333333,BASELINE,764.98892387,743,712,673.01107613,662.98892387,634,876.01107613,785,801.01107613,650,630,651,0.400986288694,-0.0154229720532,0.0498575678885,0.999999960769,-0.000116986663273,-0.000248296870548,-5.58968428597e-05,1793196538277679872
+51,0.850000000,BASELINE,764.414156176,743,712,673.585843824,662.414156176,634,876.585843824,785,801.585843824,650,630,651,0.400984544284,-0.0154235629835,0.0498571619939,0.999999960385,-0.000116550168299,-0.00025008411185,-5.57127277206e-05,1793196538294346496
+52,0.866666667,BASELINE,764.164513023,743,712,674,662.164513023,634,877,785,801.835486977,650,630,651,0.400983666788,-0.0154243312566,0.0498568640156,0.9999999601,-0.000116680652371,-0.000251184175358,-5.56085650257e-05,1793196538311013376
+53,0.883333333,BASELINE,764.753242688,743,712,674,662.753242688,634,877,785,801.246757312,650,630,651,0.400985024738,-0.0154255568291,0.0498568443125,0.999999960076,-0.000118273160226,-0.000250512268061,-5.57105693491e-05,1793196538327680256
+54,0.900000000,BASELINE,765,743,712,674,662.663248159,634,876.663248159,785,801.336751841,650,630,651,0.400985019113,-0.0154254403491,0.0498565728562,0.999999960094,-0.000117445806551,-0.000250841197904,-5.56469524338e-05,1793196538344346880
+55,0.916666667,BASELINE,765,743,712,674,662.083506001,634,876.083506001,785,801.916493999,650,630,651,0.400984029572,-0.015424355483,0.049856119742,0.999999960139,-0.000114872351226,-0.000251892302696,-5.54638280532e-05,1793196538361013504
+56,0.933333333,BASELINE,765,743,712,674,662.492110655,634,876.492110655,785,802,650,630,651,0.400983886631,-0.0154248767813,0.0498561863764,0.999999959966,-0.000116123557549,-0.000252039070035,-5.53136879931e-05,1793196538377679872
+57,0.950000000,BASELINE,765,743,712,673.932686239,662.932686239,634,877,785,801.932686239,650,630,651,0.40098395562,-0.0154255400335,0.0498563395055,0.999999959807,-0.000117715116883,-0.000251952661883,-5.52183858275e-05,1793196538394346496
+58,0.966666667,BASELINE,765,743,712,673.355356789,662.355356789,634,877,785,801.355356789,650,630,651,0.400984550928,-0.0154252309728,0.0498564853015,0.999999960051,-0.000117008995545,-0.000251252581681,-5.54965187339e-05,1793196538411013120
+59,0.983333333,BASELINE,765,743,712,673.226528727,662,634,877,785,801.226528727,650,630,651,0.400984566209,-0.0154243514656,0.0498566443715,0.999999960209,-0.000116232632061,-0.000250940989818,-5.56781534799e-05,1793196538427679744
+60,1.000000000,BASELINE,765,743,712,673.815708155,662,634,877,785,801.815708155,650,630,651,0.400983652922,-0.0154225587286,0.0498568246915,0.999999960233,-0.000115343817552,-0.000251251330307,-5.57053039965e-05,1793196538444346368
+61,1.016666667,BASELINE,765,743,712,673.602966701,662,634,876.602966701,785,801.602966701,650,630,651,0.400983741523,-0.0154236988568,0.0498567288965,0.999999960125,-0.000116494119393,-0.000251180231266,-5.55746046593e-05,1793196538461013760
+62,1.033333333,BASELINE,765,743,712,673.025216609,662,634,876.025216609,785,801.025216609,650,630,651,0.40098428615,-0.0154261739311,0.0498565074228,0.999999959953,-0.000118572561487,-0.000250935513197,-5.53720571418e-05,1793196538477680896
+63,1.050000000,BASELINE,765,743,712,673,662.548961481,634,876.548961481,785,801.548961481,650,629.451038519,651,0.400984482765,-0.0154250348551,0.0498571585486,0.999999960424,-0.000116715721281,-0.00024992863974,-5.53629216895e-05,1793196538494347264
+64,1.066666667,BASELINE,765,743,712,673.126549307,662.873450693,634,876.873450693,785,802,650,629.126549307,651,0.400984366263,-0.0154242201449,0.0498575206529,0.999999960687,-0.000115464278441,-0.000249461933074,-5.5336984727e-05,1793196538511013632
+65,1.083333333,BASELINE,765,743,712,673.717240826,662.282759174,634,876.282759174,785,802,650,629.717240826,651,0.4009831596,-0.0154252000627,0.0498566766585,0.999999960094,-0.000117091950327,-0.000251103958961,-5.52170507329e-05,1793196538527680256
+66,1.100000000,BASELINE,765,743,712,674.3018957,662.3018957,634,876.3018957,785,801.6981043,650,630,651,0.400983245672,-0.0154257455804,0.0498564737585,0.999999959895,-0.000118443922223,-0.000251254707486,-5.52517489036e-05,1793196538544346880
+67,1.116666667,BASELINE,765,743,712,674.881007387,662.881007387,634,876.881007387,785,801.118992613,650,630,651,0.4009845188,-0.0154258922097,0.0498568595442,0.99999996006,-0.000119542732272,-0.000250036089195,-5.54284381998e-05,1793196538561013248
+68,1.133333333,BASELINE,765,743,712,674.085680372,662.542840186,634,876.542840186,785,801,650,629.542840186,651,0.400984852216,-0.0154240016101,0.0498571328469,0.999999960336,-0.000117173029125,-0.000249944831518,-5.59133905365e-05,1793196538577679872
+69,1.150000000,BASELINE,765,743,712,673,662.032546936,634,876,785,801,650,629,651,0.400984906774,-0.0154218595551,0.0498573629535,0.999999960601,-0.00011420643348,-0.000250142902386,-5.64153219788e-05,1793196538594346496
+70,1.166666667,BASELINE,765,743,712,673,662.607933289,634,876,785,801,650,629,651,0.400984363613,-0.0154243107713,0.0498573577803,0.999999960357,-0.000116245257402,-0.000250303926871,-5.58708063658e-05,1793196538611013376
+71,1.183333333,BASELINE,765,743,712,673.18854997,663,633.81145003,876,785,801.18854997,650,629.18854997,651,0.400984059387,-0.0154256566921,0.0498574281959,0.9999999603,-0.000116925689566,-0.000250299812052,-5.54749927623e-05,1793196538627680000
+72,1.200000000,BASELINE,765,743,712,673.780352894,663,633.219647106,876,785,801.780352894,650,629.780352894,651,0.400984266175,-0.0154246387114,0.0498576602736,0.999999960652,-0.000114700921498,-0.000249942512842,-5.53972089371e-05,1793196538644346624
+73,1.216666667,BASELINE,765,743,712,673.636172475,662.636172475,633.363827525,876.363827525,785,801.636172475,650,630,651,0.40098456014,-0.0154243984349,0.0498576403013,0.999999960615,-0.000115392735668,-0.000249793981655,-5.52950760801e-05,1793196538661013504
+74,1.233333333,BASELINE,765,743,712,673.057613254,662.057613254,633.942386746,876.942386746,785,801.057613254,650,630,651,0.400984905558,-0.015424617161,0.0498574715686,0.999999960346,-0.00011780592235,-0.000249768665775,-5.51785723828e-05,1793196538677680384
+75,1.250000000,BASELINE,764.48267942,743,712,673,662,634,876.48267942,785,801.51732058,650,630,651,0.40098614258,-0.0154244599342,0.0498581875043,0.99999996075,-0.000116774694527,-0.00024866039667,-5.50621238699e-05,1793196538694347008
+76,1.266666667,BASELINE,764.09164723,743,712,673,662,634,876,785,801.90835277,650,630,651,0.400987127582,-0.0154242734343,0.0498587174737,0.999999961102,-0.000115645734075,-0.000247780351453,-5.50142779048e-05,1793196538711013376
+77,1.283333333,BASELINE,764.664890095,743,712,673,662,634,876,785,801.335109905,650,630,651,0.400986270093,-0.015424151594,0.0498577560813,0.999999960808,-0.000116004943009,-0.000248728961561,-5.53268983597e-05,1793196538727680000
+78,1.300000000,BASELINE,765,743,712,673,662,634,876,785,801,650,629.752850237,651,0.400985373069,-0.0154246216212,0.0498571716406,0.999999960499,-0.000117040487693,-0.000249440739277,-5.55182055987e-05,1793196538744346880
+79,1.316666667,BASELINE,765,743,712,673,662,634,876,785,801,650,629.157901827,651,0.40098442041,-0.0154259245468,0.0498571176609,0.999999960169,-0.000119027798011,-0.000249819237269,-5.55387961904e-05,1793196538761014016
+80,1.333333333,BASELINE,765,743,712,673,662,634,876.420147976,785,801.420147976,650,629,650.579852024,0.400985119575,-0.0154250601818,0.0498577503336,0.999999960673,-0.000116045382514,-0.000249209873635,-5.55108368412e-05,1793196538777680384
+81,1.350000000,BASELINE,765,743,712,673,662,634,876.992092478,785,801.992092478,650,629,650.007907522,0.400986415532,-0.0154234127898,0.0498586310892,0.999999961459,-0.000111267439969,-0.000248243602526,-5.54653367383e-05,1793196538794346752
+82,1.366666667,BASELINE,765,743,712,673.57102081,662,634,877.57102081,785,801.42897919,649.42897919,629.57102081,650.57102081,0.400985187029,-0.0154238044778,0.0498574369739,0.999999960975,-0.000114221015578,-0.000248853694288,-5.54480272246e-05,1793196538811013120
+83,1.383333333,BASELINE,764.846887452,742.846887452,712,673.846887452,662,634,877.846887452,785,801.153112548,649.153112548,629.846887452,651,0.400984512084,-0.0154243112086,0.0498567965628,0.999999960644,-0.000116683244526,-0.000249048840088,-5.54296219109e-05,1793196538827679744
+84,1.400000000,BASELINE,764.256031429,742.256031429,712,673.256031429,662,634,877.256031429,785,801.743968571,649.743968571,629.256031429,651,0.400985520929,-0.015425065114,0.0498578223361,0.999999960819,-0.000117430841863,-0.000247994487238,-5.54069538256e-05,1793196538844346368
+85,1.416666667,BASELINE,764.326785492,742.326785492,712,673,662,634,877,785,801.673214508,650,629.326785492,651,0.400985624403,-0.0154247078559,0.0498581347136,0.999999960918,-0.000116892396939,-0.000247825210342,-5.55280975866e-05,1793196538861013248
+86,1.433333333,BASELINE,764.903455091,742.903455091,712,673,662,634,877,785,801.096544909,650,629.903455091,651,0.400985035564,-0.0154235009208,0.0498579015764,0.999999960956,-0.000115370549929,-0.000248332727365,-5.57592104133e-05,1793196538877679872
+87,1.450000000,BASELINE,765,743,711.518719951,673,662,634,876.518719951,785,801.481280049,650,630,651,0.400984183374,-0.0154240600518,0.0498570567061,0.99999996051,-0.000115900927166,-0.000249861366215,-5.58256182302e-05,1793196538894346752
+88,1.466666667,BASELINE,765,743,711.058794668,673.058794668,662,634,876.058794668,785,802,649.941205332,630,651,0.400983678615,-0.0154248598272,0.0498563667291,0.999999960106,-0.000116701641825,-0.000251101125474,-5.5823988288e-05,1793196538911013632
+89,1.483333333,BASELINE,765,743,711.631565418,673.631565418,662,634,876.631565418,785,802,649.368434582,630,651,0.40098667399,-0.0154246588184,0.0498581061407,0.999999960944,-0.000116258124623,-0.000248020560559,-5.55171059454e-05,1793196538927680256
+90,1.500000000,BASELINE,765,743,712,674,662,634,876.788240311,785,801.788240311,649.211759689,630,651,0.400987640972,-0.0154244683014,0.0498585425568,0.999999961201,-0.000115749212067,-0.000247248011113,-5.53926263656e-05,1793196538944346880
+91,1.516666667,BASELINE,765,743,712,674,662,634,876.194660898,785,801.194660898,649.805339102,630,651,0.400984950596,-0.0154242967017,0.0498566295673,0.999999960418,-0.000115122386484,-0.000250636999239,-5.55970336487e-05,1793196538961013504
+92,1.533333333,BASELINE,765.387982801,743,712,674,662,634,876,785,801,650,630,651,0.400984351386,-0.0154250656014,0.0498567110482,0.999999960458,-0.000115229096699,-0.000250480519275,-5.53754107339e-05,1793196538977679872
+93,1.550000000,BASELINE,765.965290234,743,712,674,662,634,876,785,801,650,630,651,0.400984772606,-0.0154262934383,0.0498577657742,0.999999960898,-0.000115693751578,-0.000248593951477,-5.49458971517e-05,1793196538994346496
+94,1.566666667,BASELINE,765.458277843,743.541722157,712,674,662,633.458277843,876,785,801,650,629.458277843,651,0.400984289533,-0.015425737106,0.0498578702186,0.999999960568,-0.000117451014333,-0.00024907156276,-5.50716567496e-05,1793196539011013120
+95,1.583333333,BASELINE,765,743.882617936,712,674,662,633.117382064,876.117382064,785,801.117382064,650,629,651,0.400984332959,-0.0154248953881,0.0498581165683,0.999999960406,-0.000118433306665,-0.000249220257658,-5.52341311517e-05,1793196539027679744
+96,1.600000000,BASELINE,765,743.309736329,712,674,662,633.690263671,876.690263671,785,801.690263671,650,629,651,0.400986643931,-0.0154233891255,0.0498591494709,0.999999961098,-0.000116087468829,-0.00024750572919,-5.54012396427e-05,1793196539044346880
+97,1.616666667,BASELINE,765,743,712,673.72682152,662.27317848,634,877,785,801.72682152,649.72682152,629.27317848,651,0.40098697148,-0.0154229304327,0.0498591905986,0.999999961231,-0.00011519246149,-0.000247358793713,-5.55165512058e-05,1793196539061013760
+98,1.633333333,BASELINE,765,743,712,673.13209712,662.86790288,634,877,785,801.13209712,649.13209712,629.86790288,651,0.400984964431,-0.0154237047867,0.0498580643533,0.999999960713,-0.00011600516064,-0.000249057000493,-5.55708949596e-05,1793196539077680128
+99,1.650000000,BASELINE,764.555865495,743.444134505,712,673.444134505,662.555865495,634,877,785,801.444134505,649.444134505,630,651,0.400984945245,-0.0154250015744,0.0498579584965,0.999999960703,-0.000116166638418,-0.000249081081837,-5.53050605105e-05,1793196539094346752
+100,1.666666667,BASELINE,764.015326248,743.984673752,712,673.984673752,662,634,877,785,801.984673752,650,630,651,0.400985449084,-0.0154263941488,0.0498581194028,0.999999960819,-0.000116154751485,-0.000248694414105,-5.49626306908e-05,1793196539111013376
+101,1.683333333,BASELINE,764.595379458,743.404620542,712,673.404620542,662,634,877,785,801.404620542,650,630,651,0.400984310108,-0.0154258195567,0.0498573740392,0.999999960233,-0.000116606509675,-0.000250786644784,-5.51665426495e-05,1793196539127680000
+102,1.700000000,BASELINE,764.821480916,743,712,673,662,634,876.821480916,785,801,650,630,651,0.400984075195,-0.0154254172889,0.0498572569135,0.999999960037,-0.000116776119832,-0.000251474871112,-5.52225709028e-05,1793196539144346368
+103,1.716666667,BASELINE,764.231222816,743,712,673,662,634,876.231222816,785,801,650,630,651,0.400985925425,-0.0154254124724,0.0498585887645,0.999999960747,-0.000116294979597,-0.000248924881079,-5.49375179969e-05,1793196539161012992
+104,1.733333333,BASELINE,764,743,712,673,662,634,876.350437573,785,801,650,630,651,0.40098557443,-0.0154248836366,0.0498579477116,0.99999996079,-0.000115898816048,-0.000248870948394,-5.52315456087e-05,1793196539177680128
+105,1.750000000,BASELINE,764,743,712,673,662,634,876.926560996,785,801,650,630,651,0.40098380582,-0.0154240173263,0.0498560360859,0.999999960405,-0.000115557378419,-0.000250424505249,-5.58985077418e-05,1793196539194347008
+106,1.766666667,BASELINE,764.503535393,743,712,673.503535393,662,634,876.496464607,785,801,650,629.496464607,651,0.400983897845,-0.0154247486895,0.0498568555012,0.999999960505,-0.000115986544952,-0.000249913796019,-5.55023455048e-05,1793196539211013632
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,712,673,662,634,877,785,801,650,630,651,0.400982513307,-0.0154265444707,0.049856442286,0.999999960055,-0.000115195013281,-0.000252072648119,-5.54941614487e-05,1793196539254542848
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,743,712,673,662,634,877,785,801,650,630,651,0.400983822148,-0.015425794723,0.0498575475953,0.99999996056,-0.00011509457443,-0.000250165957275,-5.52346232946e-05,1793196539271209472
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,743,712,673.188209081,662,634,877,785,801,650,630,651,0.400984870984,-0.015425450873,0.0498582661222,0.99999996088,-0.000115394081856,-0.000248782614664,-5.50528402302e-05,1793196539287876096
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,743,712,673.764578421,662,634,877,785,801,650,630,651,0.400985383586,-0.0154259441414,0.0498581869536,0.999999960827,-0.000116518433893,-0.000248478619116,-5.50314183265e-05,1793196539304543488
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,876.658371669,785,801,650,629.658371669,651,0.400984735491,-0.015425876415,0.0498576447677,0.99999996056,-0.000116907650027,-0.000249307292283,-5.53089163612e-05,1793196539321210368
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,876.080851863,785,801,650,629.080851863,651,0.400983285945,-0.0154254213264,0.0498567828722,0.999999960144,-0.000116789260971,-0.000250918063635,-5.57928160864e-05,1793196539337876736
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.494464413,743.505535587,712,673.494464413,662,634,876,785,801,650,629.505535587,651,0.400983674789,-0.0154258992627,0.0498573783951,0.999999960141,-0.000118521372152,-0.000250151176887,-5.56418803064e-05,1793196539354543104
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.092033831,743.907966169,712,673,662,634,876.092033831,785,801.092033831,650,630,651,0.400984807409,-0.0154264392383,0.0498583295704,0.999999960326,-0.000119895317493,-0.000248821058742,-5.53290442536e-05,1793196539371209728
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.671473864,743.328526136,712,673,662,634,876.671473864,785,801.671473864,650,630,651,0.400988294107,-0.0154265033911,0.049859907793,0.999999961172,-0.000117777083586,-0.000246557922893,-5.47060971519e-05,1793196539387876096
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,743,712,673.246648851,662,634,877,785.246648851,801.753351149,650,630,651,0.400996033679,-0.0154271135436,0.0498629320862,0.999999962594,-0.000117518881902,-0.000240945394536,-5.42744000138e-05,1793196539404542976
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,743,712,673.816239491,662,634,877,785.816239491,801.183760509,650,630,651,0.401009341614,-0.0154284385832,0.0498678497457,0.999999964705,-0.000119696054125,-0.0002309474463,-5.4093109949e-05,1793196539421209600
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,743,712,673.607322055,662,634,877,785.607322055,801,649.607322055,630,651,0.40103786132,-0.0154278426781,0.0498779028763,0.999999969541,-0.000117363933419,-0.000210491515388,-5.325982813e-05,1793196539437875968
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,743,712,673.027622122,662,634,877,785.027622122,801,649.027622122,630,651,0.401073625988,-0.0154263318787,0.0498904018946,0.999999975148,-0.000112884157385,-0.000185054726402,-5.21160200552e-05,1793196539454542592
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,743,712,673.564522857,662,634,876.435477143,785,801,649.564522857,630,651,0.401130826797,-0.0154320528557,0.0499043346958,0.999999979939,-0.000116418362357,-0.000155064361895,-5.02275936923e-05,1793196539471209472
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,743,712,673.846510315,662,634,876,785,801,650,630,651,0.401192137394,-0.0154381612923,0.0499166399643,0.999999982889,-0.000119975862146,-0.000132299374536,-4.82057854963e-05,1793196539487876096
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,743,712,673.268066358,662,634,876,785,801,650,630,651,0.401261857052,-0.0154443406952,0.0499242406088,0.999999982972,-0.000122487742297,-0.000130169460297,-4.59178399042e-05,1793196539504542976
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,743,712,673,662,634,876,785,801.307129226,650,630,651,0.401341463112,-0.0154498322094,0.0499290333633,0.999999983324,-0.000124269841979,-0.000126228437521,-4.44541986288e-05,1793196539521209600
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,743,712,673,662,634,876,785,801.879519227,650,630,651,0.401429607834,-0.0154547296089,0.0499314010045,0.999999983893,-0.00012542164613,-0.000120723200172,-4.37024910413e-05,1793196539537875968
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743,712,673,662.46554406,634,876.46554406,785,802,650,630,651,0.401532963315,-0.0154608698549,0.049931201132,0.999999983746,-0.00012642485565,-0.00012124395543,-4.27218142162e-05,1793196539554542592
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,743,712,673,662.945748962,634,876.945748962,785,802,650,629.945748962,651,0.401642997675,-0.0154676070499,0.0499301944413,0.99999998334,-0.000127513702734,-0.000123787433797,-4.16714246423e-05,1793196539571209216
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,743,712,673,662.366267952,634,876.366267952,785,802,650,629.366267952,651,0.401778432656,-0.015476915655,0.0499280036189,0.999999982256,-0.000129815188094,-0.000130360049503,-4.05371096488e-05,1793196539587876096
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,712,673.212779283,662,634,876.212779283,785,801.787220717,650,629.212779283,651,0.401929981824,-0.0154864841045,0.0499272789497,0.999999981671,-0.000132595324674,-0.000132410891533,-3.92944677829e-05,1793196539604542976
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,712,673.791081299,662,634,876.791081299,785,801.208918701,650,629.791081299,651,0.402109212723,-0.0154964989265,0.0499290729108,0.999999981982,-0.000136197711668,-0.000126694007343,-3.78657367978e-05,1793196539621209600
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,712,673.633311182,662,634,877,785,801,650,630,651,0.402302623446,-0.0155081674082,0.0499308127599,0.999999981928,-0.000138661626446,-0.000125035712282,-3.58057194847e-05,1793196539637875968
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,743,712,673.059227584,662,634,877,785,801,650,630,651,0.402504054122,-0.0155207711809,0.0499325220041,0.999999981678,-0.000140481635387,-0.000125672905824,-3.3388654093e-05,1793196539654542848
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.471143705,743,712,673.528856295,662,634,877,785,801.528856295,650,630,651,0.4027463986,-0.0155309633606,0.0499381735569,0.999999983481,-0.000138780155236,-0.000113280488843,-3.0744526877e-05,1793196539671209472
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.116365437,743,712,674,662,634,877,785,802,650,630,650.883634563,0.403004781327,-0.0155396578841,0.0499451165232,0.999999985872,-0.000134152833163,-9.7417116819e-05,-2.77122287128e-05,1793196539687875840
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.695189982,743,712,674,662,634,877,785,802,650,630,650.304810018,0.403308198291,-0.0155435029642,0.049955389476,0.999999989872,-0.000119507595508,-7.37163653394e-05,-2.32410703563e-05,1793196539704542464
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,877,785,801.727507651,650,629.727507651,650.272492349,0.403628301787,-0.0155391768189,0.049962874475,0.999999993444,-9.67115198353e-05,-5.7890714934e-05,-2.01735304736e-05,1793196539721209088
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,877,785,801.151898569,650,629.151898569,650.848101431,0.403966967135,-0.0155257611147,0.049967258192,0.999999996431,-6.48485651606e-05,-5.08252198497e-05,-1.86673567037e-05,1793196539737875712
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.567907375,743,712,673.567907375,662,634,877,785,801,650,629,651,0.404326294612,-0.0155225805067,0.0499716885863,0.999999998078,-4.32500440023e-05,-4.15190503883e-05,-1.57846546135e-05,1793196539754542336
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.01882912,743,712,673.01882912,662,634,876.98117088,785,801,650,629,651,0.404693750789,-0.0155232803315,0.0499755736096,0.999999999068,-2.55196219932e-05,-3.25236994929e-05,-1.24312351939e-05,1793196539771209216
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.597841004,743,712,673.597841004,662,634,876.402158996,785,801,650,629,651,0.405082669623,-0.0155302632661,0.049962735528,0.999999998257,-1.33924605232e-05,-5.66735413769e-05,-9.75502444593e-06,1793196539787875840
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,876.176281094,785,801,650,629.176281094,651,0.405480122411,-0.0155347893904,0.0499469496348,0.999999996221,1.51626489411e-06,-8.66073869565e-05,-7.4163539634e-06,1793196539804542464
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,876.75342086,785,801,650,629.75342086,651,0.405896981134,-0.0155337287903,0.0499244604955,0.999999991314,2.27501935296e-05,-0.000129693904869,-5.84524173046e-06,1793196539821209088
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.670011236,743,712,674,662,634,877,785,801,649.670011236,630,651,0.406361822631,-0.0155330606693,0.0499097326634,0.999999987122,4.73300918877e-05,-0.000153305883079,-3.68481680894e-06,1793196539837875968
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.09386985,743,712,674,662,634,877,785,801,649.09386985,630,651,0.40686245656,-0.0155326853152,0.0499007943172,0.999999984046,7.44058932925e-05,-0.000162390980242,-1.08479838278e-06,1793196539854542592
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,743,712,673.508148525,662,634,876.508148525,785,801.491851475,649,630,651,0.40740251078,-0.0155362854125,0.049911145034,0.99999998549,9.8206317144e-05,-0.000139127117813,4.36486087312e-06,1793196539871209216
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.078517494,743,712,673.078517494,662,634,876.078517494,785,802,649.078517494,630,651,0.407959511486,-0.0155405516869,0.0499273547794,0.999999986758,0.000121940492947,-0.000107235234823,1.07216081221e-05,1793196539887875840
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.659298955,743,712,673.659298955,662,634,876.659298955,785,802,649.659298955,630,651,0.408575834692,-0.0155441296056,0.0499570272259,0.999999986838,0.000149329034967,-6.04285640136e-05,1.93328023139e-05,1793196539904542464
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,743,712,673.762314457,662.237685543,634,877.237685543,785,801.762314457,649.762314457,629.762314457,651,0.409194665964,-0.0155473219458,0.049977010858,0.999999983789,0.000175317656657,-3.14165070741e-05,2.64395574283e-05,1793196539921209088
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,743,712,673.187326497,662.812673503,634,877.812673503,785,801.187326497,649.187326497,629.187326497,651,0.409817056428,-0.0155499671068,0.0499832449751,0.99999997926,0.000199319633337,-2.76570040863e-05,3.14113444609e-05,1793196539937875712
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.392995759,743,712,673,662.607004241,634,877.607004241,785.392995759,801,649.392995759,629.392995759,651,0.410424278014,-0.0155491038503,0.0499660233873,0.999999971184,0.000227825791649,-6.74155456994e-05,3.43961094355e-05,1793196539954542592
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.975895645,743,712,673,662.024104355,634,877.024104355,785.975895645,801,649.975895645,629.975895645,651,0.411024169649,-0.0155465452497,0.0499374674909,0.999999957705,0.000258508467294,-0.000128202956094,3.64207017146e-05,1793196539971209216
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,743,712,674.118153222,661.440923389,634,877.559076611,785.440923389,802.118153222,650,630,651,0.411719671505,-0.0155449667642,0.049924719765,0.999999950253,0.000281464301862,-0.000137337245309,3.75526886784e-05,1793196539987875840
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.858727998,743,712,674.858727998,661.141272002,634,877.858727998,785,802.717455996,650,630,651,0.412439439698,-0.0155468968765,0.0499228355562,0.999999961321,0.000243701336614,-0.000129734883344,3.37030456489e-05,1793196540004542464
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.279624802,743,712,674.279624802,661.720375198,634,877.279624802,785,801.559249605,650,630,651,0.413221632199,-0.0155595698304,0.0499525062725,0.99999999674,1.87912064061e-05,-7.71675812211e-05,1.45336286868e-05,1793196540021209344
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,743,712,674.296890186,662.296890186,634,877.296890186,785,801,650,630,651,0.413981818122,-0.0155682799446,0.0499617021287,0.999999995265,-7.40558297987e-05,-6.26698711235e-05,7.69277090955e-06,1793196540037875712
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,743,712,674.870988615,662.870988615,634,877.870988615,785,801,650,630,651,0.414721456454,-0.0155732899319,0.0499517804822,0.999999995469,-4.35947475713e-05,-8.37179760105e-05,1.23631649204e-05,1793196540054542336
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743,712,674.087921083,662.087921083,634,877.543960542,785.456039458,801,650,629.543960542,651,0.415479841909,-0.0155719416585,0.049928218225,0.999999992315,-1.44790827729e-05,-0.000122476087755,1.26176154602e-05,1793196540071208960
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743,712,673.043586212,661.043586212,634,877,785.956413788,801,650,629,651,0.416250175317,-0.0155689008536,0.0499047233023,0.999999987116,1.39682801278e-05,-0.000159467684769,1.19406074379e-05,1793196540087875584
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,743,712,673.622792832,661.622792832,634,877,785.377207168,801,650,629,651,0.417100558025,-0.0155677089109,0.0499306433508,0.999999992884,3.89954109275e-05,-0.000111668417034,1.55466177997e-05,1793196540104542464
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662.201447754,634,877.402895508,785,801,649.798552246,629.201447754,650.798552246,0.41794816005,-0.0155680401525,0.0499534117707,0.999999995307,6.20154042378e-05,-7.18781431083e-05,1.93542859081e-05,1793196540121209088
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662.77907242,634,878.558144839,785,801,649.22092758,629.77907242,650.22092758,0.418790569466,-0.0155712157385,0.0499702949411,0.999999995313,8.12873336441e-05,-4.70436041758e-05,2.35385229045e-05,1793196540137875712
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,743,712,674.353926224,662.646073776,634,878.646073776,785,801,649.353926224,630,650,0.419623162486,-0.0155722099466,0.0499627077437,0.999999993442,9.67726236951e-05,-5.64538439262e-05,2.37524301495e-05,1793196540154542336
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743,712,674.927063818,662.072936182,634,878.072936182,785,801,649.927063818,630,650,0.420449675493,-0.0155718530742,0.049939964328,0.999999989937,0.000109912581259,-8.70742813339e-05,2.15072331399e-05,1793196540171209216
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743,712,674.484444006,662.515555994,634,878,785,801.515555994,650,629.484444006,650.515555994,0.421368767088,-0.0155769439796,0.0499604681619,0.99999999314,0.000105938884402,-4.43943551085e-05,2.29538862756e-05,1793196540187875584
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662.895432436,634,878,785,801.895432436,650,629.104567564,650.895432436,0.422290250932,-0.0155821944907,0.0499810446406,0.999999994771,9.9150993195e-05,-3.81713703838e-06,2.47676757982e-05,1793196540204542464
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662.314258388,634,878,785,801.314258388,650,629.685741612,650.314258388,0.423161110242,-0.0155845518648,0.0499732100467,0.999999995303,9.09100968209e-05,-2.15393326534e-05,2.58012210666e-05,1793196540221209088
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,712,674,661.736084531,634,878,785,801,650,630,650.263915469,0.424034625921,-0.0155861725734,0.0499655154244,0.999999994668,9.33682798806e-05,-3.52787721409e-05,2.64903997517e-05,1793196540237875712
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,712,674,661.161442933,634,878,785,801,650,630,650.838557067,0.424911269245,-0.0155869259547,0.0499579855995,0.999999992781,0.00010842323594,-4.4329036768e-05,2.67741317256e-05,1793196540254542336
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.414131359,743,712,674.414131359,661.828262717,634,878,785,801,650,630,651,0.425818493664,-0.0155867009393,0.049973725429,0.999999991691,0.000122682592447,-2.66687105051e-05,2.92426200848e-05,1793196540271208960
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.990070034,743,712,674.990070034,662.980140067,634,878,785,801,650,630,651,0.426737666522,-0.0155860936498,0.0499985570611,0.999999990135,0.000136631095308,1.42784371716e-06,3.25647254032e-05,1793196540287875584
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.417566638,743,712,675,662.417566638,634,878,785,801,650,630,651,0.427574054741,-0.015578678868,0.0499685352699,0.999999986423,0.000149104721636,-6.31833475676e-05,3.04797230792e-05,1793196540304542464
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743.169921554,712,674.830078446,662,634,878,785,801.169921554,649.830078446,630.169921554,651,0.428427397331,-0.0155740212822,0.0499441531998,0.999999982925,0.000145803852045,-0.000109882369481,2.85760771211e-05,1793196540321208832
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,743.745095583,712,674.254904417,662,634,878,785,801.745095583,649.254904417,630.745095583,651,0.429324638799,-0.0155762242724,0.0499355166415,0.999999988072,0.000104943488674,-0.000109982980387,2.73311940319e-05,1793196540337875456
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.320266872,743.679733128,712,674,662.320266872,634,878,785.320266872,802,649.320266872,630.679733128,651,0.430203594648,-0.0155774885575,0.0499330316779,0.999999989401,9.51635565572e-05,-0.00010685305475,2.69152803993e-05,1793196540354542080
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.895435954,743.104564046,712,674,662.895435954,634,878,785.895435954,802,649.895435954,630.104564046,651,0.431067996827,-0.0155780057218,0.0499354428035,0.999999988452,0.000110120716896,-0.000101151926946,2.715914831e-05,1793196540371208960
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,743,712,674.483238568,662.516761432,634,878.483238568,785.516761432,801.516761432,650,630,650.516761432,0.431921997324,-0.0155756911607,0.0499224807584,0.999999984445,0.00012637503176,-0.000120287659214,2.58724287646e-05,1793196540387875584
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.928007705,743.071992295,712,675,662,634,878.928007705,785,801.071992295,649.928007705,630,650,0.432775975517,-0.015573273328,0.0499115772105,0.99999998037,0.00014203090021,-0.000135886409886,2.49541782432e-05,1793196540404542208
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.352241417,743.647758583,712,675,662,634,878.352241417,785,801.647758583,649.352241417,630,650,0.433645969762,-0.0155745356195,0.0499389804936,0.999999984224,0.000151482245614,-8.81182920352e-05,2.89940939834e-05,1793196540421209088
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743.775755631,712,674.775755631,662.224244369,634,878.224244369,785,802,649,630,650.224244369,0.43449376717,-0.0155749138694,0.0499607721992,0.999999987453,0.000144432076524,-5.65552141077e-05,3.21556530231e-05,1793196540437875712
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743.198135936,712,674.198135936,662.801864064,634,878.801864064,785,802,649,630,650.801864064,0.435306585846,-0.0155738990031,0.0499737209085,0.999999991945,0.000111378009491,-5.05288295066e-05,3.39330549773e-05,1793196540454542336
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,743.38618565,712,674.38618565,662.61381435,634,879,784.61381435,801.61381435,649,630,650.61381435,0.436063533222,-0.0155705930647,0.0499580064925,0.999999989157,0.000110639031868,-9.13879811109e-05,3.30624959849e-05,1793196540471208960
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,743.97400639,712,674.97400639,662.02599361,634,879,784.02599361,801.02599361,649,630,650.02599361,0.436791309048,-0.0155660909128,0.0499273264967,0.999999979208,0.000126772396753,-0.000156726989217,3.08093845187e-05,1793196540487875584
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,743.446422442,712,675,662,634,878.446422442,784.553577558,801.553577558,649.553577558,630,650,0.437622185806,-0.0155720715783,0.0499438137274,0.999999985449,0.000132141478817,-0.000103074684746,3.18843818032e-05,1793196540504542208
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,743,712,674.867752729,662.132247271,634,878,785,802,650,630,650.132247271,0.438431409465,-0.0155764675561,0.0499580892367,0.999999988316,0.000137021508118,-5.94732952523e-05,3.24895758328e-05,1793196540521209088
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,743,712,674.290830776,662.709169224,634,878,785,802,650,630,650.709169224,0.439151786458,-0.0155739043134,0.0499575902452,0.999999987123,0.000141931698881,-6.81788085817e-05,3.09973342943e-05,1793196540537875712
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,743,712,674.285629126,662.714370874,634,878,785,801.714370874,649.714370874,630,651,0.439847419469,-0.0155715883839,0.0499468595059,0.9999999845,0.000149285666526,-8.85171944041e-05,2.96320233939e-05,1793196540554542336
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,743,712,674.861619288,662.138380712,634,878,785,801.138380712,649.138380712,630,651,0.440517898529,-0.0155695238651,0.0499257275132,0.999999979655,0.000159123895761,-0.000120681169489,2.83957460112e-05,1793196540571208960
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,743,712,675,662,634,878,785,801.447448979,649.447448979,630,651,0.441186019082,-0.0155704624867,0.0499332861438,0.99999998047,0.000164742287497,-0.000104966736641,3.0016562981e-05,1793196540587875584
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,743,712,675.035693274,662.035693274,634,878,785,802,649.964306726,630.035693274,650.964306726,0.441853445219,-0.0155723204029,0.0499504619572,0.999999982432,0.000169372384916,-7.3384532592e-05,3.26178816748e-05,1793196540604542464
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,743,712,675.613355873,662.613355873,634,878,785,802,649.386644127,630.613355873,650.386644127,0.44252165086,-0.0155737173672,0.0499759076574,0.999999982798,0.00017925770586,-3.07532609101e-05,3.63888619822e-05,1793196540621210624
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,743.191242631,712.191242631,675.808757369,663,633.808757369,878,785,801.808757369,649.191242631,630.808757369,650.191242631,0.443148126033,-0.015573739523,0.049986875242,0.999999981225,0.000189294491233,-1.38899300527e-05,3.90580748051e-05,1793196540637878016
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,743.769583216,712.769583216,675.230416784,663,633.230416784,878,785,801.230416784,649.769583216,630.230416784,650.769583216,0.443690133872,-0.0155709789024,0.0499685373938,0.999999978083,0.00019963786094,-4.9183985397e-05,3.94971792462e-05,1793196540654544640
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,743.657826158,712.657826158,675,662.657826158,633.342173842,878.342173842,784.657826158,801.342173842,649.657826158,630,650.657826158,0.444207347312,-0.0155676016567,0.0499437633242,0.99999997322,0.000210381910578,-8.84320772546e-05,3.84728870426e-05,1793196540671211008
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,743.089043547,712.089043547,675,662.089043547,633.910956453,878.910956453,784.089043547,801.910956453,649.089043547,630,650.089043547,0.444708140328,-0.0155638160437,0.04991472679,0.999999966339,0.000221391314541,-0.000130298775451,3.64794426381e-05,1793196540687877376
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,743.502438891,712,675,662,633.497561109,879,784.502438891,802,649.502438891,630,650.502438891,0.445222120569,-0.0155620327186,0.0499210071418,0.999999968222,0.000226355050028,-0.000104300752263,3.79694306747e-05,1793196540704543744
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.09531317,743.90468683,712,675,662,633,878.90468683,785,802,650,630,651,0.445734218752,-0.0155613036689,0.0499343792629,0.999999972102,0.000222903813307,-6.70137826051e-05,4.02389137483e-05,1793196540721210112
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.673882233,743.326117767,712,675,662,633,878.326117767,785,802,650,630,651,0.446224364456,-0.0155640357043,0.0499504723652,0.999999981758,0.000182476461739,-3.63551154142e-05,4.31824336171e-05,1793196540737877248
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,743,712,675,662.251663075,633,878.251663075,785,802,650,630,651,0.446658908196,-0.015566271518,0.04994897086,0.999999985274,0.000161358166893,-3.81755638322e-05,4.42452664913e-05,1793196540754543872
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,743,712,675,662.828425643,633,878.828425643,785,802,650,630,651,0.44702162503,-0.0155678663099,0.04992474056,0.99999998208,0.00016518340192,-8.19526826081e-05,4.2878619253e-05,1793196540771210752
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.176828057,743,712,675,662.176828057,633,878.588414028,784.588414028,802,650,630,651,0.447342731774,-0.015564539552,0.0498903163994,0.999999981683,0.000133047649475,-0.00013493092553,2.69341116692e-05,1793196540787877376
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.00508912,743,712,675,661.00508912,633,878.00254456,784.00254456,802,650,630,651,0.447646219018,-0.0155591287948,0.0498515757105,0.999999977923,8.56844422867e-05,-0.000191805329843,4.81670036964e-06,1793196540804543744
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.577113379,743,712,675.577113379,661.577113379,633,878.577113379,784,802,650,629.422886621,651,0.447956736098,-0.0155653118629,0.0498407961837,0.999999974774,8.59375897802e-05,-0.000207445813675,5.78243509939e-06,1793196540821210112
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,743,712,675.84373967,661.84373967,633,878.687479341,784.15626033,802,650,629.15626033,651,0.448266185192,-0.0155707720563,0.0498367806577,0.999999973222,8.83836258825e-05,-0.000213749112727,7.50239613873e-06,1793196540837876736
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,743,712,675.265898103,661.265898103,633,877.531796205,784.734101897,802,650,629.734101897,651,0.448572670257,-0.0155741455315,0.0498506849372,0.999999976234,9.61855568249e-05,-0.000195346512937,1.09855534196e-05,1793196540854543104
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,743.309590284,712,675,661,633,877.619180569,784.690409716,802,650,630,651,0.448847601849,-0.0155767327512,0.0498625968845,0.999999978529,0.000103344819357,-0.000179061952225,1.40818249272e-05,1793196540871209216
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,743.883072805,712,675,661,633,878.76614561,784.116927195,802,650,630,651,0.4490956375,-0.0155786497728,0.0498728105832,0.999999980269,0.000109956276109,-0.000164582791884,1.68483179451e-05,1793196540887875840
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,743.529879806,712,674.529879806,661,633,878.529879806,784,802,650,629.529879806,651,0.449298641786,-0.0155776850029,0.0498713864339,0.999999978196,0.000118432180031,-0.000171005394054,1.83941333834e-05,1793196540904542720
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,743,712,674.059384593,661,633,878,784,802,649.940615407,629,651,0.449487470753,-0.0155758159506,0.0498664112827,0.999999974938,0.000127331932202,-0.00018311055783,1.95046585516e-05,1793196540921209344
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,743,712,674.637665045,661,633,878,784,802,649.362334955,629,651,0.449653210282,-0.0155724943617,0.0498564514904,0.999999970973,0.000135762893526,-0.000198094556249,1.95433446949e-05,1793196540937875968
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,743,712,675,661,632.784694452,878,784,802,649.215305548,629,651,0.449811315215,-0.0155703387623,0.0498500450629,0.999999968173,0.000141999210112,-0.000207596924074,1.98650019016e-05,1793196540954542848
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,743,712,675,661,632.208127777,878,784,802,649.791872223,629,651,0.449956610044,-0.015570139577,0.0498496008266,0.999999967727,0.000144553132028,-0.000207901663811,2.06614561915e-05,1793196540971209472
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.63202408,743,712.36797592,675,660.63202408,632.36797592,878.36797592,784,802.36797592,650,629,650.63202408,0.450080744696,-0.0155707854669,0.0498506300527,0.999999967188,0.000146476211869,-0.000209076393177,2.13343995805e-05,1793196540987876352
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.056181861,743,712.943818139,675,660.056181861,632.943818139,878.943818139,784,802.943818139,650,629,650.056181861,0.450192926167,-0.0155719087322,0.0498524916245,0.999999966595,0.000148042934917,-0.000210742571915,2.19375728432e-05,1793196541004542976
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.531964547,743,712.468035453,675,660.531964547,632.468035453,878.468035453,784.531964547,802.468035453,649.468035453,629,650.531964547,0.450277718314,-0.0155731086398,0.0498502891922,0.999999965731,0.000147858328591,-0.000214913642031,2.2086969058e-05,1793196541021209344
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,743,712,675,661,632.119320766,878.119320766,784.761358469,802.119320766,649.119320766,629,651,0.450357170991,-0.0155746594006,0.0498484338211,0.99999996523,0.000146573958003,-0.000218086677046,2.22502957287e-05,1793196541037875968
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,743,712,675,661,632.698505003,878.698505003,783.602989995,802.698505003,649.698505003,629,651,0.450427457558,-0.0155775304191,0.0498496093645,0.999999966285,0.000141780806088,-0.000216369569393,2.26563846067e-05,1793196541054542848
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,743,712,675,660.723896755,633,878.723896755,783,802.723896755,650,629,651,0.450485887634,-0.0155790866655,0.0498494337149,0.999999966229,0.000139799623866,-0.000217874583813,2.30030375837e-05,1793196541071209728
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660.148020507,633,878.148020507,783,802.148020507,650,629,651,0.450531444781,-0.0155792154268,0.0498477910371,0.999999964969,0.000140871475957,-0.000222877946252,2.32851593186e-05,1793196541087876608
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.564475773,743.435524227,712.435524227,675,660.435524227,632.564475773,878,783,802,650,629,651,0.450564615036,-0.0155783351635,0.0498461292026,0.999999964191,0.000141955002529,-0.000225678716704,2.31475388498e-05,1793196541104543232
+219,3.650000000,POSE1_TO_POSE2_PRESS,764.021355542,743.978644458,712.978644458,675,661,632.021355542,878.021355542,783,802,650,629,651,0.450593131972,-0.0155770993859,0.0498444704637,0.999999963566,0.000143076812434,-0.000227757713084,2.28654373045e-05,1793196541121209600
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.597665695,743.402334305,712.402334305,675,661,632.597665695,878.597665695,783,802,650,629,651,0.45061208685,-0.0155756964308,0.049843064391,0.999999962566,0.000145088514165,-0.000230882203693,2.26023701775e-05,1793196541137876224
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660.824766968,632.824766968,878.824766968,783,802,650,629,651,0.450628939033,-0.0155743921723,0.0498414622279,0.999999961761,0.000146075127906,-0.000233757498574,2.23185664536e-05,1793196541154542592
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,743,712,675,660.244292362,632.244292362,878.244292362,783,802,650,629,651,0.450640928545,-0.0155733161585,0.0498394065888,0.999999961429,0.000144691136554,-0.000236056506308,2.19868075891e-05,1793196541171209216
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,743.332443317,712,675,660.332443317,632.332443317,878,783.332443317,802,650,629,651,0.450649081017,-0.0155726856698,0.0498383361022,0.999999960952,0.00014397598825,-0.000238526912328,2.17122859938e-05,1793196541187875840
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,743.906462102,712,675,660.906462102,632.906462102,878,783.906462102,802,650,629,651,0.450654445241,-0.0155723789291,0.0498379814928,0.999999960368,0.000143746865732,-0.000241121868003,2.14793567781e-05,1793196541204542464
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,743,712.083388904,675,660.916611096,633,878.083388904,783.083388904,802,650,629,651,0.450656301336,-0.0155699544967,0.0498344063886,0.999999958729,0.000145276746295,-0.000247002304135,2.06490750309e-05,1793196541237876224
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,743,712.663061336,675,660.336938664,633,878.663061336,783.663061336,802,650,629,651,0.450658985401,-0.015569608408,0.049835445098,0.999999958921,0.00014557016846,-0.000246010210148,2.11400242825e-05,1793196541254542848
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,743,712.759277411,675,660,632.759277411,878.759277411,783.759277411,802,650,629,651,0.450660973747,-0.0155691015744,0.0498356136363,0.999999959164,0.000144599416786,-0.000245595122136,2.11233312216e-05,1793196541271209472
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,743,712.18440791,675,660,632.18440791,878.18440791,783.18440791,802,650,629,651,0.450661996368,-0.0155683716109,0.0498345742904,0.999999959474,0.000141873865986,-0.000245980975905,2.04019800776e-05,1793196541287876096
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764.038772017,743,712,675,660.961227983,632,877.038772017,783.961227983,802,650,629,651,0.450658115009,-0.0155713596992,0.0498315400521,0.999999957934,0.000141342730633,-0.000252408833861,2.1060766769e-05,1793196541321209600
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.554377797,743,712,675,661,632,877.554377797,784,802,650,629,651,0.450659437552,-0.0155705266571,0.0498316548207,0.999999958244,0.00013979784535,-0.000252079548672,2.06042745041e-05,1793196541337875968
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660.854910145,632,878,784,802,650,629,651,0.450660909123,-0.0155691528258,0.0498319607975,0.999999958441,0.00013970417244,-0.000251383491313,2.0170931921e-05,1793196541354542592
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660.298750296,632,878,783.701249704,802,650,629,650.701249704,0.450662810306,-0.0155654924698,0.049832741849,0.999999957869,0.000146223118025,-0.000249975105892,1.98531193751e-05,1793196541387876352
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660.869680734,632,878,783.130319266,802,650,629,650.130319266,0.450663380767,-0.0155652506517,0.0498328139294,0.999999957993,0.00014562725466,-0.000249839424619,1.96684877066e-05,1793196541404542720
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,743.9521492,712,675.9521492,660.0478508,632,878.9521492,783.9521492,802,650,629,651,0.450660582195,-0.0155658915538,0.0498318797101,0.999999958056,0.000141445514786,-0.00025201463525,1.92376838085e-05,1793196541437875712
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,743.372025996,712,675.372025996,660.627974004,632,878.372025996,783.372025996,802,650,629,651,0.450662564652,-0.0155669522399,0.0498325445876,0.99999995858,0.00014111733023,-0.000250095814403,1.94471897783e-05,1793196541454542336
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,743.206647895,712.206647895,675,660.793352105,632,878.206647895,783,802,650,629,651,0.450663772277,-0.0155670713763,0.0498325696491,0.999999958643,0.000141532217292,-0.000249596475028,1.95937891891e-05,1793196541471209216
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,743.782730739,712.782730739,675,660.217269261,632,878.782730739,783,802,650,629,651,0.450663594697,-0.0155655072564,0.0498314508788,0.999999957883,0.00014327553129,-0.000251634814969,1.96279273326e-05,1793196541487875840
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,743.643125501,712.643125501,675,660.356874499,632.356874499,878.643125501,783,802,650,629,651,0.450662839896,-0.0155655725059,0.0498307742455,0.999999957738,0.000142021141405,-0.000252936881736,1.93931555063e-05,1793196541504542208
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,743.070155918,712.070155918,675,660.929844082,632.929844082,878.070155918,783,802,650,629,651,0.450661735574,-0.0155666243731,0.0498303653354,0.99999995796,0.000138951578123,-0.000253793119393,1.89955529839e-05,1793196541521208832
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,743,712,675,661,633,878,783,802,650,629,651,0.450661940613,-0.015568539657,0.0498307108673,0.999999958163,0.000137834284037,-0.000253549684246,1.96895204e-05,1793196541537875712
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,743,712.111985608,675,661,633,878,783.111985608,802.111985608,650,629,651,0.450662521755,-0.0155692831671,0.0498311745947,0.999999958267,0.000137922200032,-0.000253050458448,2.02250508007e-05,1793196541554542592
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,743,712.68818163,675,661,633,878,783.68818163,802.68818163,650,629,651,0.450663904645,-0.0155646699807,0.0498316919227,0.999999957962,0.000141876890948,-0.000252126935673,1.9472479645e-05,1793196541571209216
+247,4.116666667,HOLD_POSE2,765,743,713,675,660,632,879,783,802,650,629,651,0.450663859738,-0.0155683836689,0.0498319602032,0.999999958899,0.000135358804124,-0.000251990299696,1.95308099661e-05,1793196541609264896
+248,4.133333333,HOLD_POSE2,765,743,712.407693535,675,661.18461293,632.592306465,879,783.592306465,802,649.407693535,629,651,0.450662238149,-0.0155672146281,0.0498300155547,0.999999958181,0.000136424574911,-0.000254278674297,1.92238899402e-05,1793196541625931520
+249,4.150000000,HOLD_POSE2,765,743.180125615,712,674.819874385,661.819874385,632.819874385,878.819874385,783.819874385,802,649.180125615,629,651,0.450662204996,-0.0155666263606,0.049829576226,0.999999957932,0.000137680544268,-0.000254576603524,1.92763379328e-05,1793196541642598144
+250,4.166666667,HOLD_POSE2,765,743.758035226,712,674.241964774,661.241964774,632.241964774,878.241964774,783.241964774,802,649.758035226,629,651,0.450665679697,-0.0155673206554,0.0498324611998,0.999999958718,0.000139356542636,-0.000250478893429,2.01224034018e-05,1793196541659264768
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+252,4.200000000,HOLD_POSE2,765,743.090550929,712,674.909449071,660.090550929,632,878,783,802,650,629,651,0.450663982213,-0.0155659020473,0.0498309610146,0.999999958081,0.000138944751435,-0.000253278342991,1.95636100123e-05,1793196541692598016
+253,4.216666667,HOLD_POSE2,764.515134348,743,712,675.484865652,660.484865652,632.484865652,878,783,802,650,629,651,0.450664473938,-0.0155660323917,0.049831691234,0.999999958302,0.000139452071805,-0.000252129642381,1.94720724752e-05,1793196541709264640
+254,4.233333333,HOLD_POSE2,764.061795447,743,712,675.938204553,660.938204553,632.938204553,878,783,802,650,629,650.938204553,0.450665263923,-0.0155662284228,0.0498326276663,0.999999958591,0.00014004167329,-0.000250657607054,1.94345778754e-05,1793196541725931008
+255,4.250000000,HOLD_POSE2,764.651177252,743,712,675.348822748,660.348822748,632.348822748,878,783,802,650,629,650.348822748,0.45066463543,-0.0155650527729,0.0498314274398,0.999999958144,0.000139400939088,-0.000252813067094,1.90833506557e-05,1793196541742597632
+256,4.266666667,HOLD_POSE2,765.237260586,743,712,675,660.237260586,632.237260586,878,783.237260586,802,649.762739414,629,650.237260586,0.450664145496,-0.0155646268397,0.049830805511,0.999999957817,0.000139356428473,-0.000254134178415,1.90245956661e-05,1793196541759264512
+257,4.283333333,HOLD_POSE2,765.818560917,743,712,675,660.818560917,632.818560917,878,783.818560917,802,649.181439083,629,650.818560917,0.450663856481,-0.0155652880333,0.0498310221431,0.999999957667,0.000140176472015,-0.000254245442073,1.93899401062e-05,1793196541775931136
+258,4.300000000,HOLD_POSE2,765.605848923,743,712,675,661,632.605848923,878,783.605848923,802,649.394151077,629,651,0.450664662351,-0.0155644856974,0.0498315074183,0.999999957766,0.000140959543768,-0.000253417100244,1.944943238e-05,1793196541792597760
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,743,712.89907803,675.10092197,661,632.10092197,878.10092197,783.10092197,802,650,629,651,0.450663778943,-0.0155674477714,0.0498302880463,0.999999957917,0.000137145307267,-0.000254890398439,1.967910746e-05,1793196541979457536
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.520961747,743,712.520961747,675,661,632.479038253,878,783.479038253,802,650,629,651,0.45066419012,-0.0155657397788,0.0498308818663,0.999999957971,0.000137103759647,-0.000254744541494,1.91106730158e-05,1793196541996123648
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743.055663252,712,675,661,633,878,783.944336748,802,650,629,651,0.450664596178,-0.0155634751166,0.0498313908581,0.999999958,0.000137166839534,-0.000254648209944,1.84258291747e-05,1793196542012790016
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743.62979056,712,675,661,633,878,783.37020944,802,650,629,651,0.450662887513,-0.0155631619689,0.0498292111846,0.999999957632,0.000135941036895,-0.000256781052415,1.78983999932e-05,1793196542029456384
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.210862869,743.789137131,712,675,660.789137131,632.789137131,878.210862869,783,802,650,629,651,0.450661781637,-0.0155633856078,0.0498283337993,0.999999957475,0.000135387851296,-0.000257689105701,1.77701297999e-05,1793196542046123264
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.804543645,743.195456355,712,675,660.195456355,632.195456355,878.804543645,783,802,650,629,651,0.450661770116,-0.0155645837733,0.0498298206962,0.999999957712,0.000136055790488,-0.000256373575082,1.83665259331e-05,1793196542062789888
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.386750481,632,879,783,802,650,629,651,0.450653576188,-0.0155639358665,0.0498264417328,0.999999956079,0.000137529097574,-0.000261905926484,1.82599873919e-05,1793196542079456512
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.963325733,632,879,783,802,650,629,651,0.450641366173,-0.0155623818711,0.0498206745092,0.999999953459,0.000139397695173,-0.000270799353429,1.7808434688e-05,1793196542096123136
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,661,632,878.460650674,783.539349326,802,650,629,651,0.45061056706,-0.0155602351639,0.0498074144467,0.999999947156,0.000138822545261,-0.000293529135959,1.60156529602e-05,1793196542112789760
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.882034558,743,712,675.117965442,661,632.117965442,878,783.882034558,802,650,629,651,0.450575400887,-0.0155578016248,0.049793396051,0.999999939692,0.000138596947675,-0.000318126893769,1.42136962415e-05,1793196542129456384
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.292914047,743,712,675.707085953,661,632.707085953,878,783.292914047,802,650,629,651,0.450527835925,-0.0155543832807,0.0497783816994,0.999999930051,0.000140430464085,-0.000346431509357,1.2738974951e-05,1793196542146122752
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.291329023,743.291329023,712,675.708670977,661,632.708670977,878,783.291329023,802,650,629,651,0.450478288068,-0.0155513732781,0.049767197916,0.999999924221,0.000142066607407,-0.000362268254598,1.16654380402e-05,1793196542162789376
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.87074883,743.87074883,712,675.12925117,661,632.12925117,878,783.87074883,802,650,629,651,0.450426779361,-0.0155487670782,0.0497598021234,0.999999922746,0.000143507571494,-0.000365775713355,1.09886262804e-05,1793196542179456000
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,744,712,675,661,632,878,783.553986342,802,649.553986342,629,651,0.45036123482,-0.0155437177817,0.0497551312761,0.999999920107,0.000144961135487,-0.000372396371583,9.67439898802e-06,1793196542196122880
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,743.979441044,712,675,661,632.020558956,878.020558956,783,802,649.020558956,629,651,0.450291317047,-0.0155380638982,0.0497514090632,0.99999991723,0.000146446153278,-0.000379506713625,8.2388650345e-06,1793196542212789760
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,743.391837517,712,675,661,632.608162483,878.608162483,783,802,649.608162483,629,651,0.450211930453,-0.0155350817698,0.0497522724095,0.999999918419,0.000148698931572,-0.000375469506001,8.50527649689e-06,1793196542229456384
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,743.19309598,712,675,661,633,878.80690402,783,802,650,629,651,0.450125095014,-0.0155304047528,0.0497528862242,0.999999919113,0.000151441283247,-0.00037252291706,8.16722163634e-06,1793196542246122752
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,743.772685179,712,675,661,633,878.227314821,783,802,650,629,651,0.450023350274,-0.0155223353147,0.0497530005862,0.999999918838,0.000155163545218,-0.000371759267509,6.61929103949e-06,1793196542262789376
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,743.649151659,712,675,660.649151659,633,878.350848341,783,802,650,629,651,0.449905705785,-0.0155136265755,0.0497515023057,0.999999917855,0.000159596743667,-0.000372546419298,5.21363820263e-06,1793196542279456000
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,743.071908629,712,675,660.071908629,633,878.928091371,783,802,650,629,651,0.449777801531,-0.0155045053086,0.0497489634226,0.999999916401,0.000164488694095,-0.00037433426887,3.89979391026e-06,1793196542296122624
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.503408962,632.496591038,879,783.503408962,802,650,629,651,0.449625902367,-0.0154942231856,0.0497466406689,0.999999914608,0.000169119451641,-0.000377059419967,2.92165467381e-06,1793196542312790272
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.919605934,632.080394066,878.919605934,783.919605934,802,650,629,651,0.449467534528,-0.0154837350999,0.0497442591787,0.999999912766,0.000173640774454,-0.000379887111744,1.85904786834e-06,1793196542329457664
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.330331203,632.669668797,878.330331203,783.330331203,802,650,629,651,0.449289833927,-0.0154729889172,0.0497413112219,0.99999991105,0.00017770466019,-0.000382519615188,-4.06038306049e-08,1793196542346123520
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.745569009,660.254430991,632.745569009,878,783.254430991,802,649.745569009,629,651,0.449097977683,-0.0154622784756,0.0497387789889,0.999999908312,0.000182217323467,-0.000387518588056,-1.57409391645e-06,1793196542362789888
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.166563442,660.833436558,632.166563442,878,783.833436558,802,649.166563442,629,651,0.448888063267,-0.0154516136293,0.0497367770897,0.999999904231,0.000187302486645,-0.000395536437536,-2.64047589078e-06,1793196542379456256
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,743.409151929,712,674.409151929,661,632.409151929,878,784,802.409151929,649.409151929,629,651,0.448668114365,-0.0154441137031,0.0497394632518,0.999999906022,0.000186717468829,-0.000391251021322,-3.77921366272e-06,1793196542396123136
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,743.983538551,712,674.983538551,661,632.983538551,878,784,802.983538551,649.983538551,629,651,0.448444113073,-0.0154378919201,0.0497440426723,0.999999910128,0.000183842566503,-0.000381996970569,-4.94717206499e-06,1793196542412790016
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,743.440229323,712,675,661,633,878,784,802.440229323,650,629.559770677,651,0.448176769626,-0.01543498575,0.0497469630589,0.999999914203,0.000176756961429,-0.000374565409428,-7.12912769668e-06,1793196542429456896
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,661.13963731,633,878.13963731,784,802,650,630,651,0.447901590309,-0.0154333372614,0.0497480847731,0.999999917484,0.000167990256148,-0.000369762951866,-9.31491060594e-06,1793196542446123264
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,661.731087517,633,878.731087517,784,802,650,630,651,0.447605194877,-0.0154354416206,0.0497435450526,0.999999918374,0.000154186134859,-0.000373293282873,-1.14162743011e-05,1793196542462789888
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,661.684460065,633,878.684460065,784,802,650,630,651,0.447292712124,-0.0154367089866,0.0497413409396,0.999999920174,0.000140796603946,-0.000373688423593,-1.36306021127e-05,1793196542479456256
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,661.105841917,633,878.105841917,784,802,650,630,651,0.446966816698,-0.0154372785181,0.0497410841152,0.999999922718,0.000127752732025,-0.000371469631658,-1.59391128392e-05,1793196542496122880
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,661.469725489,633,878.939450977,784,802,650,630,651,0.446612230636,-0.0154292598497,0.0497405669588,0.999999923013,0.000122918307558,-0.000372147285456,-1.92559455163e-05,1793196542512789760
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.045529864,743,712,675,661.954470136,633,879.908940273,784,802,649.954470136,630,651,0.446250415507,-0.0154199496709,0.0497413591655,0.999999923705,0.000119370244639,-0.000371258249193,-2.25441606263e-05,1793196542529456384
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.632270045,743,712,675,661.367729955,633,878.73545991,784,802,649.367729955,630,651,0.445879019192,-0.0154181420048,0.0497584084652,0.999999934589,0.000109266376275,-0.000344038158524,-2.28088924845e-05,1793196542546123520
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.78335414,743,712,675,661.21664586,633,878,784.21664586,802,649,630,651,0.445494843351,-0.0154162602303,0.049779626505,0.999999945935,9.87169381307e-05,-0.000312820283563,-2.29751211517e-05,1793196542562790400
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.202948258,743,712,675,661.797051742,633,878,784.797051742,802,649,630,651,0.445089210021,-0.0154142540237,0.049807844082,0.999999958133,8.74193650442e-05,-0.000274889915981,-2.29759576623e-05,1793196542579457024
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,662,633.375704891,878,785,802,649.375704891,630,651,0.444640988562,-0.0154117849383,0.0498194050397,0.999999962019,7.41363395499e-05,-0.000264312693145,-2.46032854198e-05,1793196542596123392
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,662,633.953415626,878,785,802,649.953415626,630,651,0.444169868689,-0.0154090669762,0.0498220102058,0.999999961815,5.97857931111e-05,-0.000268442480309,-2.71051313118e-05,1793196542612789760
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,662,633.472774044,878,784.472774044,802,650,630,650.472774044,0.443641633882,-0.0154088608005,0.0498025668113,0.999999953044,4.02483842927e-05,-0.000302175053933,-3.13300554463e-05,1793196542629456640
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,662,633,878,784,802,649.896415136,630,650.103584864,0.443104871718,-0.0154080596183,0.0497813234715,0.999999942138,2.07297116466e-05,-0.000337625813824,-3.60844892658e-05,1793196542646123264
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,662,633,878,784,802,649.306484258,630,650.693515742,0.442551592749,-0.0154034304285,0.0497607088379,0.999999931023,3.43498960673e-06,-0.000368953127642,-4.26154749954e-05,1793196542662790144
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,662,633.278419572,878,784.278419572,802,649,630,651,0.442013086084,-0.0154018771495,0.0497625286086,0.999999933627,-1.50094117144e-05,-0.000361042590034,-4.65696581826e-05,1793196542679457280
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,662,633.857887843,878,784.857887843,802,649,630,651,0.441490552303,-0.0154036497816,0.0497886061836,0.99999994999,-3.46969370214e-05,-0.000310705066789,-4.77376046212e-05,1793196542696124928
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.433328907,743,712,675,662.433328907,634,878,785,802.433328907,649,630,651,0.440939968621,-0.0154054481596,0.04981406474,0.999999960669,-5.59236890747e-05,-0.000270630175786,-4.78982707295e-05,1793196542712791296
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.404227627,743,712,675,662.404227627,633.404227627,878,785,803,649.595772373,630,651,0.439728501897,-0.0154038448587,0.0498235240373,0.999999960488,-9.50519326328e-05,-0.000259264052436,-5.26439359355e-05,1793196542746124032
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.818921263,662,633,878,785,802.818921263,650,630,651,0.439065460548,-0.0153995098302,0.0498011499863,0.999999948522,-0.000112535851732,-0.000294791951263,-5.82225894029e-05,1793196542762790400
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.23981953,662,633,878,785,802.23981953,650,630,651,0.438375044865,-0.0153929945161,0.0497631638614,0.999999926604,-0.000130079295769,-0.00035439019021,-6.54091551318e-05,1793196542779456512
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,743,712.338435167,674,662,633,878,784.661564833,801.661564833,649.661564833,630,651,0.43769715453,-0.0153902394614,0.0497493548644,0.999999915008,-0.000150597478373,-0.000377320443554,-7.02451765624e-05,1793196542796122880
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+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.658006583,743,712,674.341993417,662.341993417,634,878,784.658006583,801,649,630,651,0.434956365732,-0.0153890093362,0.0498095846685,0.999999948121,-6.37055099035e-05,-0.000306158619208,-7.72377889823e-05,1793196542862790400
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,764.548378073,743,712,674.451621927,662,634,877.451621927,784.548378073,801.451621927,649.548378073,630,650,0.431275447482,-0.0153784442643,0.0498062551272,0.99999994923,6.24540381157e-05,-0.000308973267928,-4.66300431398e-05,1793196542946123264
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.125284947,743,712,674,662,633.874715053,877.125284947,785,801,650,630,650,0.430506767846,-0.015374391298,0.0497969570656,0.999999946136,3.41110449644e-05,-0.000322149652942,-5.27701147675e-05,1793196542962789632
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.717277924,743,712,674,662,633.282722076,877.717277924,785,801,650,630,650,0.429677808918,-0.0153712908628,0.0497628763873,0.999999926174,2.48195722271e-06,-0.000379397976716,-6.08551472984e-05,1793196542979456512
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,743,712,674,661.697169012,633.302830988,878,784.697169012,801,649.697169012,630,650.302830988,0.428884919325,-0.015372536494,0.0497546069959,0.999999921925,-2.4218352931e-05,-0.000388965109863,-6.53447795743e-05,1793196542996123392
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,743,712,674,661.117503072,633.882496928,878,784.117503072,801,649.117503072,630,650.882496928,0.4281250028,-0.0153777551108,0.0497699331654,0.999999933716,-4.64129866592e-05,-0.00035494416429,-6.65476525508e-05,1793196543012790272
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.542397421,743,712,674,661.915205158,634,877.542397421,784.457602579,801,649,630,650.542397421,0.427342372878,-0.0153764329679,0.0497828434177,0.999999936089,-4.82440056452e-05,-0.000348462343998,-6.37804853379e-05,1793196543029456896
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.032313617,662.967686383,634,877,785,801,649,630,650,0.426555206,-0.0153734758077,0.0497938220422,0.999999936189,-4.5585605518e-05,-0.000349137472694,-6.03842314699e-05,1793196543046123520
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,743,712.205137014,674.794862986,662.205137014,634,877.205137014,785,801,649.205137014,630,650.205137014,0.425027561919,-0.015371223345,0.0497863151983,0.999999941315,-6.46375013417e-05,-0.000330136446051,-6.48284411119e-05,1793196543079456256
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,743,712.78481485,674.21518515,662.78481485,634,877.78481485,785,801,649.78481485,630,650.78481485,0.42427333408,-0.015376379074,0.0498193884243,0.999999961124,-7.5823666404e-05,-0.0002608882321,-6.27731871554e-05,1793196543096122880
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,743,712.059251455,674,663,634,878,785,801,649.059251455,629.059251455,650.059251455,0.422712719532,-0.0153792337343,0.0498336198916,0.999999968172,-3.01986282601e-05,-0.000242615634724,-6.22984419176e-05,1793196543129456384
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.482600742,634,878,785,801,649,629.517399258,650,0.421905209526,-0.0153770200872,0.0498056209254,0.999999954755,-3.04552469155e-05,-0.000292143781515,-6.49228105285e-05,1793196543146123776
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,662,634,878,785,801,649,630,650,0.421107123356,-0.0153756097805,0.0497806663358,0.999999940882,-3.72332883453e-05,-0.000335131461834,-6.73611319017e-05,1793196543162790912
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,662,634,878,785,801,649,630,650,0.420369932563,-0.0153799654433,0.0497884976769,0.999999945364,-5.94151778998e-05,-0.000318115232013,-6.74064835196e-05,1793196543179457024
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.267104007,662,634,877.732895993,785,801,649.267104007,630,650.267104007,0.419618292129,-0.0153841775906,0.0498031109926,0.999999948904,-7.72468238553e-05,-0.000303141113767,-6.58007644535e-05,1793196543196123136
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.846614046,662,634,877.153385954,785,801,649.846614046,630,650.846614046,0.418849751383,-0.0153882218813,0.0498256565354,0.999999951801,-8.99904040471e-05,-0.000290555459633,-6.22639458106e-05,1793196543212789760
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.576916145,662,634,877,785,801,650,630,651,0.418091771863,-0.0153877756061,0.0498125895616,0.999999943499,-9.30459381051e-05,-0.000316855794884,-6.28278084822e-05,1793196543229456384
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.001540637,662,634,877,785,801,650,630,651,0.417337593859,-0.0153857129241,0.0497867036439,0.999999929828,-9.26142009162e-05,-0.000357153381217,-6.48677363983e-05,1793196543246123008
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.100637129,743,712,674,662.100637129,634,877,785,802,649,630.100637129,650,0.413891886109,-0.015383827986,0.0497982919158,0.999999942447,-9.04479186651e-05,-0.000320177263753,-6.64214529951e-05,1793196543329456896
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,662,634,877,785,801,649.789322473,630,650.789322473,0.411372592153,-0.0153885071719,0.0498156967042,0.99999994792,-0.000116470757762,-0.000293752141931,-6.56078166321e-05,1793196543396123136
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,662,634,877,785,801.387548551,649.387548551,630,650.387548551,0.410190083326,-0.0153867169111,0.0498209951087,0.999999946881,-0.00012209757134,-0.000295108361836,-6.51239448276e-05,1793196543429457152
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,662,634,877,785,801.963198623,649.963198623,630,650.963198623,0.40957651647,-0.0153838408449,0.0497929437574,0.999999930877,-0.000125253166407,-0.000343248736192,-6.8832037234e-05,1793196543446124288
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.464349177,743,712,674,662.535650823,634,877,785,801.464349177,650,630,650.464349177,0.409049557226,-0.0153868361121,0.0497903482354,0.999999929609,-0.000135232677693,-0.000342953905074,-6.98316970553e-05,1793196543462790912
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.111894455,743,712,674,663,634,877,785,801.111894455,650,630,650.111894455,0.408540748942,-0.015390228537,0.0497947136431,0.999999932255,-0.000144299743405,-0.000331326945791,-6.99218582588e-05,1793196543479457280
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.705397118,743,712,674,663,634,877,785,801.705397118,650,630,650.705397118,0.40808460573,-0.0153936044667,0.049821556894,0.999999946235,-0.000147433596375,-0.000285162866292,-6.68935803789e-05,1793196543496124160
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,742.130662233,712,673.130662233,663,634,877,785,801.130662233,650,630,651,0.407144541738,-0.0153957056402,0.0498370229435,0.999999951785,-0.000142828749416,-0.00026870587551,-6.18675647112e-05,1793196543529458432
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.804414185,743,712,673.195585815,662,634,877,785,801,650,630,651,0.405364185012,-0.0153883942871,0.0497726195863,0.999999910266,-0.000157125347355,-0.00038719472697,-6.97098826637e-05,1793196543596123136
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.221571762,743,712,673.778428238,662,634,877,785,801,650,630,651,0.404994092502,-0.0153908626486,0.0497771903734,0.999999911884,-0.00016607265663,-0.000379139900598,-7.00378667737e-05,1793196543612789760
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,743,711.67039571,673,662,634,877,785,801,650,630,651,0.403514820939,-0.0154067042537,0.0498617691727,0.999999946581,-0.000205276367394,-0.000246268714923,-6.36464382291e-05,1793196543696122880
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,743,712,673,662,634,876.744282631,785,801,650,630,651,0.403253252417,-0.0154058261983,0.0498609232739,0.999999951384,-0.000174729723581,-0.00025001481143,-6.47669549756e-05,1793196543712789504
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..87e24af7bfc3510c78b5d3c2c06e0f8df2561344
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_03/simulation_data.csv
@@ -0,0 +1,423 @@
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+402,6.700000000,pose2_to_pose3_retreat,0.578255863787,-0.00999865485946,1.04001152895,0.548827096469,-0.00132499600275,1.03966107209
+403,6.716666667,pose2_to_pose3_retreat,0.578255151279,-0.00999863272086,1.04001152486,0.548826383818,-0.00132497429858,1.0396610692
+404,6.733333333,pose2_to_pose3_retreat,0.578254545085,-0.00999861388557,1.04001152138,0.548825777503,-0.00132495583291,1.03966106675
+405,6.750000000,pose2_to_pose3_retreat,0.578254135537,-0.00999860116037,1.04001151903,0.548825367874,-0.00132494335742,1.03966106509
+406,6.766666667,pose2_to_pose3_retreat,0.578253863614,-0.00999859506982,1.04001151935,0.548825095936,-0.0013249373059,1.0396610657
+407,6.783333333,pose2_to_pose3_retreat,0.578253533168,-0.00999864824343,1.04001156799,0.548824766481,-0.00132498727076,1.03966111051
+408,6.800000000,pose2_to_pose3_retreat,0.57825337424,-0.00999867381724,1.04001159138,0.54882460803,-0.00132501130133,1.03966113206
+409,6.816666667,pose2_to_pose3_retreat,0.578253149235,-0.00999871002391,1.04001162449,0.548824383699,-0.00132504532312,1.03966116256
+410,6.833333333,pose2_to_pose3_retreat,0.578253082442,-0.00999872077182,1.04001163432,0.548824317107,-0.00132505542245,1.03966117162
+411,6.850000000,pose2_to_pose3_retreat,0.578252996401,-0.00999873461712,1.04001164699,0.548824231324,-0.00132506843226,1.03966118329
+412,6.866666667,pose2_to_pose3_retreat,0.578252940537,-0.00999874360637,1.04001165521,0.548824175628,-0.00132507687906,1.03966119086
+413,6.883333333,pose2_to_pose3_retreat,0.578252898307,-0.00999875040185,1.04001166142,0.548824133524,-0.00132508326447,1.03966119659
+414,6.900000000,pose2_to_pose3_retreat,0.578252844574,-0.00999875904818,1.04001166933,0.548824079953,-0.00132509138904,1.03966120387
+415,6.916666667,pose2_to_pose3_retreat,0.578252795479,-0.00999876694828,1.04001167656,0.548824031005,-0.00132509881241,1.03966121053
+416,6.933333333,pose2_to_pose3_retreat,0.578252718478,-0.00999877933883,1.04001168789,0.548823954235,-0.00132511045526,1.03966122097
+417,6.950000000,pose2_to_pose3_retreat,0.578252595808,-0.00999879322815,1.04001170971,0.548823831729,-0.00132512383632,1.03966124157
+418,6.966666667,pose2_to_pose3_retreat,0.57825240577,-0.00999877884985,1.04001176659,0.548823640695,-0.00132511286095,1.03966129785
+419,6.983333333,pose2_to_pose3_retreat,0.578252321806,-0.00999877249714,1.04001179172,0.548823556292,-0.00132510801173,1.03966132271
+420,7.000000000,pose2_to_pose3_retreat,0.578252209498,-0.0099987639999,1.04001182534,0.548823443395,-0.00132510152554,1.03966135597
+421,7.016666667,pose2_to_pose3_retreat,0.578252175943,-0.00999880938518,1.04001184964,0.548823410714,-0.0013251441145,1.03966137611
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2f69895ebb13d5b393f9608ed1c54b06ea860695
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64ccebb807932ab667d20974aa8a4c549dbe784fac4dc59e95edceecedc04cee
+size 26809176
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d4885f29df169d1a6c9fe7c10824bac116244af0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_04/franka_data.csv
@@ -0,0 +1,423 @@
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+0,0.000000000,BASELINE,765,743,712,674,662,634,877,784,802,650,630,651,0.40098360303,-0.015419902907,0.0498541399131,0.999999963467,-7.22890379713e-05,-0.000254913777121,-5.34729352847e-05,1793196544682303488
+1,0.016666667,BASELINE,765,743,712,673.420996228,662,634,877,785.158007544,801.420996228,650,630,651,0.400983478332,-0.0154190030846,0.0498541997523,0.999999963345,-7.35278834467e-05,-0.000254930975054,-5.39843062514e-05,1793196544698970112
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+3,0.050000000,BASELINE,765,743,712,673,662,634,876.247349661,785.247349661,801,650,629.247349661,651,0.400983748888,-0.0154188817261,0.04985491842,0.999999963654,-7.16794830108e-05,-0.000254325205775,-5.36040306897e-05,1793196544732303360
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+19,0.316666667,BASELINE,765,743,712,673.031454279,662,634,877.937091442,785,801,650,630,651,0.400983819313,-0.0154177491746,0.049855545675,0.999999963983,-7.36448119606e-05,-0.000252321633425,-5.42669540288e-05,1793196544998969856
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+21,0.350000000,BASELINE,765,743,712,673.798236758,662,634,876.201763242,785,801,650,630,651,0.400984695462,-0.0154189714051,0.0498556332284,0.999999964117,-7.40034088591e-05,-0.000251757649533,-5.39178524469e-05,1793196545032303360
+22,0.366666667,BASELINE,765,743,712,673.218597327,662,634,876.781402673,785,801,650,630,651,0.400983849011,-0.0154196580559,0.0498551352426,0.999999964101,-7.25739857348e-05,-0.000252266050582,-5.37914243906e-05,1793196545048970240
+23,0.383333333,BASELINE,765,743,712,673,662,634,876.639307316,785,801,650,630,651,0.400983381816,-0.0154203582928,0.0498549124923,0.999999963905,-7.37356268775e-05,-0.000252721340427,-5.37092677276e-05,1793196545065636864
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+27,0.450000000,BASELINE,764,743,712,673,662,634,877,785,801,650,630,651,0.400982313132,-0.0154196681481,0.0498546269388,0.999999963612,-7.47182330894e-05,-0.000253497640044,-5.41424623004e-05,1793196545132303104
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+29,0.483333333,BASELINE,764,743,712,673,662,634,876.15777206,785,801,649.15777206,630,651,0.400982741152,-0.0154206004476,0.049855242176,0.999999963678,-7.63022965499e-05,-0.00025282727165,-5.38455771751e-05,1793196545165636608
+30,0.500000000,BASELINE,764.418111385,743,712,673,662,634,876.418111385,785,801.418111385,649.418111385,630,651,0.400983533029,-0.0154204989843,0.0498556047995,0.999999963922,-7.58042336424e-05,-0.000251988003796,-5.39677602676e-05,1793196545182303232
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+33,0.550000000,BASELINE,764.145666071,743,712,674,662,634,876.145666071,785,801.854333929,649.145666071,630,651,0.400984211916,-0.0154182542711,0.0498553639975,0.999999964556,-6.76458461143e-05,-0.000251789921858,-5.39837610682e-05,1793196545232303360
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+47,0.783333333,BASELINE,764.291952364,743,712,673,662.291952364,634,876.708047636,785,801.708047636,650,630,651,0.40098148614,-0.0154185652374,0.0498544900924,0.999999963819,-7.12578841386e-05,-0.000253682769527,-5.41193076119e-05,1793196545465636352
+48,0.800000000,BASELINE,764.871066164,743,712,673,662.871066164,634,876.128933836,785,801.128933836,650,630,651,0.400983709038,-0.0154172671877,0.0498557685782,0.99999996443,-7.00418812641e-05,-0.000251632266156,-5.39890936224e-05,1793196545482303232
+49,0.816666667,BASELINE,765,743,712,673,662.55283726,633.55283726,876.44716274,785,801,650,630,651,0.400983925436,-0.0154179823341,0.0498557232366,0.999999964379,-7.06806992549e-05,-0.000251692224235,-5.38324405488e-05,1793196545498969600
+50,0.833333333,BASELINE,764.977159054,743,712,673,662,633.022840946,877,785,801,649.977159054,630,651,0.400983627028,-0.0154192489997,0.0498553581225,0.999999964156,-7.18740704385e-05,-0.000252269698292,-5.36813324713e-05,1793196545515636480
+51,0.850000000,BASELINE,764.390475629,743,712,673,662,633.609524371,877,785,801,649.390475629,630,651,0.400984806488,-0.0154198967854,0.0498564587974,0.999999964413,-7.36431867856e-05,-0.000250701231006,-5.38540321928e-05,1793196545532303104
+52,0.866666667,BASELINE,764.193721895,743,712,673,662,634,877,785,801,649.193721895,630,651,0.400984758329,-0.0154200790613,0.0498566368432,0.999999964403,-7.42499632249e-05,-0.000250544724088,-5.39233005193e-05,1793196545548969728
+53,0.883333333,BASELINE,764.772972163,743,712,673,662,634,877,785,801,649.772972163,630,651,0.400982267069,-0.0154193349203,0.0498549787532,0.999999963868,-7.25435523377e-05,-0.000253198177288,-5.37867287198e-05,1793196545565636352
+54,0.900000000,BASELINE,765,743,712,673.351585763,662,634,876.648414237,785,801.351585763,650,630,651,0.400981778074,-0.0154189985068,0.0498545469358,0.999999963745,-7.25320797619e-05,-0.00025369074949,-5.37674571732e-05,1793196545582302976
+55,0.916666667,BASELINE,765,743,712,673.929788971,662,634,876.070211029,785,801.929788971,650,630,651,0.400982579656,-0.0154189248975,0.0498549055224,0.999999963891,-7.3613093442e-05,-0.000252790508274,-5.38237924583e-05,1793196545598969600
+56,0.933333333,BASELINE,765,743,712,674,662,634,876.503932527,785,801.496067473,650,630,651,0.400984836819,-0.0154205187004,0.0498560278197,0.999999964324,-7.44436918224e-05,-0.000250849459203,-5.37048913663e-05,1793196545615636224
+57,0.950000000,BASELINE,765,743,712,673.920341194,662,634,877,785,800.920341194,650,630,651,0.400986934599,-0.0154221016281,0.0498571385088,0.999999964764,-7.52680158721e-05,-0.000248869234523,-5.35861525342e-05,1793196545632302592
+58,0.966666667,BASELINE,765,743,712,673.330895528,662,634,877,785,800.330895528,650,630,651,0.400986724917,-0.0154221401137,0.0498574993986,0.999999965011,-7.6273681229e-05,-0.000247558907201,-5.36234506437e-05,1793196545648969472
+59,0.983333333,BASELINE,765,743.254587359,712,673.254587359,662,634,876.745412641,785,800.254587359,650,629.745412641,651,0.400986064896,-0.015422572554,0.0498572194108,0.99999996483,-7.73546445628e-05,-0.000247981154878,-5.34937946343e-05,1793196545665636352
+60,1.000000000,BASELINE,765,743.834998713,712,673.834998713,662,634,876.165001287,785,800.834998713,650,629.165001287,651,0.400984828529,-0.0154235091825,0.04985611922,0.999999964098,-7.85319752991e-05,-0.000250620772898,-5.31504687207e-05,1793196545682304000
+61,1.016666667,BASELINE,765,743.589497702,712,674,662,634,876.410502298,785,801,650,629.410502298,651,0.400983278716,-0.0154236724607,0.0498552032645,0.999999963686,-7.7662697809e-05,-0.000252511407863,-5.32360254667e-05,1793196545698970880
+62,1.033333333,BASELINE,765,743.015943522,712,674,662,634,876.984056478,785,801,650,629.984056478,651,0.400981604402,-0.0154235285634,0.0498543604875,0.999999963398,-7.59805056229e-05,-0.000254104545927,-5.34919348106e-05,1793196545715637248
+63,1.050000000,BASELINE,765,743,712,673.442093465,662,634,877,785,801,649.442093465,630,651,0.400982971964,-0.0154222254684,0.049855462874,0.999999963921,-7.50901971894e-05,-0.000252277192445,-5.36290960519e-05,1793196545732303872
+64,1.066666667,BASELINE,765,742.863932619,712,673.136067381,662,634,876.863932619,785,801,649.136067381,630,651,0.400983831385,-0.0154214068311,0.0498562178603,0.999999964247,-7.4605505967e-05,-0.000251120784369,-5.36562067112e-05,1793196545748970240
+65,1.083333333,BASELINE,765,742.271336784,712,673.728663216,662,634,876.271336784,785,801,649.728663216,630,651,0.400982694095,-0.0154223248345,0.0498556206567,0.999999963846,-7.54057596725e-05,-0.000252543645914,-5.33254713869e-05,1793196545765637120
+66,1.100000000,BASELINE,764.686171215,742.313828785,712,673.686171215,662,634,876.313828785,785,801,650,630,651,0.400982679666,-0.0154222568588,0.0498555582732,0.999999963841,-7.52674548051e-05,-0.000252614676092,-5.32719955434e-05,1793196545782304000
+67,1.116666667,BASELINE,764.107281311,742.892718689,712,673.107281311,662,634,876.892718689,785,801,650,630,651,0.400983613609,-0.0154213561208,0.0498559476009,0.999999964171,-7.43364393529e-05,-0.000251543943703,-5.34526942478e-05,1793196545798970624
+68,1.133333333,BASELINE,764.466497889,743,712,673,662,634,877,785,801.466497889,650,630,651,0.400983574522,-0.0154208669253,0.0498559397877,0.99999996421,-7.43813159805e-05,-0.000251342897324,-5.36118111287e-05,1793196545815637248
+69,1.150000000,BASELINE,764.960569952,743,712,673,662,634,877,785,801.960569952,650,630,651,0.400983387621,-0.0154205158208,0.0498559132542,0.999999964217,-7.45850507342e-05,-0.000251229150387,-5.37360647142e-05,1793196545832303616
+70,1.166666667,BASELINE,764.383334559,743,712,673,662,634,877,785,801.383334559,650,630,651,0.400984203638,-0.0154207713126,0.0498568635954,0.999999964687,-7.39276244156e-05,-0.000249607745287,-5.34517629187e-05,1793196545848970240
+71,1.183333333,BASELINE,764.199682821,743,712,673,662.199682821,634,877,785,801,650,629.800317179,651,0.400984241327,-0.0154210063544,0.0498567020407,0.99999996464,-7.42155461051e-05,-0.00024969326002,-5.35195437858e-05,1793196545865636352
+72,1.200000000,BASELINE,764.794131077,743,712,673,662.794131077,634,877,785,801,650,629.205868923,651,0.400982740293,-0.0154212009674,0.0498543423094,0.999999963567,-7.63723851623e-05,-0.00025315329083,-5.42833787949e-05,1793196545882302976
+73,1.216666667,BASELINE,764.623861509,743,712,673,662.623861509,634,877.376138491,785,801,650,629.376138491,651,0.40098245712,-0.0154212627201,0.0498544944219,0.999999963506,-7.64685645893e-05,-0.000253364516554,-5.42791069604e-05,1793196545898969856
+74,1.233333333,BASELINE,764.048445273,743,712,673,662.048445273,634,877.951554727,785,801,650,629.951554727,651,0.400982819169,-0.0154212540835,0.0498559773066,0.999999963986,-7.54730087614e-05,-0.000251854528839,-5.38678929493e-05,1793196545915636736
+75,1.250000000,BASELINE,764.52393011,743,712,673,662,634,876.95213978,785,801,650,630,651,0.400983707496,-0.0154217047024,0.0498562255752,0.999999964132,-7.56277831486e-05,-0.000251282438801,-5.35963961266e-05,1793196545932303616
+76,1.266666667,BASELINE,764.90069625,743,712,672.90069625,662,634,876,785,801,650,630,651,0.400984376568,-0.0154219618201,0.04985633426,0.999999964242,-7.5781222932e-05,-0.0002508440382,-5.33947652277e-05,1793196545948970496
+77,1.283333333,BASELINE,764.309072178,743,712,672.309072178,662,634,876,785,801,650,630,651,0.400983718772,-0.0154210502982,0.0498563136295,0.999999964317,-7.54037587791e-05,-0.00025064096588,-5.3475831057e-05,1793196545965636864
+78,1.300000000,BASELINE,764.277070417,743,712,672.554140833,662,634,876.277070417,785,801.277070417,650,630,651,0.400981952827,-0.0154213531022,0.0498554170836,0.999999963887,-7.56723552802e-05,-0.000252257904066,-5.35366615237e-05,1793196545982303232
+79,1.316666667,BASELINE,764.857217005,743,712,673.71443401,662,634,876.857217005,785,801.857217005,650,630,651,0.400978974722,-0.0154229842083,0.049853562409,0.999999962894,-7.66476515387e-05,-0.000255865678465,-5.35753573363e-05,1793196545998970112
+80,1.333333333,BASELINE,765,743,712,673.567326494,662,634,876.567326494,785,801.567326494,650,630,651,0.400981241867,-0.0154225643382,0.0498546202382,0.999999963551,-7.58426939836e-05,-0.000253560171846,-5.34184410287e-05,1793196546015636480
+81,1.350000000,BASELINE,764.993396407,743,712,673,662,634,876,785,801,650,630,651,0.400985180178,-0.0154214996243,0.0498566150354,0.999999964718,-7.45004663326e-05,-0.000249366554467,-5.32002430922e-05,1793196546032303104
+82,1.366666667,BASELINE,764.419063999,743,712,673,662,634,876,785,801,650,630,651,0.40098557521,-0.0154225604857,0.0498574185348,0.999999964671,-7.69338910473e-05,-0.000248814445365,-5.32037252e-05,1793196546048969984
+83,1.383333333,BASELINE,764.161069374,743,712,673,662,634,876.161069374,785.161069374,801,650,630,651,0.400985265441,-0.0154229215403,0.0498576487506,0.999999964523,-7.82548642296e-05,-0.000248959552271,-5.33855401352e-05,1793196546065636864
+84,1.400000000,BASELINE,764.75685948,743,712,673,662,634,876.75685948,785.75685948,801,650,630,651,0.400983053439,-0.0154213938404,0.0498563316936,0.999999964111,-7.65733692982e-05,-0.000250986421226,-5.40486692771e-05,1793196546082303488
+85,1.416666667,BASELINE,765,743,712,673,662,634,876.660001166,785.660001166,801.339998834,650,629.660001166,651,0.4009835241,-0.0154210107683,0.0498566598579,0.999999964291,-7.55261800467e-05,-0.000250623961005,-5.38605022081e-05,1793196546098970112
+86,1.433333333,BASELINE,765,743,712,673,662,634,876.085584132,785.085584132,801.914415868,650,629.085584132,651,0.400985844371,-0.0154214168802,0.0498581223492,0.99999996488,-7.49163241462e-05,-0.000248614135476,-5.3085393897e-05,1793196546115636736
+87,1.450000000,BASELINE,764.509793485,743,712,673.490206515,662,634,876.490206515,785,802,649.509793485,629.490206515,651,0.400984853324,-0.0154217172745,0.0498571013981,0.999999964743,-7.50465149178e-05,-0.000249083956703,-5.3286955244e-05,1793196546132303616
+88,1.466666667,BASELINE,764.068010673,743,712,673.931989327,662,634,877,785,801.931989327,649.068010673,630,651,0.400983434394,-0.0154219867596,0.049855807751,0.999999964494,-7.52488231227e-05,-0.000249954905854,-5.35964284855e-05,1793196546148969984
+89,1.483333333,BASELINE,764.659460781,743,712,673.340539219,662,634,877,785,801.340539219,649.659460781,630,651,0.400983184216,-0.0154221608075,0.0498557617057,0.999999964367,-7.50089803984e-05,-0.000250571834984,-5.3420395754e-05,1793196546165636608
+90,1.500000000,BASELINE,765,743.24470143,712,673.24470143,662.24470143,634,877,785,801.24470143,650,630,651,0.400982645943,-0.0154222300353,0.0498556765877,0.999999964218,-7.51773934973e-05,-0.000251114750581,-5.34192788246e-05,1793196546182303232
+91,1.516666667,BASELINE,765,743.82151448,712,673.82151448,662.82151448,634,877,785,801.82151448,650,630,651,0.400981716663,-0.0154221569999,0.0498555384399,0.99999996404,-7.5899896156e-05,-0.000251557214099,-5.36555596662e-05,1793196546198970112
+92,1.533333333,BASELINE,765,743.60288323,712,674,662.60288323,634,877,785,801.60288323,650,630,651,0.400983500617,-0.0154216043071,0.0498564109128,0.999999964465,-7.61806585627e-05,-0.000249761568888,-5.37177993359e-05,1793196546215636992
+93,1.550000000,BASELINE,765,743.027823417,712,674,662.027823417,634,877,785,801.027823417,650,630,651,0.400986500336,-0.0154208366858,0.049857736232,0.999999965155,-7.6263482766e-05,-0.000246963055268,-5.37020533598e-05,1793196546232303872
+94,1.566666667,BASELINE,765,743,712,673.438674024,662,634,876.438674024,785,801,650,630,651,0.400983524567,-0.015422422001,0.0498564300798,0.999999964318,-7.77446762707e-05,-0.000249893634764,-5.35910832706e-05,1793196546248970240
+95,1.583333333,BASELINE,765,743,712,673.148443238,662,634,876,785,801.148443238,650,630,651,0.400981674821,-0.0154235555175,0.0498556106197,0.999999963779,-7.82600324121e-05,-0.0002519160108,-5.34303971395e-05,1793196546265636608
+96,1.600000000,BASELINE,765,743,712,673.727586036,662,634,876,785,801.727586036,650,630,651,0.400983973667,-0.0154230310619,0.0498565914619,0.999999964353,-7.57667803097e-05,-0.000250458134136,-5.31395101487e-05,1793196546282302976
+97,1.616666667,BASELINE,765,743,712,674,662,634,876,785.305044263,801.694955737,649.694955737,630,651,0.400984367267,-0.0154221418157,0.0498569314789,0.999999964665,-7.38822185245e-05,-0.000249765685354,-5.31890593014e-05,1793196546298969600
+98,1.633333333,BASELINE,765,743,712,674,662,634,876,785.881006344,801.118993656,649.118993656,630,651,0.400983068768,-0.0154209285894,0.0498567023619,0.999999964747,-7.25382507382e-05,-0.000249753033252,-5.35409587473e-05,1793196546315636480
+99,1.650000000,BASELINE,764.544688292,743,712,674,662,634,876.910623415,785.544688292,801,649.455311708,630,651,0.400983580718,-0.0154219940838,0.0498565265215,0.999999964482,-7.50943147148e-05,-0.000250089948289,-5.34091829364e-05,1793196546332303104
+100,1.666666667,BASELINE,764.030092295,743,712,673.969907705,662.030092295,634,877.939815409,785,801.030092295,650,630,651,0.400984514811,-0.0154234530694,0.0498564013538,0.999999964159,-7.82940662968e-05,-0.000250447428009,-5.31819840054e-05,1793196546348969728
+101,1.683333333,BASELINE,764.621793347,743,712,673.378206653,662.621793347,634,876.756413306,785,801.621793347,650,630,651,0.400984528909,-0.0154211816638,0.049856962972,0.999999964666,-7.45536031793e-05,-0.000249489886288,-5.35244681786e-05,1793196546365636864
+102,1.700000000,BASELINE,765,743,712,673,662.791025279,634,876.208974721,785,802,650,629.791025279,651,0.400983828735,-0.0154203488068,0.0498568244651,0.999999964744,-7.31398460932e-05,-0.000249543567378,-5.3759422245e-05,1793196546382303488
+103,1.716666667,BASELINE,765,743,712,673,662.211850602,634,876.788149398,785,802,650,629.211850602,651,0.400981863222,-0.0154220643474,0.0498554456821,0.999999964078,-7.58478629044e-05,-0.000251388635768,-5.38038860552e-05,1793196546398970112
+104,1.733333333,BASELINE,765,743,712.364726167,673,662,634,876.635273833,785,801.635273833,649.635273833,629,651,0.400982060706,-0.0154227068522,0.0498556738944,0.999999964027,-7.69853943417e-05,-0.000251300355935,-5.35506359176e-05,1793196546415636480
+105,1.750000000,BASELINE,765,743,712.939804671,673,662,634,876.060195329,785,801.060195329,649.060195329,629,651,0.400983505676,-0.0154227304941,0.0498568289258,0.999999964333,-7.72171635765e-05,-0.000250097036131,-5.31256821047e-05,1793196546432303104
+106,1.766666667,BASELINE,765,743,712.474816661,673,662,634,876,785,801.525183339,649,629.525183339,651,0.400982944755,-0.0154213718464,0.0498561210912,0.999999964314,-7.595772798e-05,-0.000250446612637,-5.36568353196e-05,1793196546448969984
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,877,785,801,649,630,651,0.400984903237,-0.0154208570003,0.0498575923562,0.999999965286,-7.2023490483e-05,-0.000247861690882,-5.29623713901e-05,1793196546491212544
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.421215255,743,712,674,662,634,876.421215255,785,801,649.578784745,630,651,0.400984684949,-0.0154210924934,0.0498571904433,0.999999964997,-7.29723242066e-05,-0.000248701104861,-5.31791493639e-05,1793196546507879936
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.156372134,743,712,674,662.156372134,634,876.156372134,785,801,650,630,651.156372134,0.400984198647,-0.0154210996278,0.049856670456,0.999999964774,-7.30683956286e-05,-0.000249533825075,-5.33534423244e-05,1793196546524546560
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.730758875,743,712,674,662.730758875,634,876.730758875,785,801,650,630,651.730758875,0.40098299589,-0.0154204963129,0.0498558348315,0.999999964724,-7.0884859715e-05,-0.000250348651676,-5.34141642278e-05,1793196546541212672
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662.687166959,634,877,785,801,650,630,651.687166959,0.400982893709,-0.0154202707922,0.0498557872732,0.999999964691,-7.13333767965e-05,-0.000250317721178,-5.35783619596e-05,1793196546557879040
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662.098309932,634,877,785,801,650,630,651.098309932,0.400983762604,-0.0154203786133,0.0498564350546,0.99999996467,-7.41042502396e-05,-0.000249540548332,-5.38338601802e-05,1793196546574545408
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,877,785,801.482372551,650,630,651,0.400983881549,-0.0154219123737,0.0498566539854,0.99999996449,-7.53392610356e-05,-0.000249953290059,-5.35434523125e-05,1793196546591212032
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,743,712,673.938967183,662.061032817,634,876.938967183,784.938967183,801.938967183,649.938967183,630,651,0.400984662284,-0.0154234428085,0.0498571472464,0.999999964496,-7.59163808673e-05,-0.000249837636181,-5.31668831398e-05,1793196546607878656
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,743,712,673.363543001,662.636456999,634,876.363543001,784.363543001,801.363543001,649.363543001,630,651,0.400992287367,-0.0154225367091,0.049860676951,0.999999966305,-7.35428978726e-05,-0.000243258759721,-5.29862089881e-05,1793196546624545536
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,743,712.208976853,673,663,634,876,784.208976853,801,649.208976853,630,651,0.40100448876,-0.0154222268288,0.0498655965547,0.999999968633,-7.25889163531e-05,-0.000233865009488,-5.26440098297e-05,1793196546641212672
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,743,712.776513439,673,663,634,876,784.776513439,801,649.776513439,630,651,0.401024542125,-0.0154229399337,0.0498729009287,0.999999971782,-7.40704970102e-05,-0.000219641536567,-5.20246682065e-05,1793196546657879040
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,743,712.636707353,673.363292647,662.636707353,634,876,785,801,650,630,651,0.40106170627,-0.0154259005929,0.0498853977534,0.999999976819,-7.71202949197e-05,-0.00019458352671,-5.05240373121e-05,1793196546674545408
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,743,712.037428545,673.962571455,662.037428545,634,876,785,801,650,630,651,0.40110998517,-0.0154303212094,0.0499012674699,0.999999982329,-8.11887691114e-05,-0.000162487660804,-4.84509420127e-05,1793196546691211776
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,743.542781788,712,673.457218212,662,634,876,785,801,650,630,651,0.401175452971,-0.0154347902619,0.0499146660858,0.999999985979,-8.12125034382e-05,-0.000138997627538,-4.61155351548e-05,1793196546707878400
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,743.87890426,712,673,662,634,876,785,801,650,630,651,0.401243947532,-0.015439304074,0.0499261491174,0.999999988537,-8.07086556178e-05,-0.000120359875387,-4.38735540106e-05,1793196546724545280
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,743.302941945,712,673,662,634,876,785,801,650,630,651,0.401319510236,-0.0154439738958,0.0499310550689,0.999999989039,-7.92351852649e-05,-0.000117795097678,-4.20481410842e-05,1793196546741211904
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.723256801,743,712,673,662,634,876.276743199,785,801,650,630,651,0.401403438436,-0.015449397622,0.0499339512039,0.99999998915,-8.05591822926e-05,-0.00011640281509,-4.07566520361e-05,1793196546757878528
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.139440859,743,712,673,662,634,876.860559141,785,801,650,630,651,0.401496648942,-0.0154556578761,0.0499346172571,0.999999988822,-8.49872339326e-05,-0.000116311526833,-4.0057602116e-05,1793196546774545408
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.442784245,743,712,673,662,634,876.557215755,785,801,649.557215755,630,651,0.401613286995,-0.015463311004,0.0499336513778,0.999999988206,-8.79140079567e-05,-0.000119658776021,-3.92418442235e-05,1793196546791212032
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,743,712,673.024354486,662,634,876,785,801,649.024354486,630,651,0.401738281448,-0.0154714324071,0.0499321379898,0.99999998748,-9.03732473256e-05,-0.000124091641964,-3.83931931231e-05,1793196546807878400
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,743,712,673.602385864,662,634,876,785,801,649.602385864,630,651,0.401886124809,-0.0154802632079,0.0499298192884,0.999999986697,-9.29132528218e-05,-0.00012867534989,-3.76293101255e-05,1793196546824545280
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,712,673.820992631,662,634,876,785,801,650,630,651,0.402045907366,-0.0154905981223,0.0499292386865,0.999999986328,-9.564474843e-05,-0.000129947817007,-3.61999281051e-05,1793196546841212416
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,712,673.247478364,662,634,876,785,801,650,630,651,0.402232002202,-0.0155042478889,0.0499324886104,0.999999986886,-9.87982608018e-05,-0.000123922777539,-3.33038805539e-05,1793196546857880064
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.664692646,743,712,673.335307354,662,634,876,785,801,650,630,651,0.402437580165,-0.0155159074761,0.0499361646304,0.999999987498,-0.000100913285439,-0.000117795685249,-3.07395426114e-05,1793196546874546688
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.074869349,743,712,673.925130651,662,634,876,785,801,650,630,651,0.402657946868,-0.0155260564137,0.0499401640804,0.999999988143,-0.000102240043516,-0.000111591128852,-2.84269894287e-05,1793196546891212032
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.506032767,742.493967233,712,673.493967233,662,634,876,785,801,650,629.493967233,651,0.402930087427,-0.015534547766,0.0499477112489,0.99999999011,-0.000100039863011,-9.55188529053e-05,-2.54491416579e-05,1793196546907878656
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.915422617,742.084577383,712,673,662,634,876,785,801.084577383,649.915422617,629.084577383,651,0.403213771367,-0.0155409708037,0.0499553655685,0.999999992181,-9.45486126405e-05,-7.87368555746e-05,-2.23317369317e-05,1793196546924545536
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.342994523,742.657005477,712,673,662,634,876,785,801.657005477,649.342994523,629.657005477,651,0.403520619885,-0.0155368536954,0.0499606627404,0.999999994966,-7.30319273408e-05,-6.61364350302e-05,-1.89672860526e-05,1793196546941212416
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743,712,673,662,634,876,785,801.768716197,649.231283803,629.768716197,651,0.403845061745,-0.0155306271762,0.0499664192432,0.999999997257,-4.81982235681e-05,-5.3950912994e-05,-1.5892774624e-05,1793196546957879040
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,743,712,673,662,634,876,785,801.191671879,649.808328121,629.191671879,651,0.404195804966,-0.0155212471678,0.049972862428,0.999999998845,-1.84057042864e-05,-4.23856492546e-05,-1.32517118809e-05,1793196546974545664
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,743,712,673.397761692,662,634,876.397761692,785,801,650,629,651,0.404572759984,-0.015522628359,0.0499771428774,0.999999999371,-7.67537525035e-07,-3.40711114767e-05,-9.81299441267e-06,1793196546991212288
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,743,712,673.993357263,662,634,876.993357263,785,801,650,629,651,0.404962751897,-0.0155293618252,0.0499803476516,0.999999999549,1.08254441401e-05,-2.73733806403e-05,-5.9775492086e-06,1793196547007878656
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,743,712,673.431162225,662,634,877,785,801,650,629,651,0.405359085422,-0.01553105071,0.0499582123705,0.999999996884,3.14373359725e-05,-7.22685931687e-05,-4.61874575921e-06,1793196547024545536
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.856181128,712,673,661.856181128,634,876.856181128,785,801,650,629,651,0.405768069935,-0.0155320778063,0.0499369165789,0.999999992253,5.29153609851e-05,-0.000112623432196,-3.15358069292e-06,1793196547041212160
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742.282015653,712,673,661.282015653,634,876.282015653,785,801,650,629,651,0.406214695666,-0.0155312948976,0.0499189879977,0.999999987585,7.66807121388e-05,-0.000137650943177,-1.28656620982e-06,1793196547057878784
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.297777607,742.297777607,712,673,661.595555214,634,876.297777607,785,801.297777607,650,629,651,0.406681528673,-0.0155303059825,0.0499075618084,0.999999983121,0.000100869422586,-0.000153567234351,1.04323637122e-06,1793196547074545920
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.883003502,742.883003502,712,673,662.766007005,634,876.883003502,785,801.883003502,650,629,651,0.407167868058,-0.0155291182069,0.0499024124535,0.999999979211,0.000125466809652,-0.000160688358988,3.81977406167e-06,1793196547091213312
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.532359721,743,712,673,662.532359721,634,877,785,802,650,629,651,0.407748728568,-0.0155338066112,0.0499216484685,0.999999981316,0.000150126773445,-0.000121346048755,1.02769331811e-05,1793196547107880448
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.05126111,742.94873889,712,673,662,634,877,785,801.94873889,650,629,651,0.408356259506,-0.0155398863758,0.0499468107361,0.999999981967,0.000174881214324,-7.1892144278e-05,1.77284178137e-05,1793196547124547072
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.626010569,742.373989431,712,673,662,634,877,785,801.373989431,650,629,651,0.40899496287,-0.0155451806116,0.0499702683948,0.999999978863,0.000200440815672,-3.77383819216e-05,2.5942232522e-05,1793196547141213440
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,742.2013791,712,673,662,634,877,785.2013791,801,650,629,651,0.40962504466,-0.0155481808974,0.0499833567819,0.999999973411,0.000227252492895,-2.16271888333e-05,3.26690301067e-05,1793196547157880064
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,742.777900846,712,673,662,634,877,785.777900846,801,650,629,651,0.410239065558,-0.0155469078573,0.0499771285852,0.999999965694,0.000256396620864,-3.91269196371e-05,3.66257108978e-05,1793196547174547200
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.636211838,743,712,673.363788162,661.636211838,634,877.363788162,785.636211838,801.363788162,650,629.363788162,651,0.410845004578,-0.0155443843222,0.0499533637907,0.99999995434,0.000285278592757,-9.19536231565e-05,3.84814787032e-05,1793196547191213568
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.044455603,743,712,673.955544397,661.044455603,634,877.955544397,785.044455603,801.955544397,650,629.955544397,651,0.411445879063,-0.0155410771637,0.0499186096767,0.999999936011,0.000313996281952,-0.00016691799449,3.90207077812e-05,1793196547207879168
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.534570604,743,712,673.465429396,661.534570604,633.465429396,877.465429396,785,801.465429396,650,630,651,0.412183876313,-0.0155448900784,0.0499252279035,0.999999965945,0.000221806979811,-0.000136748402217,1.45186368109e-05,1793196547224546048
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,743,712,673.111487507,662,633.111487507,877,785,801,650,630,650.888512493,0.412941057596,-0.0155514746553,0.0499379707055,0.999999988936,0.000111186095192,-9.86955604441e-05,-4.9320205041e-06,1793196547241212928
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,743,712,673.68395813,662,633.68395813,877,785,801,650,630,650.31604187,0.413731507434,-0.0155671282602,0.0499621422998,0.999999997367,-3.50384941208e-05,-6.33571318245e-05,4.91451467169e-06,1793196547257879296
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,877,785,801,649.741304244,630,650,0.414494277071,-0.0155743963491,0.0499602213275,0.999999993103,-9.37754509026e-05,-6.98091614749e-05,1.12213696611e-05,1793196547274545920
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,877,785,801,649.163772517,630,650,0.415222931665,-0.0155713295039,0.0499261419308,0.999999990753,-4.46861359969e-05,-0.000127766869222,1.31656598562e-05,1793196547291212288
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,877.424819827,785,801,649.424819827,630,650,0.415995945689,-0.015566375048,0.0499154348858,0.99999998963,-1.51549936099e-05,-0.000142635148059,1.2841475733e-05,1793196547307878656
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,878,785,801,649.9827615,630,650.0172385,0.416788626288,-0.0155609902564,0.0499149311679,0.999999990259,6.6230644324e-06,-0.000138920606184,1.18121940533e-05,1793196547324545536
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,878,785,801,649.408176997,630,650.591823003,0.417649476237,-0.0155658484116,0.0499452127018,0.99999999578,2.80246126389e-05,-8.58250656092e-05,1.70164448017e-05,1793196547341212160
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.165677682,743,712,674,662,634,878,785,801,649.165677682,630,651,0.418501859518,-0.015569879525,0.049964405629,0.999999996984,4.95481197971e-05,-5.59004428156e-05,2.12439232175e-05,1793196547357878784
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.737742157,743,712,674,662,634,878,785,801,649.737742157,630,651,0.419333475057,-0.0155718820071,0.0499563995785,0.999999993758,7.13707760136e-05,-8.28112097348e-05,2.3075500103e-05,1793196547374545920
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.677909523,743,712,674,661.677909523,634,878,784.677909523,801,650,630,651,0.420190489415,-0.0155740977927,0.0499529222299,0.999999992516,8.70064450735e-05,-8.28019323371e-05,2.32931078178e-05,1793196547391212800
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.083162697,743,712,674,661.083162697,634,878,784.083162697,801,650,630,651,0.421069004363,-0.015576494144,0.0499532785229,0.999999993211,9.74046985927e-05,-6.00042712257e-05,2.2144456677e-05,1793196547407879424
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743,712,674,661.498303666,634,878,784.498303666,801,649.501696334,630,651,0.421972507092,-0.0155810681512,0.0499703227531,0.999999994709,9.668996579e-05,-2.53190932617e-05,2.43307181415e-05,1793196547424546048
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.076862916,743,712,674,662,634,877.923137084,785,801,649,630,650.923137084,0.422874447943,-0.0155853222562,0.0499849694617,0.999999995172,9.45881037783e-05,1.98982239952e-06,2.65674329209e-05,1793196547441212416
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.65058503,743,712,674,662,634,877.34941497,785,801,649,630,650.34941497,0.423740034415,-0.0155852201161,0.0499665820378,0.999999994664,9.51972669532e-05,-3.08747301634e-05,2.56258981273e-05,1793196547457879040
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,743,712,674,662,634,877.230090087,785,801,649,629.769909913,650.230090087,0.424626546631,-0.0155854160053,0.0499601851964,0.999999993547,0.000101829657086,-4.3221865009e-05,2.58409915014e-05,1793196547474545408
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,743,712,674,662,634,877.818603628,785,801,649,629.181396372,650.818603628,0.425545656113,-0.0155860761504,0.0499724667146,0.99999999239,0.000117844745451,-2.36079420939e-05,2.78578254045e-05,1793196547491212032
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.599052592,743,712,674,662,634,877.599052592,785,801,649.400947408,629.400947408,650.599052592,0.426441854356,-0.015584253379,0.0499816275378,0.99999999077,0.000130290049417,-2.44385892012e-05,2.97794399357e-05,1793196547507878912
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.019457865,743,712,674,662,634,877.019457865,785,801,649.980542135,629.980542135,650.019457865,0.427327844144,-0.0155813243119,0.0499893978941,0.999999988947,0.000141144788671,-3.43785808832e-05,3.16586281192e-05,1793196547524545536
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,712,674,661.443021694,634,878.113956611,785,801,649.443021694,630,650,0.428167390989,-0.0155754602941,0.0499530214605,0.999999989452,0.000110956466505,-8.93660473243e-05,2.82696423595e-05,1793196547541211904
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743,712,674,661.1321363,633.8678637,878.8678637,785,801,649.1321363,630,650,0.42902474147,-0.0155714131924,0.0499269149086,0.999999987929,8.8932662481e-05,-0.000124772516345,2.57931019797e-05,1793196547557878528
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,743,712,674,661.703411049,633.296588951,878.296588951,785,801,649.703411049,630,650,0.429946621731,-0.0155737432138,0.0499400356123,0.999999990717,9.87808883969e-05,-8.9903421914e-05,2.69571517419e-05,1793196547574545152
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.285886638,743,712,674,662.285886638,633.285886638,878,785,801,649.714113362,630,650,0.430835455885,-0.0155751255615,0.0499394941223,0.99999998989,0.000107874510222,-8.86292953693e-05,2.69696109127e-05,1793196547591211776
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.880456173,743,712,674,662.880456173,633.880456173,878,785,801,649.119543827,630,650,0.431688608816,-0.0155754846689,0.0499242010308,0.999999985281,0.000116153356095,-0.000123628961621,2.57386529607e-05,1793196547607878400
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.537367823,743,712,674,662.074735647,634,878,785,801,649,630,650,0.432554828761,-0.015573489995,0.0499232634201,0.9999999845,0.000125990047887,-0.000120331260877,2.54263267135e-05,1793196547624545024
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743,712,674,661.082988912,634,878,785,801.041494456,649,630,650,0.433423820737,-0.0155711059055,0.0499277389604,0.999999984893,0.000135755067124,-0.000105496488801,2.55992666816e-05,1793196547641211648
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662.235690518,634,878,785,801.617845259,649,630,650,0.434286155791,-0.0155713375685,0.0499554224403,0.999999987652,0.000139542853512,-6.61807508328e-05,2.90473256874e-05,1793196547657878528
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743,712,674.197124617,662.802875383,634,878,785,801.802875383,649,630,650,0.435118580969,-0.0155701391197,0.0499688496649,0.999999987833,0.000142320030409,-5.56034525215e-05,3.14272151316e-05,1793196547674545152
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743,712,674.782167125,662.217832875,634,878,785,801.217832875,649,630,650,0.435892147206,-0.0155661263807,0.0499542222728,0.999999984098,0.000143108448386,-0.000101579991845,3.17050740727e-05,1793196547691212032
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,743,712,675,662,634,878,785,801,649,630,650.364429943,0.436680935116,-0.0155652366746,0.0499435336176,0.999999982051,0.000144772932848,-0.00011819790993,3.11001170181e-05,1793196547707878656
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,743,712,675,662,634,878,785,801,649,630,650.945043783,0.437478752643,-0.0155661995866,0.0499351814658,0.999999981861,0.00014695710977,-0.000117399964673,2.99714637056e-05,1793196547724545280
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,743,712,675,662.523576666,634,878.523576666,785,801.523576666,649,630,650.476423334,0.438277257894,-0.0155693477906,0.0499534462017,0.999999985791,0.000145231643684,-8.02928554106e-05,2.96496169006e-05,1793196547741211904
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,743,712,675,662.898892032,633.898892032,878.898892032,785,802,649,630,650.101107968,0.439056762204,-0.015572036505,0.0499671935004,0.999999987779,0.000144541502415,-5.19231260846e-05,2.92214854474e-05,1793196547757878528
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,743,712,675,662.325026655,633.325026655,878.325026655,785,802,649,630,650.674973345,0.439747086306,-0.0155715084936,0.0499468069069,0.999999984895,0.000150603491159,-8.21567363799e-05,2.79019924418e-05,1793196547774545152
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.255332633,743.255332633,712.255332633,675,662,633.255332633,878,785,802,649.255332633,630,650.744667367,0.440440610842,-0.0155712787141,0.0499341051819,0.99999998202,0.000157842270556,-0.000101379587485,2.77249271905e-05,1793196547791211776
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.844174051,743.844174051,712.844174051,675,662,633.844174051,878,785,802,649.844174051,630,650.155825949,0.441138315646,-0.0155714384773,0.049931441232,0.999999980056,0.000166618142682,-0.000106220471607,2.90400712181e-05,1793196547807878656
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.573737498,743.573737498,712.573737498,675,662,634,878.426262502,785,802,650,630,650.426262502,0.441834218295,-0.0155716119986,0.0499510823536,0.999999981351,0.000177466244471,-6.91427148653e-05,3.19933746517e-05,1793196547824545024
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,743,712.005879183,675,662,634,878.994120817,785,802.005879183,650,630,651,0.442528567625,-0.0155717440378,0.0499785182758,0.999999981341,0.000189077218954,-1.74975784357e-05,3.55165950981e-05,1793196547841211904
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,743,712.58145709,675,662,634,878.41854291,785,802.58145709,650,630,651,0.443135236375,-0.0155673766557,0.049983477406,0.999999978709,0.000202350512597,-1.60049041535e-05,3.71410369981e-05,1793196547857878528
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,742.842824902,712.842824902,675,662,633.842824902,878,785,802.842824902,650,630,651,0.443718064488,-0.0155642822216,0.0499766534899,0.999999975771,0.000214273681644,-3.30906059205e-05,3.80814855437e-05,1793196547874545152
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,742.266733362,712.266733362,675,662,633.266733362,878,785,802.266733362,650,630,651,0.44423735064,-0.0155645805557,0.0499384243972,0.999999969564,0.000222598386156,-9.96929757447e-05,3.71988970734e-05,1793196547891211776
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,742.316692868,712,675,662,633,878,784.683307132,802,650,630,651,0.444773847653,-0.0155635472365,0.0499212934642,0.999999965042,0.000232749413038,-0.000119890819297,3.70143459446e-05,1793196547907878656
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,742.906443145,712,675,662,633,878,784.093556855,802,650,630,651,0.445325184101,-0.0155613657454,0.0499223536879,0.999999964408,0.000244475122898,-0.000100077970665,3.74316533735e-05,1793196547924545280
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,743,712.486680096,675.486680096,662.486680096,633.486680096,878.486680096,784.486680096,802,650,630,651,0.445851261173,-0.0155628728176,0.0499399184726,0.999999965732,0.000251041778211,-6.25180494295e-05,4.00707931453e-05,1793196547941211904
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.064727335,743,712.935272665,675.935272665,662.935272665,634,879,785,802,650,630,651,0.446360921663,-0.0155650656384,0.0499565949387,0.999999966078,0.000255308712898,-2.89677374283e-05,4.26997713811e-05,1793196547957878784
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.639653353,743,712.360346647,675.360346647,662.360346647,634,879,785,802,650,630,651,0.446778722552,-0.0155671817895,0.0499417404152,0.999999966665,0.000249115987707,-5.3397905248e-05,4.19465747923e-05,1793196547974545152
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.780433549,743,712.219566451,675,661.780433549,633.780433549,878.780433549,784.780433549,802.219566451,650,629.780433549,651,0.447165380841,-0.0155674658591,0.0499164964666,0.999999971542,0.000216157974668,-9.31483248482e-05,3.89352723046e-05,1793196547991212032
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.192145622,743,712.807854378,675,661.192145622,633.192145622,878.192145622,784.192145622,802.807854378,650,629.192145622,651,0.447499740818,-0.0155646732846,0.0498738053909,0.999999977346,0.000138252582132,-0.000158626286884,3.21318960601e-05,1793196548007878656
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,743,712.609893417,675,661,633,878,784,803,650,629.390106583,650.609893417,0.44784262672,-0.0155659062637,0.0498489764023,0.999999976853,8.47364173667e-05,-0.000196757044723,2.00256398363e-05,1793196548024545280
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,743,712.030568738,675,661,633,878,784,803,650,629.969431262,650.030568738,0.448189648082,-0.0155690918053,0.049832811273,0.999999974501,4.30500468226e-05,-0.000221623264659,5.34726329544e-06,1793196548041211648
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,743,712.875193845,675,661.875193845,633,878,784.875193845,802.124806155,649.875193845,629,650,0.448835599903,-0.0155777570795,0.0498525462796,0.999999979686,5.41436594472e-05,-0.000193860002939,1.07456107847e-05,1793196548074545152
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,743,712.301590637,675,661.301590637,633,878,784.301590637,802.698409363,649.301590637,629,650,0.44912167006,-0.0155798704672,0.049865589602,0.999999982682,6.59403769026e-05,-0.00017344661231,1.43089417373e-05,1793196548091211776
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,743,712,675,661,633,878.560169267,784,802.719915367,649,629.280084633,650.280084633,0.449380538813,-0.0155804317044,0.0498709346125,0.999999982891,7.64093487533e-05,-0.000167614228686,1.68697791582e-05,1793196548107878656
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,743,712,675,661,633,879.74141934,784,802.12929033,649,629.87070967,650.87070967,0.449609248324,-0.0155792720136,0.0498677442132,0.999999980352,8.54061982566e-05,-0.000177948359111,1.83191139566e-05,1793196548124545280
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,743.452622966,712,675.452622966,661,632.547377034,879.547377034,783.547377034,802,649,630,651,0.449814661881,-0.0155775715356,0.0498614756108,0.999999977287,9.39366595906e-05,-0.000190402864391,1.86479652262e-05,1793196548141211904
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,744,712,675.968226606,661,632,878.968226606,783.031773394,802,649.031773394,629.968226606,651,0.450011655441,-0.0155758053983,0.0498546582827,0.999999974008,0.000102214744663,-0.000202944854202,1.87133530175e-05,1793196548157878528
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,744,712,675.394557173,661,632,878.394557173,783.605442827,802,649.605442827,629.394557173,651,0.450176393879,-0.0155755042491,0.0498531953634,0.999999972538,0.000108417752374,-0.000206844104405,1.96409599765e-05,1793196548174545152
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,743.820682965,712,675,660.820682965,632.179317035,878,783.820682965,802,649.820682965,629,651,0.450331435848,-0.0155754974631,0.0498520619716,0.999999971166,0.0001136273945,-0.000210555485274,2.0572351078e-05,1793196548191211776
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,743.246357742,712,675,660.246357742,632.753642258,878,783.246357742,802,649.246357742,629,651,0.450465117947,-0.0155761391145,0.0498516544788,0.999999970099,0.000116648802336,-0.00021385301804,2.15120779494e-05,1793196548207878656
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660,633,878.33936248,783,802,649.33936248,629,650.66063752,0.450581251243,-0.0155762500261,0.049851110288,0.999999968827,0.000119696416895,-0.000218010500354,2.21543113512e-05,1793196548224545280
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660,633,878.93364229,783,802,649.93364229,629,650.06635771,0.450684202501,-0.0155759622645,0.0498504634143,0.999999967387,0.000122763717354,-0.000222813947297,2.25730780712e-05,1793196548241211904
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,743,712,675,660.512005151,632.487994849,878.487994849,783,802,650,629,650,0.450766483532,-0.015575879462,0.0498455584785,0.999999965098,0.000123617825913,-0.000232437316337,2.22670175878e-05,1793196548257878272
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,743,712,675,661,632,878,783.088401526,802.088401526,649.911598474,629,650.088401526,0.450843112004,-0.0155759146101,0.0498402586012,0.999999962835,0.000123848148895,-0.000241894996739,2.18582407977e-05,1793196548274545152
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,743,712,675,661,632,878,783.66498705,802.66498705,649.33501295,629,650.66498705,0.450902873083,-0.0155764588527,0.0498357333973,0.999999961781,0.000122169969914,-0.000247092003632,2.1385358195e-05,1793196548291212032
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,743,712,675,660.753254754,632,878,783.753254754,802.753254754,649,629,651,0.450953418888,-0.0155764000399,0.0498314109819,0.999999960221,0.00012167829004,-0.000253600987734,2.09614377953e-05,1793196548307878400
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+218,3.633333333,POSE1_TO_POSE2_PRESS,764.582344692,743,712,675,660.417655308,632,878,783,802,649.417655308,629,651,0.451021488734,-0.0155757475973,0.0498249225598,0.999999956508,0.000123048793528,-0.000267217488055,2.09052614828e-05,1793196548341211648
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+227,3.783333333,POSE1_TO_POSE2_PRESS,764.369728723,743.630271277,712,675,660.369728723,633,878.369728723,783.369728723,802.630271277,650,629,651,0.451122256001,-0.0155687958841,0.049822032353,0.999999953331,0.000125542446931,-0.000277864130504,1.91840244422e-05,1793196548491211776
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.210760949,743.789239051,712,675,660,632.789239051,878,783,802.789239051,650,629,651,0.451123893989,-0.0155678890365,0.04982159392,0.999999953104,0.000125986298225,-0.000278483437372,1.91271392571e-05,1793196548507878400
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.799480403,743.200519597,712,675,660,632.200519597,878,783,802.200519597,650,629,651,0.451125234974,-0.0155677291508,0.0498226650119,0.999999953409,0.000126099670124,-0.000277317643204,1.940624643e-05,1793196548524545024
+230,3.833333333,POSE1_TO_POSE2_PRESS,764.618061782,743,712,675,660,632.381938218,878,783,802,650,628.618061782,650.618061782,0.451124132603,-0.015567036978,0.0498212872531,0.999999952716,0.000126714087994,-0.000279549406911,1.90909017042e-05,1793196548541211648
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.038838355,743,712,675,660,632.961161645,878,783,802,650,628.038838355,650.038838355,0.451121768148,-0.0155660698593,0.0498186445722,0.999999951494,0.000127587314628,-0.000283536134905,1.84685005862e-05,1793196548557878528
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,712,674.463443042,660.536556958,632.463443042,878,783,802,650,628.536556958,650.536556958,0.451123838568,-0.015565346153,0.049819055262,0.999999952013,0.000126017949815,-0.000282420230537,1.82334114594e-05,1793196548574544896
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.111713862,743,712,674.111713862,661,632,878,783,802.111713862,650,629.111713862,651,0.451125863062,-0.0155649932794,0.0498196025083,0.999999952584,0.00012453454171,-0.000281058763427,1.81261632056e-05,1793196548591211776
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.687023014,743,712,674.687023014,661,632,878,783,802.687023014,650,629.687023014,651,0.451126374244,-0.0155661067053,0.049819805756,0.999999952869,0.000124136359098,-0.000280200140801,1.8433916713e-05,1793196548607878400
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.731663395,743.268336605,712,675,661,632,878.268336605,783,803,650,629.731663395,651,0.451126011831,-0.0155672459515,0.0498193089224,0.99999995282,0.000123455920736,-0.000280668656485,1.85277334776e-05,1793196548624545024
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.143186093,743.856813907,712,675,661,632,878.856813907,783,803,650,629.143186093,651,0.451124607171,-0.015568416003,0.0498179768524,0.99999995237,0.000122438735302,-0.000282720522875,1.83663116887e-05,1793196548641211648
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743.560382148,712,674.560382148,660.560382148,632,878.560382148,783,802.560382148,650,629,650.560382148,0.451124128183,-0.0155681803577,0.0498176681078,0.999999952228,0.000121493607954,-0.000283643967905,1.81349617876e-05,1793196548657878528
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,712,674.020370458,660.020370458,632.020370458,878,783,802.020370458,650,629,650.020370458,0.451124010329,-0.0155675369755,0.0498176803647,0.999999952196,0.000120617940229,-0.000284144438046,1.79103678337e-05,1793196548674545152
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,712,674.594947216,660.594947216,632.594947216,878,783,802.594947216,650,629,650.594947216,0.451125619502,-0.0155680981099,0.049817473478,0.999999952461,0.000121001624266,-0.000283009149135,1.84813356196e-05,1793196548691211776
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.16916587,743,712,674.83083413,660.83083413,632.83083413,878,783,802.83083413,650,628.83083413,650.83083413,0.451126772269,-0.0155682435408,0.0498175842042,0.999999952645,0.000121570295854,-0.000282089006381,1.88628782311e-05,1793196548707878400
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.742528854,743,712,674.257471146,660.257471146,632.257471146,878,783,802.257471146,650,628.257471146,650.257471146,0.451126834524,-0.015567395709,0.0498184538201,0.999999952638,0.000122580968129,-0.000281682923978,1.87918170495e-05,1793196548724545280
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,743,712,674.326086642,660,632,878.326086642,783,802,650,628.326086642,650.326086642,0.451127164292,-0.0155667235248,0.0498191175494,0.99999995265,0.000123298248808,-0.000281340370851,1.86013743725e-05,1793196548741211904
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,743,712,674.917953791,660,632,878.917953791,783,802,650,628.917953791,650.917953791,0.451127712098,-0.0155661945042,0.0498196134687,0.999999952678,0.000123776397385,-0.000281049597979,1.83136284972e-05,1793196548757878272
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,743,712.500794554,675,660.500794554,632,879,783,802,650,629,651,0.451126245699,-0.0155657513479,0.0498185858846,0.999999952158,0.000123719658232,-0.00028291635869,1.83009556677e-05,1793196548774544896
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,743.080807025,712.919192975,675,661,632,879,783,802,650,629,651,0.451125223456,-0.0155651477053,0.0498177825101,0.999999951765,0.000123909458985,-0.000284220070343,1.82899798459e-05,1793196548791211776
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,743.652463016,712.347536984,675,661,632,879,783,802,650,629,651,0.451128868148,-0.0155634852797,0.0498198303623,0.999999952686,0.000126119706094,-0.000279994532308,1.80204141599e-05,1793196548807879680
+247,4.116666667,HOLD_POSE2,765,743,712,675,660,632,878,783,802,650,629,651,0.45112670271,-0.0155667573702,0.0498175705862,0.999999952451,0.000120034100298,-0.000283481120447,1.81250530517e-05,1793196548846337792
+248,4.133333333,HOLD_POSE2,765,743,712.582062905,675,660.582062905,632,878,783,802,649.417937095,629,651,0.451127287017,-0.0155653268887,0.0498178207272,0.999999952389,0.000120919212342,-0.00028334669048,1.77693289975e-05,1793196548863004416
+249,4.150000000,HOLD_POSE2,765,743.162210355,712.837789645,675,661,632,878.162210355,783,802,649.162210355,628.837789645,651,0.451127795692,-0.0155645607756,0.0498180464495,0.99999995238,0.000121577255731,-0.000283109013833,1.7578819508e-05,1793196548879670784
+250,4.166666667,HOLD_POSE2,765,743.737480328,712.262519672,675,661,632,878.737480328,783,802,649.737480328,628.262519672,651,0.451128111774,-0.0155654864393,0.0498182099912,0.999999952507,0.000121657081646,-0.000282608425248,1.78090196122e-05,1793196548896337408
+251,4.183333333,HOLD_POSE2,765,743.687762029,712.312237971,675,661,632,879.312237971,783,802,650,628.312237971,650.687762029,0.451127834259,-0.0155659665196,0.0498182212716,0.999999952534,0.000121096885918,-0.000282762708949,1.77115227475e-05,1793196548913003776
+252,4.200000000,HOLD_POSE2,765,743.113434465,712.886565535,675,661,632,879.886565535,783,802,650,628.886565535,650.113434465,0.451127058484,-0.0155660725814,0.0498181047455,0.999999952473,0.000119999462086,-0.000283466686269,1.73389601399e-05,1793196548929669888
+253,4.216666667,HOLD_POSE2,765,743,712.523576849,675,661,632,879.047153698,783,802,650,628.523576849,650,0.451126633638,-0.0155656189544,0.0498178839559,0.999999952225,0.000120852320076,-0.000283972740222,1.74263329976e-05,1793196548946336256
+254,4.233333333,HOLD_POSE2,765,743,712.068219092,675,661,632,878,783,802,650,628,650.068219092,0.451126427571,-0.015565080798,0.0498176385024,0.999999952001,0.000121858339701,-0.000284324924039,1.75699046004e-05,1793196548963003136
+255,4.250000000,HOLD_POSE2,765,743,712.645944711,675,661,632,878,783,802,650,628,650.645944711,0.451127210431,-0.0155649401292,0.0498174004963,0.999999952302,0.000120423300511,-0.000283891720438,1.72877612712e-05,1793196548979670016
+256,4.266666667,HOLD_POSE2,765,743,712.777938072,675,660.777938072,632,878,783.222061928,801.777938072,650,628.222061928,651,0.451127724331,-0.0155650708021,0.0498172930979,0.999999952447,0.000120043415155,-0.000283540892445,1.73287986686e-05,1793196548996336896
+257,4.283333333,HOLD_POSE2,765,743,712.204366902,675,660.204366902,632,878,783.795633098,801.204366902,650,628.795633098,651,0.451127812486,-0.0155656309909,0.0498173924429,0.999999952344,0.000121333768172,-0.000283320459596,1.78814096565e-05,1793196549013004032
+258,4.300000000,HOLD_POSE2,764.620030352,743,712,675,660,632,878,783.620030352,801.379969648,650,629,651,0.451129115724,-0.0155647060712,0.0498184744845,0.999999952566,0.000122914343548,-0.000281850344575,1.7902033743e-05,1793196549029670656
+259,4.316666667,HOLD_POSE2,764.029734747,743,712,675,660,632,878,783.029734747,801.970265253,650,629,651,0.451131091552,-0.0155629590942,0.0498201004818,0.999999952962,0.000124655566859,-0.000279688488496,1.76281852726e-05,1793196549046337024
+260,4.333333333,HOLD_POSE2,764.550096006,743,712,675.550096006,660.550096006,632,878,783,802,649.449903994,629,651,0.451130827129,-0.0155639975599,0.0498197526696,0.999999953088,0.000121667494401,-0.000280563033496,1.74746451296e-05,1793196549063003648
+261,4.350000000,HOLD_POSE2,765,743,712,675.871501833,660.871501833,632,877.871501833,783.128498167,802,649.128498167,629,651,0.451130104422,-0.0155650230113,0.0498191162546,0.999999953015,0.0001192492846,-0.00028186609813,1.73678219348e-05,1793196549079670016
+262,4.366666667,HOLD_POSE2,765,743,712,675.296137171,660.296137171,632,877.296137171,783.703862829,802,649.703862829,629,651,0.451128201234,-0.0155654893777,0.0498178402969,0.99999995233,0.000119685240308,-0.000284099266651,1.74012689188e-05,1793196549096336384
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,632,878,783,802,650,629,651,0.451129542526,-0.0155634876787,0.0498184105126,0.99999995262,0.000122277711684,-0.000281988032925,1.70376284879e-05,1793196549133996800
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,632.593489623,878,783,802,650,629,651,0.451130074398,-0.0155627668076,0.0498192345498,0.999999952779,0.000122915001281,-0.000281141199533,1.71365276219e-05,1793196549150664192
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.181705445,660.181705445,633,878.181705445,783,802.181705445,650,629,651,0.451130678847,-0.0155627043328,0.0498197177386,0.999999952872,0.000123021694805,-0.000280748687164,1.73870173806e-05,1793196549167331072
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.758455639,660.758455639,633,878.758455639,783,802.758455639,650,629,651,0.451131441088,-0.0155640732736,0.0498194598912,0.999999952822,0.000121974822622,-0.000281343911324,1.79670794517e-05,1793196549183997440
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,743.334114804,712.334114804,675.665885196,660.665885196,632.665885196,879,783.334114804,803,650,628.665885196,651,0.451131596668,-0.0155648880556,0.0498192692466,0.999999952808,0.000120774203363,-0.000281908819516,1.80371252346e-05,1793196549200663552
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,743.908987755,712.908987755,675.091012245,660.091012245,632.091012245,879,783.908987755,803,650,628.091012245,651,0.451131315098,-0.0155653035191,0.0498191270273,0.999999952817,0.000119462796317,-0.00028245188244,1.7739660849e-05,1793196549217329920
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,743.517466746,712.517466746,675,660,632,879,783.517466746,802.517466746,650,628.482533254,651,0.451130716691,-0.0155635419792,0.0498187692843,0.999999952581,0.000120768697911,-0.000282771270256,1.7135307762e-05,1793196549233996800
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,743.057866787,712,675,660.057866787,632.057866787,879,783,802,650,629,651,0.451130060302,-0.0155616414886,0.0498184466831,0.999999952338,0.000122358726205,-0.000282982392793,1.65319581366e-05,1793196549250663424
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,743.652087531,712,675,660.652087531,632.652087531,879,783,802,650,629,651,0.451129418872,-0.0155622485246,0.0498188255521,0.999999952494,0.000122019196005,-0.000282579988628,1.64729447036e-05,1793196549267330304
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,744,712,674.760747139,661,632.760747139,879,783,802,650,629,651,0.45112738161,-0.0155623495372,0.049817840847,0.999999952092,0.000121836294033,-0.000284083542048,1.63830484149e-05,1793196549283997184
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,744,712,674.18354769,661,632.18354769,879,783,802,650,629,651,0.451123372725,-0.0155617357879,0.0498149300823,0.999999950889,0.000121874630719,-0.000288279275899,1.62495298495e-05,1793196549300664320
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,743.608349898,712,674.391650102,661,632,878.608349898,783.391650102,802,650,629,651,0.451112656438,-0.0155617122091,0.0498096620705,0.999999948345,0.000122218735002,-0.00029683933182,1.61058570307e-05,1793196549317330944
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,743.034085367,712,674.965914633,661,632,878.034085367,783.965914633,802,650,629,651,0.451098812695,-0.0155619638087,0.0498032949464,0.999999945086,0.000122705409328,-0.000307434337592,1.59574495818e-05,1793196549333997312
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.444917161,743,712,675,660.444917161,632,878,783.444917161,802,650,628.444917161,651,0.451067020108,-0.0155610269991,0.0497910600586,0.999999938262,0.000120196193713,-0.000329858677507,1.49118825806e-05,1793196549350663680
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.142577148,743.142577148,712.142577148,675.142577148,660,632.142577148,878.142577148,783,802.142577148,649.857422852,628.142577148,651,0.451029183779,-0.0155593204334,0.0497773270973,0.999999930013,0.000119004817181,-0.000354440237059,1.35349561819e-05,1793196549367330048
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.722060409,743.722060409,712.722060409,675.722060409,660,632.722060409,878.722060409,783,802.722060409,649.277939591,628.722060409,651,0.450976297909,-0.0155554848585,0.0497601381083,0.999999918965,0.000122431046276,-0.000383344946906,1.13161042087e-05,1793196549383996928
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,744,713,675.699885495,660.300114505,633,879,783,802.699885495,649.300114505,629,650.699885495,0.450920972612,-0.0155513453087,0.0497468454171,0.999999912166,0.000125155975892,-0.000399898331642,9.26185632704e-06,1793196549400663552
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,744,713,675.123148727,660.876851273,633,879,783,802.123148727,649.876851273,629,650.123148727,0.450863398845,-0.0155469255787,0.0497371440319,0.999999909839,0.000127234501931,-0.000405067221823,7.35932786308e-06,1793196549417330688
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.550474115,744,713,675,661,633,878.550474115,783,802,650,629,650.449525885,0.450796705901,-0.0155420956111,0.0497325793835,0.999999907444,0.000129020952136,-0.000410393740402,6.45000214261e-06,1793196549433997568
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.021909242,744,712.978090758,675.021909242,661,632.978090758,878,783.021909242,802.021909242,650,629,651,0.450727032626,-0.0155371018265,0.0497296398526,0.999999905153,0.000130826664189,-0.000415385934275,5.80780318681e-06,1793196549450663936
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.61546934,744,712.38453066,675.61546934,661,632.38453066,878,783.61546934,802.61546934,650,629,651,0.450644196435,-0.0155307398383,0.0497327144262,0.999999906576,0.000135203985847,-0.000410538385392,5.0996741046e-06,1793196549467330560
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,743.796034719,712,675.592069439,661.203965281,632.203965281,878,783.796034719,802.592069439,650,629,651,0.450554079125,-0.0155241221437,0.0497359009751,0.999999908556,0.000139159943013,-0.000404352234667,4.57531621949e-06,1793196549483997184
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,743.21685487,712,674.43370974,661.78314513,632.78314513,878,783.21685487,801.43370974,650,629,651,0.450450567474,-0.0155170340523,0.0497392935136,0.999999911569,0.000142340757497,-0.00039570359228,4.38902394149e-06,1793196549500663552
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.641165695,743,712,674.358834305,661.282331389,632.641165695,877.641165695,783,801.717668611,649.641165695,628.641165695,651,0.450333392448,-0.015510328717,0.0497420396991,0.999999913493,0.000145046637668,-0.000389820430555,3.89848116956e-06,1793196549517330176
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.067565665,743,712,674.932434335,660.135131331,632.067565665,877.067565665,783,802.864868669,649.067565665,628.067565665,651,0.450208039751,-0.0155038524642,0.0497443990366,0.999999914781,0.000147468265469,-0.00038559243433,3.22584158288e-06,1793196549533996544
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.520029655,743.520029655,712,675,660.520029655,632.520029655,878.04005931,783.520029655,802.479970345,649.520029655,628.520029655,651,0.45006444308,-0.0154940962233,0.0497470703269,0.999999915647,0.000153707457369,-0.000380882790451,2.70679009066e-06,1793196549550663424
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,743.892417108,712,675,661,633,878.892417108,783.892417108,802,650,629,650.892417108,0.449910377172,-0.0154834378778,0.04974831429,0.999999915517,0.000160182032213,-0.000378556565506,1.86068932325e-06,1793196549567330048
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,743.313239472,712,675,661,633,878.313239472,783.313239472,802,650,629,650.313239472,0.449721096846,-0.0154707448581,0.0497431189139,0.999999911443,0.000165454036019,-0.000386960073742,-5.08941429154e-07,1793196549583997184
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.73511555,633,878,783,802,650,629,650.26488445,0.449519903571,-0.015459495491,0.0497403170155,0.999999909429,0.000168605961394,-0.000390777715331,-2.48911909144e-06,1793196549600664064
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.158232796,633,878,783,802,650,629,650.841767204,0.449304678453,-0.0154499465536,0.0497403343127,0.999999909931,0.000169260718824,-0.000389193821478,-4.0105731797e-06,1793196549617330944
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.417113909,633,878,783.834227819,802,650,629,651,0.449068143583,-0.0154412376547,0.0497394908737,0.999999909114,0.000170191994497,-0.000390865066121,-5.65790639986e-06,1793196549633997568
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.991880038,633,878,784.983760075,802,650,629,651,0.448823554493,-0.0154328462567,0.0497383221113,0.999999907787,0.000171227782885,-0.000393766621739,-7.35281681555e-06,1793196549650663936
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,743.582529802,712.582529802,675,661,633,878,784.417470198,802,650,629,651,0.448567539747,-0.0154312665575,0.0497432845961,0.999999913307,0.000161134311511,-0.00038384549867,-9.17397189325e-06,1793196549667330560
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,743.830120882,712.830120882,675,661,633,878,784,802.169879118,650,629.169879118,651,0.448297056114,-0.0154318535566,0.0497464862401,0.999999918361,0.000148756222374,-0.000375539454758,-1.09341091374e-05,1793196549683996928
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,743.251265297,712.251265297,675,661,633,878,784,802.748734703,650,629.748734703,651,0.447992133478,-0.0154374217927,0.0497452372182,0.999999922277,0.000131261961439,-0.000371564007429,-1.25429931269e-05,1793196549700663808
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.674054945,743,712.325945055,675,661,633,878.325945055,784,802.674054945,650,629.674054945,651,0.447662971605,-0.0154374609869,0.0497410701927,0.999999923043,0.000119083083979,-0.000373505363155,-1.50960549053e-05,1793196549717330688
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.098106444,743,712.901893556,675,661,633,878.901893556,784,802.098106444,650,629.098106444,651,0.447315217936,-0.0154332593458,0.0497346650261,0.999999921479,0.000110981162348,-0.000379984971607,-1.83733116191e-05,1793196549733997568
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764.973271517,743,713,675,661.486635758,633,878.513364242,784,802,649.513364242,629,651,0.446962371889,-0.0154259522325,0.0497358635545,0.999999922372,0.000107583753169,-0.000378440483763,-2.1530862373e-05,1793196549750664448
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.927729715,743,712.927729715,675,662,633,878,784,802,649.072270285,629.072270285,651,0.446603814194,-0.0154185714909,0.0497389080122,0.999999924034,0.000104216569072,-0.000374794234391,-2.45137018781e-05,1793196549767331072
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.348500248,743,712.348500248,675,662,633,878,784,802,649.651499752,629.651499752,651,0.446212524547,-0.0154151467983,0.0497439503021,0.999999927508,9.4285911037e-05,-0.00036796101567,-2.64433862058e-05,1793196549783997184
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,661.770063465,633,878.229936535,784,802,649.770063465,630,651,0.445814638119,-0.0154124778337,0.0497566318106,0.999999935587,8.31674044331e-05,-0.000348045425218,-2.77987364682e-05,1793196549800663552
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,661.192824008,633,878.807175992,784,802,649.192824008,630,651,0.445406787742,-0.0154109503432,0.0497808518202,0.999999949586,7.02547368405e-05,-0.000308369834882,-2.8286595483e-05,1793196549817330176
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,661.379950179,633,878.620049821,784.379950179,802,649.379950179,630,651,0.444960619689,-0.015408898777,0.0498038103123,0.999999958122,5.69801542159e-05,-0.000282298133553,-2.85757739951e-05,1793196549833996800
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,661.950484555,633,878.049515445,784.950484555,802,649.950484555,630,651,0.444495231381,-0.0154065843328,0.0498261360228,0.999999964041,4.35240342794e-05,-0.000263050186717,-2.87652937346e-05,1793196549850663168
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,662,633.542950585,878,785,802,650,630,651,0.443982157665,-0.0154049200251,0.0498195268412,0.99999996159,2.67806665209e-05,-0.000273941077531,-3.2555833411e-05,1793196549867330816
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.133633258,743,712,675,662,634,878,784.866366742,802,649.866366742,630,650.866366742,0.443450700638,-0.01540301743,0.0498051946034,0.999999955215,9.33562984034e-06,-0.00029681279162,-3.72130715043e-05,1793196549883997952
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.71174748,743,712,675,662,633.71174748,878,784,802,649.28825252,630,650.28825252,0.442313017603,-0.0154000480668,0.049762884701,0.999999931835,-3.03181341199e-05,-0.000364823466699,-4.81105787436e-05,1793196549917331200
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.135985966,743,712,675,662,633.135985966,878,784,802,649.864014034,630,650.864014034,0.441770103495,-0.0154028021332,0.0497708039224,0.999999939005,-5.34032565459e-05,-0.00034141903864,-5.07087942838e-05,1793196549933997568
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.562204645,662.437795355,633.437795355,878,784.437795355,802,650,630,651,0.441206142749,-0.0154037820482,0.0497988672148,0.999999952148,-7.36664404138e-05,-0.000296126061589,-5.08560041005e-05,1793196549950663936
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.011384867,662.988615133,633.988615133,878.011384867,784.988615133,802,650,629.988615133,651,0.440634642034,-0.0154041768464,0.049832487267,0.999999964381,-9.30870782533e-05,-0.000245032787066,-5.03194452969e-05,1793196549967330048
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.606537612,662.393462388,633.393462388,878.606537612,784.393462388,802,650,629.393462388,651,0.440010223125,-0.0154026990772,0.0498316437211,0.999999962397,-0.000114048348564,-0.000243574772186,-5.35836259171e-05,1793196549983997184
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,743.195444863,712,675,662,633,878.804555137,784.195444863,802,649.804555137,629.195444863,651,0.439363356967,-0.0153992684974,0.0498188116502,0.999999954763,-0.000133237668089,-0.00026331737927,-5.81858170043e-05,1793196550000664320
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,744,712,675,661.077930316,633,877.077930316,784.077930316,802,649,630,650.077930316,0.437284468509,-0.0153884670763,0.0497460337432,0.999999905574,-0.000193634356284,-0.0003815861864,-7.58270890677e-05,1793196550050664448
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,743.491765443,712,674.491765443,661.508234557,633,877,784.508234557,802,649,630,650.508234557,0.436614058744,-0.0153914039576,0.0497779638029,0.999999927056,-0.000150610872827,-0.000342784178469,-7.55240942225e-05,1793196550067330560
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.189595126,662,633.094797563,877.094797563,785,802,649.094797563,630,651,0.43593668298,-0.0153934078891,0.0498112538711,0.999999947129,-9.4738955289e-05,-0.000301874616229,-7.50914048936e-05,1793196550083996928
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.348102776,662,633.674051388,877.674051388,785,802,649.674051388,630,651,0.435204013231,-0.0153879383679,0.0498147681613,0.999999952246,-2.69235590948e-05,-0.000297818466793,-7.80264538702e-05,1793196550100663552
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.747779419,661.747779419,633.747779419,878,785,801.747779419,650,630,650.747779419,0.434467105445,-0.0153839198275,0.0498083096591,0.999999949352,5.27773350856e-06,-0.000308047997848,-7.98418300131e-05,1793196550117330176
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.171005832,661.171005832,633.171005832,878,785,801.171005832,650,630,650.171005832,0.433724744126,-0.0153817683831,0.0497890183434,0.999999940078,-8.34856644697e-06,-0.000336660091775,-8.02164315673e-05,1793196550133997056
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,661.403117434,633.403117434,878,784.596882566,801.403117434,649.596882566,630,650.403117434,0.432993402483,-0.015380084214,0.0497940932794,0.999999943547,3.31690402465e-05,-0.000328251461476,-6.36871742383e-05,1793196550150663424
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,661.976123721,633.976123721,878,784.023876279,801.976123721,649.023876279,630,650.976123721,0.432266704991,-0.0153785969725,0.0498094370718,0.999999948123,9.79263645418e-05,-0.000304240902054,-4.00339945123e-05,1793196550167330048
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.432228863,662.567771137,633.432228863,878,784.567771137,802,649,630,651,0.431495935648,-0.0153729083281,0.0498113266011,0.999999950745,7.35719041321e-05,-0.000301806493625,-4.48295295111e-05,1793196550183996928
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.157099764,662.842900236,633,878,785,802,649,630,651,0.4307088524,-0.0153684913868,0.049802750732,0.999999947824,4.35853555095e-05,-0.00031593565777,-5.13588517633e-05,1793196550200663552
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.737986834,662.262013166,633,878,785,802,649,630,651,0.429882930546,-0.0153679977373,0.0497675217993,0.999999928935,8.85785790137e-06,-0.000372215502338,-5.92284107747e-05,1793196550217330432
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,661.685007978,633,878,785,801.685007978,649.314992022,630,651,0.42909243789,-0.0153710867077,0.0497549672887,0.999999922624,-2.21365325397e-05,-0.00038745560135,-6.43442038871e-05,1793196550233997056
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,661.111192493,633,878,785,801.111192493,649.888807507,630,651,0.428331056828,-0.0153771194547,0.0497610439578,0.999999928418,-5.00634920576e-05,-0.000368974053498,-6.71972751985e-05,1793196550250663424
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,661.473674503,633,878,785,801,649.526325497,630,651,0.42754568177,-0.0153768184017,0.0497800208703,0.999999934286,-5.36785790599e-05,-0.000352706635594,-6.43757743954e-05,1793196550267330048
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.939672577,662,633.060327423,878,785,801,649,630,650.939672577,0.426753633311,-0.0153749078625,0.0497981821755,0.999999938989,-5.1977503198e-05,-0.000340034159179,-6.08115049678e-05,1793196550283996672
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.360505246,662,633.639494754,878,785,801,649,630,650.360505246,0.425953790052,-0.0153722478611,0.049782662496,0.999999933986,-5.48110000252e-05,-0.00035370273944,-6.25891847338e-05,1793196550300663552
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,662,633.781475503,877.781475503,785,801,649.218524497,630,650.218524497,0.425175543627,-0.0153717336195,0.0497835685623,0.999999938729,-5.9805511378e-05,-0.00033900748204,-6.35564430371e-05,1793196550317330688
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,662,633.202672507,877.202672507,785,801,649.797327493,630,650.797327493,0.424432903497,-0.0153747570638,0.0498115555399,0.99999995715,-6.8362859619e-05,-0.000277549135277,-6.31875701334e-05,1793196550333997568
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,742.572951808,712,674,662.572951808,634,877.572951808,785,801.427048192,650,629.427048192,650,0.418259661754,-0.0153840039608,0.0498168311714,0.999999947492,-7.76469667806e-05,-0.000308294994913,-6.27755301695e-05,1793196550467330304
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,742.003411093,712,674,662.003411093,634,877.003411093,785,801.996588907,650,629.996588907,650,0.417512816133,-0.0153796121813,0.0497993823877,0.999999937874,-6.15188575927e-05,-0.000341111564019,-6.41178908683e-05,1793196550483997184
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,742.182050724,712,674,661.182050724,633.182050724,877.817949276,785,801,649,630,650.182050724,0.416084977207,-0.0153801549308,0.0498038711446,0.999999944986,-7.83753651907e-05,-0.000315427545103,-6.62699666531e-05,1793196550517330688
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.335323154,742.664676846,712,673.335323154,662,634,877,785,800.335323154,649.664676846,629.335323154,650,0.412062966325,-0.0153780247969,0.0497832244449,0.99999993299,-9.61399440265e-05,-0.000346217450258,-7.00711413737e-05,1793196550617330688
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.274727715,743,712,673.274727715,662,634,877,785,801,650,629.725272285,651,0.408146924037,-0.0153864333433,0.0498108756783,0.999999942443,-0.000131046970505,-0.000305336126721,-6.86318218777e-05,1793196550733997312
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b8773b7a20d63bb65520425b45af3eb9746ecffd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_04/simulation_data.csv
@@ -0,0 +1,423 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_05/fem_node.csv
new file mode 100644
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--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_05/fem_node.csv
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..01a8a59184968aaae788912fbf8684ef57a7903f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_05/franka_data.csv
@@ -0,0 +1,427 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,764.373061014,743,712,673.626938986,662,634,876.373061014,785,801,650,629.626938986,651,0.400971285351,-0.015414776884,0.0498489437956,0.999999945435,-0.000188404382135,-0.00026594849373,-5.38999210052e-05,1793196551938137344
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+3,0.050000000,BASELINE,764.80949906,743,712,673.19050094,662,634,876,785,801.80949906,649.19050094,629.19050094,651,0.400967149049,-0.0154158509189,0.0498465765339,0.999999944282,-0.000189092627942,-0.000269801100423,-5.37309188653e-05,1793196551971470592
+4,0.066666667,BASELINE,765,743,712,673,662,634,876.385652888,785,801.614347112,649.385652888,629.385652888,651,0.400968854726,-0.0154157152689,0.0498482170553,0.999999944911,-0.000189225951258,-0.00026733892899,-5.38725093191e-05,1793196551988136960
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+6,0.100000000,BASELINE,764.449591505,743,712.550408495,673,662,634,877,785,801,650,630,651,0.400970662035,-0.0154151740978,0.0498498866301,0.99999994557,-0.000188878792922,-0.000265068786756,-5.40759284136e-05,1793196552021470208
+7,0.116666667,BASELINE,764.137447352,743,712.862552648,673,662.137447352,634,877,785,801,650,629.862552648,651,0.400969055028,-0.0154154680751,0.0498488324488,0.999999945081,-0.00018885089576,-0.000266959121299,-5.39170951413e-05,1793196552038136576
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+18,0.300000000,BASELINE,764,742.503432237,712,673.503432237,662,634,876,784.503432237,801,650,629.496567763,651,0.400969983889,-0.0154156252616,0.0498494073626,0.999999945754,-0.000187659481632,-0.000265248373423,-5.40343040064e-05,1793196552221470208
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+21,0.350000000,BASELINE,765,742.25692115,712,673,662,634,876.74307885,785,801.25692115,650,629.74307885,651,0.400970037062,-0.0154169346483,0.0498488752186,0.999999945534,-0.000188555695562,-0.000265503938438,-5.37236008482e-05,1793196552271470080
+22,0.366666667,BASELINE,765,742.832903886,712,673,662,634,876.167096114,785,801.832903886,650,629.167096114,651,0.400971380071,-0.0154175730618,0.0498504013682,0.999999945795,-0.000190780355551,-0.00026288263952,-5.39039745875e-05,1793196552288136704
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+25,0.416666667,BASELINE,764.573197242,743,712,673.426802758,662,634,876.573197242,784.426802758,801,650,629,651,0.400973482677,-0.0154159847766,0.049852259806,0.999999946972,-0.00018861688946,-0.000259989745745,-5.37113864949e-05,1793196552338136576
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+27,0.450000000,BASELINE,765,743,712,673.740401947,662,634,877,784,801,650,629.740401947,651,0.40097159407,-0.0154158619946,0.0498513973152,0.999999946565,-0.000188105226508,-0.000261929324096,-5.36687899186e-05,1793196552371470336
+28,0.466666667,BASELINE,765,743,712,674,662,634,876.681552563,784.318447437,801,649.681552563,630,651,0.400971520924,-0.0154167860132,0.0498514255581,0.999999946428,-0.000188683845663,-0.00026206055508,-5.35320753852e-05,1793196552388136960
+29,0.483333333,BASELINE,765,743,712,674,662,634,876.104457715,784.895542285,801,649.104457715,630,651,0.400972092739,-0.015418328478,0.0498519155017,0.999999946419,-0.000189647744334,-0.000261439765836,-5.33431065711e-05,1793196552404803328
+30,0.500000000,BASELINE,765,743,712,673.064987902,662,634,876.467506049,785,801,649.467506049,630,651,0.400973050429,-0.015418012059,0.0498521379955,0.999999946761,-0.000189045084568,-0.000260566283319,-5.33428010268e-05,1793196552421469952
+31,0.516666667,BASELINE,765,743,712,672.03994,662,634,877,785.03994,801,650,630,651.03994,0.400973943447,-0.0154173221621,0.0498522368859,0.999999947125,-0.000188162477948,-0.000259796939119,-5.33880888557e-05,1793196552438136576
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+39,0.650000000,BASELINE,764,742.705446161,712,673.705446161,662,633.705446161,877,785,801,650,629.294553839,650.294553839,0.400970949271,-0.0154169693279,0.0498492247721,0.999999946336,-0.000188133189637,-0.000262721410123,-5.396316769e-05,1793196552571469568
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+42,0.700000000,BASELINE,765,743,712,673,662,634,876.436400058,784.563599942,801,650,629.563599942,650.563599942,0.400973557093,-0.0154149292896,0.0498517982478,0.999999947317,-0.000185996189981,-0.000260530216705,-5.38023725696e-05,1793196552621469696
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+58,0.966666667,BASELINE,764.730176376,742.269823624,712,673,662,634,876,785,801.730176376,650,629,651,0.400973541465,-0.0154184776974,0.0498525264029,0.999999946712,-0.000191498387004,-0.000258917802493,-5.35251605462e-05,1793196552888136704
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+60,1.000000000,BASELINE,764.115295091,742.884704909,712,673,662,634,876.884704909,785,801.115295091,650,629.884704909,651,0.400972584968,-0.0154179237095,0.0498528049095,0.999999946917,-0.000189409292735,-0.000259699332365,-5.33443344193e-05,1793196552921469952
+61,1.016666667,BASELINE,764.458875289,743,712,673.458875289,662,634,877,785,801,650,630,651,0.400973270921,-0.0154172622886,0.04985298829,0.999999947241,-0.000188758445622,-0.000258916037311,-5.33969044632e-05,1793196552938136576
+62,1.033333333,BASELINE,764.96651995,743,712,674,662,634,876.96651995,785,801,650,630,651,0.400974424738,-0.0154166067923,0.0498533320389,0.99999994763,-0.00018849101226,-0.000257586818427,-5.34847236292e-05,1793196552954803456
+63,1.050000000,BASELINE,764.374784872,743,712,674,662,634,876.374784872,785,801,650,630,651,0.400974159704,-0.0154175062714,0.0498534788199,0.999999947458,-0.000189367897508,-0.000257649761625,-5.33042741641e-05,1793196552971470336
+64,1.066666667,BASELINE,764.212056865,743,712,673.787943135,662,634,876,785,801,650,629.787943135,651,0.400973681665,-0.0154180644908,0.0498532538504,0.999999947225,-0.000189726354985,-0.000258312875664,-5.31814416646e-05,1793196552988137216
+65,1.083333333,BASELINE,764.790445243,743,712,673.209554757,662,634,876,785,801,650,629.209554757,651,0.400972835655,-0.0154180331788,0.0498523866758,0.999999946887,-0.000189189220412,-0.000260012794109,-5.3158143375e-05,1793196553004804096
+66,1.100000000,BASELINE,764.633327704,743,712,673.366672296,662,634,876.366672296,785,801.366672296,650,629.366672296,651,0.400972613021,-0.0154176828263,0.049852029269,0.999999947025,-0.000188352879422,-0.000260068058929,-5.32801387202e-05,1793196553021470720
+67,1.116666667,BASELINE,764.05832864,743,712,673.94167136,662,634,876.94167136,785,801.94167136,650,629.94167136,651,0.400972744562,-0.0154171512093,0.0498519614892,0.999999947431,-0.000187346542772,-0.000259188905198,-5.34846833991e-05,1793196553038136832
+68,1.133333333,BASELINE,764,743,712,673.471780588,662,634,877,785,801.471780588,650,630,651,0.400972605599,-0.0154178062024,0.0498520075118,0.999999947175,-0.000187684802631,-0.000259928900244,-5.34893431203e-05,1793196553054803200
+69,1.150000000,BASELINE,764.114407469,743,712,673,662,634,877,784.885592531,801,650,630,651,0.400972263528,-0.0154181084666,0.0498518976276,0.999999946881,-0.000187872510884,-0.000260915076689,-5.35193987242e-05,1793196553071469824
+70,1.166666667,BASELINE,764.69383273,743,712,673,662,634,877,784.30616727,801,650,630,651,0.400971220037,-0.0154164325451,0.0498511018292,0.999999946739,-0.000186831304481,-0.000262158907605,-5.37443977105e-05,1793196553088136704
+71,1.183333333,BASELINE,765,743,712,673.271915947,662,634,877,784.271915947,801,650,630,651,0.400971496175,-0.0154161908263,0.0498515106224,0.999999946894,-0.00018677403512,-0.000261631336098,-5.36321102701e-05,1793196553104803840
+72,1.200000000,BASELINE,765,743,712,673.848495567,662,634,877,784.848495567,801,650,630,651,0.40097325087,-0.0154175560358,0.04985326908,0.999999947379,-0.000187819201421,-0.000259119026537,-5.3141915924e-05,1793196553121470720
+73,1.216666667,BASELINE,765,743,712,673.57682708,662,634,876.57682708,785,801,650,630,651,0.400973070579,-0.0154179765644,0.0498526957332,0.999999947087,-0.000188410962932,-0.00025980289085,-5.32042184483e-05,1793196553138137088
+74,1.233333333,BASELINE,765,743,712,673.002827762,662,634,876.002827762,785,801,650,630,651,0.400972200624,-0.0154180603918,0.0498512912894,0.999999946516,-0.000188841122804,-0.000261625928844,-5.34634407677e-05,1793196553154803456
+75,1.250000000,BASELINE,765,743,712,673,662,633.411026718,876,785,801,650,629.411026718,651,0.400972405114,-0.015418590612,0.0498520343621,0.999999946461,-0.000190540022768,-0.000260638875073,-5.3286649051e-05,1793196553171470080
+76,1.266666667,BASELINE,764.82304534,743,712,673,662.17695466,633.17695466,876,785.17695466,801,650,629.17695466,651,0.400972836353,-0.0154188233038,0.0498527693976,0.999999946694,-0.000190732005589,-0.00025963632992,-5.31203215369e-05,1793196553188136704
+77,1.283333333,BASELINE,764.243944835,743,712,673,662.756055165,633.756055165,876,785.756055165,801,650,629.756055165,651,0.400973770812,-0.0154183748124,0.0498534620058,0.999999947576,-0.000187485104784,-0.000258630196058,-5.29826805728e-05,1793196553204803584
+78,1.300000000,BASELINE,764.332911764,743,712,673,662.667088236,634,876,785.667088236,801,649.667088236,630,651,0.400973579383,-0.0154171108582,0.0498533123359,0.999999947907,-0.000185949449343,-0.000258393759217,-5.33144475318e-05,1793196553221470208
+79,1.316666667,BASELINE,764.908135098,743,712,673,662.091864902,634,876,785.091864902,801,649.091864902,630,651,0.400972568468,-0.015415253365,0.0498525496095,0.999999947841,-0.000185659332944,-0.000258717550428,-5.39878755123e-05,1793196553238136832
+80,1.333333333,BASELINE,764.506692626,743,712,673,662,634,876.493307374,785,801,649.493307374,630,651,0.400972125608,-0.0154164256874,0.0498521044593,0.999999947413,-0.000186071781406,-0.0002601095638,-5.37983216744e-05,1793196553254803200
+81,1.350000000,BASELINE,764,743,712,673.07937867,662,634,877,785,801,650,630,651,0.400971919406,-0.0154179220757,0.0498518832697,0.999999947003,-0.000186661210392,-0.000261327436891,-5.34661638764e-05,1793196553271469824
+82,1.366666667,BASELINE,764,743,712,673.659196743,662,634,877,785,801,650,630,651,0.400972524569,-0.0154178312081,0.0498526935118,0.999999947155,-0.000187524594556,-0.000260167509463,-5.32689873919e-05,1793196553288136448
+83,1.383333333,BASELINE,764.237950733,743,712,674,662,634,877,785,801,650,630,651,0.400972288892,-0.0154179002516,0.0498526953118,0.999999947132,-0.000187951784634,-0.000259951741844,-5.32480074182e-05,1793196553304803072
+84,1.400000000,BASELINE,764.815187565,743,712,674,662,634,877,785,801,650,630,651,0.40097085429,-0.0154181973069,0.0498515443811,0.999999946862,-0.00018775702008,-0.000261082220382,-5.34782602079e-05,1793196553321469696
+85,1.416666667,BASELINE,764.609532028,743,712,673.609532028,662,634,877,785,801,650,630,651,0.400971312555,-0.0154183278309,0.0498515615149,0.99999994679,-0.000188080781871,-0.00026114688803,-5.33686596435e-05,1793196553338136320
+86,1.433333333,BASELINE,764.035173034,743,712,673.035173034,662,634,877,785,801,650,630,651,0.400972662265,-0.0154183799268,0.0498521287493,0.999999946811,-0.000188648743827,-0.000260709611618,-5.30990050148e-05,1793196553354802944
+87,1.450000000,BASELINE,764,743,712,673,662,634,877,785,801.553934297,650,630,651,0.400972021126,-0.0154188368018,0.0498521216485,0.999999946594,-0.00018984058519,-0.000260661764757,-5.31704566728e-05,1793196553371469568
+88,1.466666667,BASELINE,764.141465427,743,712,673,662,634,877,785,801.858534573,649.858534573,630,651,0.4009714153,-0.0154187256698,0.0498520720916,0.999999946567,-0.000190115901545,-0.000260534561951,-5.33232373213e-05,1793196553388136448
+89,1.483333333,BASELINE,764.721133933,743,712,673,662,634,877,785,801.278866067,649.278866067,630,651,0.400971321145,-0.0154167732872,0.049852007077,0.999999947175,-0.000187426125707,-0.00026008285526,-5.36590160376e-05,1793196553404803072
+90,1.500000000,BASELINE,765,743,712,673.298478424,662,634,877.298478424,785,801.298478424,649.298478424,630,651,0.40097136687,-0.015416430495,0.0498521664699,0.999999947189,-0.000187869796847,-0.000259684189088,-5.37596333697e-05,1793196553421469696
+91,1.516666667,BASELINE,765,743,712,673.873668348,662,634,877.873668348,785,801.873668348,649.873668348,630,651,0.400971542276,-0.0154175799118,0.0498525339051,0.999999946652,-0.000191218404457,-0.000259334695411,-5.36422387455e-05,1793196553438136320
+92,1.533333333,BASELINE,764.551488967,743,712,673.551488967,662,634,877.102977933,785,801.551488967,650,630,651,0.400971382097,-0.0154175399143,0.0498520941058,0.999999946568,-0.000190522680141,-0.000260177657194,-5.36016865245e-05,1793196553454802944
+93,1.550000000,BASELINE,764.023953712,743,712,673.023953712,662,634,876.023953712,785,801,650,630,651,0.400971155043,-0.0154171772497,0.0498514625641,0.999999946617,-0.000188709395276,-0.000261310481872,-5.35850757223e-05,1793196553471469568
+94,1.566666667,BASELINE,764.615941027,743,712,673.615941027,662,634,876.615941027,785,801,650,630,651,0.400971581874,-0.0154171014026,0.0498516717844,0.999999946851,-0.000187387489908,-0.000261358279398,-5.36233396549e-05,1793196553488136192
+95,1.583333333,BASELINE,765,743,712,674,662.203562909,634,876.796437091,785,801,650,630,651,0.40097210105,-0.0154170574029,0.0498521023323,0.999999947033,-0.000187012537756,-0.000260937572339,-5.35938518457e-05,1793196553504803072
+96,1.600000000,BASELINE,765,743,712,674,662.783121614,634,876.216878386,785,801,650,630,651,0.400972790793,-0.0154170722278,0.049852941689,0.999999947118,-0.00018838667823,-0.000259651502554,-5.3439221549e-05,1793196553521469696
+97,1.616666667,BASELINE,765,743,712,673.641086329,662.641086329,634,876,785,801,650,629.641086329,651,0.400972555033,-0.0154174675608,0.0498528892959,0.999999947137,-0.000188264909307,-0.000259703445804,-5.32545715888e-05,1793196553538136320
+98,1.633333333,BASELINE,765,743,712,673.067546715,662.067546715,634,876,785,801,650,629.067546715,651,0.400971765832,-0.015418090433,0.0498523036474,0.999999947117,-0.000187248604959,-0.000260555504399,-5.30519702497e-05,1793196553554803200
+99,1.650000000,BASELINE,764.492382671,743,712,673.507617329,662,634,876,785,801.507617329,650,629.507617329,651,0.400971943941,-0.0154172009429,0.0498520713319,0.999999947014,-0.000187606234045,-0.000260637145997,-5.33225457694e-05,1793196553571469824
+100,1.666666667,BASELINE,764.085567521,743,712,673.828864957,662,634,876,785,801.914432479,649.914432479,630,651,0.400972134619,-0.0154163258423,0.0498518875299,0.999999946951,-0.000187867267791,-0.00026063552744,-5.36022028424e-05,1793196553588136448
+101,1.683333333,BASELINE,764.678759926,743,712,672.642480147,662,634,876,785,801.321240074,649.321240074,630,651,0.400971633808,-0.0154167338123,0.0498517117134,0.999999947185,-0.000186467178139,-0.000260750098444,-5.35610067933e-05,1793196553604803072
+102,1.700000000,BASELINE,765,743,712,672.528568556,662.264284278,634,876.264284278,785,801,649.264284278,630,651,0.400971767593,-0.015417413823,0.0498517853084,0.999999947277,-0.000186670219606,-0.000260271202112,-5.34776210125e-05,1793196553621469696
+103,1.716666667,BASELINE,765,743,712,673.681501606,662.840750803,634,876.840750803,785,801,649.840750803,630,651,0.400972650987,-0.0154184151781,0.0498521535175,0.999999947197,-0.000188766938231,-0.000259091280471,-5.33443991815e-05,1793196553638136576
+104,1.733333333,BASELINE,764.584824596,743,711.584824596,673.584824596,663,634,876.584824596,785,801.415175404,650,630,651,0.400972750742,-0.0154190775567,0.0498523896214,0.999999946957,-0.000189988851011,-0.00025912671358,-5.33338245522e-05,1793196553654803200
+105,1.750000000,BASELINE,764.011179336,743,711.011179336,673.011179336,663,634,876.011179336,785,801.988820664,650,630,651,0.400972551387,-0.0154196105501,0.0498525753015,0.999999946656,-0.000190876856046,-0.000259626039899,-5.3370063582e-05,1793196553671469824
+106,1.766666667,BASELINE,764,743,711.580399501,673,662.419600499,633.419600499,876,785,802,650,630,651,0.400973717807,-0.0154187166828,0.0498530640974,0.999999947621,-0.000188177659788,-0.000257914057982,-5.31723878903e-05,1793196553688136192
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,712,674,662,634,877,785,801,650,630,651,0.400972888882,-0.0154183458008,0.0498522623715,0.999999947264,-0.000188759741043,-0.00025881130951,-5.34649053134e-05,1793196553729072384
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.578947577,743,712,673.421052423,662,634,877,785,801.578947577,650,629.421052423,651,0.400972329091,-0.015417599908,0.0498525953447,0.999999947124,-0.000188478950202,-0.000259552879964,-5.34879548317e-05,1793196553745737984
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.839009411,742.839009411,712,673,662,634,877,785,801.839009411,650,629.160990589,651,0.400971733535,-0.01541760274,0.0498525084914,0.999999946874,-0.000188882366915,-0.000260223308167,-5.34716855789e-05,1793196553762403584
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.248711799,742.248711799,712,673,662,634,877,785,801.248711799,650,629.751288201,651,0.400971042607,-0.0154196021656,0.0498513021039,0.999999946332,-0.000191110331871,-0.0002607040244,-5.33505665709e-05,1793196553779070208
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.335176789,742.335176789,712,673,662,634,876.664823211,784.664823211,800.664823211,650,629.664823211,651,0.400971351853,-0.0154201938293,0.0498515924134,0.999999946376,-0.000191162751386,-0.000260514080281,-5.3267552477e-05,1793196553795736576
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.914398873,742.914398873,712,673,662,634,876.085601127,784.085601127,800.085601127,650,629.085601127,651,0.400972389334,-0.0154197604886,0.0498529724816,0.999999946847,-0.00018963113617,-0.000259835822176,-5.32122829277e-05,1793196553812403200
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.508394823,743,712,673,662,634,876.491605177,784.491605177,800.491605177,650,629,651.491605177,0.40097374963,-0.0154188627099,0.0498536255319,0.999999947304,-0.000189615030851,-0.000258053011318,-5.33594401071e-05,1793196553829070336
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,743,712,673.068221631,662,634,877,785,801,650,629.068221631,651.931778369,0.400975412842,-0.0154180503625,0.0498541863683,0.999999947716,-0.00018987708312,-0.000256230743912,-5.34911813678e-05,1793196553845737216
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,743,712,673.643053758,662,634,877,785,801,650,629.643053758,651.356946242,0.400978909789,-0.0154184705123,0.04985499866,0.999999947834,-0.000190253093341,-0.000255537882892,-5.32477659052e-05,1793196553862403584
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+118,1.966666667,POSE1_TO_POSE2_PRESS,764,743,712,673,662,634,876,785,801.603387203,650,629.603387203,651,0.401052627797,-0.0154220223193,0.0498840615427,0.999999960906,-0.000189516001855,-0.000199506034883,-4.96903157028e-05,1793196553912403456
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,743,712,673,662,634,876,785,801.023970403,650,629.023970403,651,0.401101007658,-0.015426067385,0.049901461384,0.99999996694,-0.000192173725832,-0.000164055754432,-4.77062423064e-05,1793196553929070080
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.550336047,743,712,673,662,634,876.550336047,785,801,650,629,651,0.401168276393,-0.0154301385576,0.0499175771161,0.99999997188,-0.000191035600896,-0.000132981869082,-4.53914231734e-05,1793196553945736704
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,743,712,673,662,634,877,785,801,650,629.124464873,651,0.401237176481,-0.0154343604954,0.0499314769396,0.99999997509,-0.000190279350578,-0.000108406043912,-4.31529272665e-05,1793196553962403584
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,743,712,673,662,634,877,785,801,650,629.698748954,651,0.40130902636,-0.0154391232316,0.0499375686928,0.999999975129,-0.000191495220791,-0.000106631804668,-4.12418493501e-05,1793196553979070976
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.717762578,743,712,673.282237422,662,634,876.717762578,785,801,650,629.717762578,651,0.401392173032,-0.0154453845913,0.04994141431,0.999999975041,-0.000193829012875,-0.000103768111776,-3.97505788846e-05,1793196553995737600
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.124118483,743,712,673.875881517,662,634,876.124118483,785,801,650,629.124118483,651,0.40148778402,-0.0154532994569,0.0499427816525,0.999999974797,-0.000197396264029,-9.97023702614e-05,-3.87225031024e-05,1793196554012403968
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,743,712,673.544089245,662,634,876.455910755,785,801,649.544089245,629.455910755,651,0.401599572007,-0.0154596168827,0.0499433251004,0.999999974485,-0.00019869850711,-0.000100566039342,-3.7897941744e-05,1793196554029070336
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.967739346,712,673,662,634,876.967739346,785,801,649.032260654,629.967739346,651,0.40171671024,-0.0154657049426,0.0499432790771,0.999999974062,-0.000199558372739,-0.000103313514948,-3.71258519362e-05,1793196554045736960
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742.392739721,712,673,662,634,876.392739721,785,801,649.607260279,629.392739721,651,0.401851914923,-0.0154750385268,0.0499369801457,0.999999972017,-0.000203049013519,-0.000115830822189,-3.63314333715e-05,1793196554062403328
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.18230952,742.18230952,712,673.18230952,662,634,876,785,801,650,629.18230952,651,0.402002775985,-0.0154847168984,0.0499340020746,0.999999970708,-0.000206274771977,-0.00012161265872,-3.5277381665e-05,1793196554079069696
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.757465601,742.757465601,712,673.757465601,662,634,876,785,801,650,629.757465601,651,0.402187373912,-0.0154951382285,0.0499381799038,0.999999971237,-0.000208929752877,-0.00011288067943,-3.36638640214e-05,1793196554095736576
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,712,673.656502562,662,634,876,785,801,650,629.656502562,651,0.402391436135,-0.0155059027367,0.0499420065166,0.999999971743,-0.000210040812923,-0.000106782158818,-3.15428295137e-05,1793196554112403456
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,743,712,673.062540498,662,634,876,785,801,650,629.062540498,651,0.402609690967,-0.0155169174776,0.049945577037,0.999999972259,-0.000210026107761,-0.0001026038503,-2.90517337908e-05,1793196554129070336
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,742.485521283,712,673,662,634,876,785,801,650,629.514478717,651,0.402865503627,-0.0155278727285,0.0499501452895,0.999999973947,-0.000207864904199,-9.0742581075e-05,-2.5783059751e-05,1793196554145737216
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,742.089202391,712,673,662,633.910797609,876,785,801,650,629.910797609,651,0.403132635986,-0.0155369970912,0.0499554764185,0.999999976236,-0.00020272008558,-7.70320768269e-05,-2.23272588417e-05,1793196554162404096
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,742.662290145,712,673,662,633.337709855,876,785,801,650,629.337709855,651,0.403437196386,-0.015536227639,0.0499643088879,0.999999981438,-0.000182760721955,-5.81949960267e-05,-1.83527728648e-05,1793196554179070464
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.757199254,743,712,673,662,633,876,785,801,650,629,651,0.403759307498,-0.0155298447335,0.0499725660644,0.999999986851,-0.000155980275642,-4.16739743993e-05,-1.521924303e-05,1793196554195737088
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.166038712,743,712,673,662,633,876,785,801,650,629,651,0.404106599579,-0.0155154078931,0.0499799978353,0.999999992376,-0.000119413242086,-2.84759333923e-05,-1.32922801921e-05,1793196554212403712
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,743,712,673.417515442,661.582484558,633,876.835030883,784.582484558,801,649.582484558,629,651,0.404480443713,-0.0155160238418,0.049983078289,0.999999994842,-9.86420835661e-05,-2.20943575328e-05,-9.88716811161e-06,1793196554229070080
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,743,712,673.998098775,661.001901225,633,877.996197551,784.001901225,801,649.001901225,629,651,0.404864658202,-0.0155225189184,0.0499844592602,0.999999996282,-8.40402786827e-05,-1.8375070589e-05,-5.90473927385e-06,1793196554245736960
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.579347703,743,712,674,661.579347703,633.579347703,877.420652297,784.579347703,801,649.579347703,629.579347703,651,0.405240667396,-0.0155298962149,0.0499677843158,0.999999996199,-7.18595449505e-05,-4.92469323379e-05,-3.59669953946e-06,1793196554262403584
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743,712,673.843657041,662,634,876.843657041,785,801,649.843657041,630,651,0.405634541578,-0.0155340280343,0.0499501135968,0.99999999514,-5.56442054759e-05,-8.136878528e-05,-1.65474079402e-06,1793196554279070464
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,743,712,673.277809135,662,634,876.277809135,785,801,649.277809135,630,651,0.406075279599,-0.0155296514689,0.0499299900537,0.999999992802,-2.88402982051e-05,-0.000116467029205,-6.57239711118e-07,1793196554295737856
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,743,712,673.302216253,662,634,876.302216253,785,801,649.302216253,630,650.697783747,0.406546486299,-0.0155286229232,0.0499157205638,0.999999990003,-4.70876608774e-06,-0.00014131018298,1.68493777145e-06,1793196554312404736
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743,712,673.895915682,662,634,876.895915682,785,801,649.895915682,630,650.104084318,0.407047079649,-0.015530823493,0.0499070972204,0.999999987635,1.68453022284e-05,-0.000156262455823,5.32403618424e-06,1793196554329071360
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.522153428,743,712,674,662,634,877,785,801.477846572,650,630,650.477846572,0.407620302021,-0.0155347398333,0.0499248367693,0.9999999924,3.96525670297e-05,-0.000116172486831,1.14413570913e-05,1793196554345737984
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743,712,674,662,633.943182189,876.943182189,784.943182189,801.943182189,650,630,651,0.408211704233,-0.0155389051783,0.0499482801464,0.999999995648,6.33372242569e-05,-6.60459594658e-05,1.81835077571e-05,1793196554362404352
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,712,674,662,633.368384583,876.368384583,784.368384583,801.368384583,650,630,651,0.408828086698,-0.0155420153784,0.0499726306308,0.999999994897,9.2591924925e-05,-3.10941821905e-05,2.58190747402e-05,1793196554379071488
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.205989539,743,712,674,662,633.205989539,876.205989539,784.205989539,801,650,630,650.794010461,0.409443919302,-0.0155446612326,0.049987591666,0.999999992242,0.000119875514824,-1.01975994682e-05,3.2270895586e-05,1793196554395738112
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.779607834,743,712,674,662,633.779607834,876.779607834,784.779607834,801,650,630,650.220392166,0.410058770534,-0.0155464783705,0.0499857953847,0.99999998891,0.000143641269235,-1.438527186e-05,3.66100887586e-05,1793196554412404224
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,743,712,673.63279893,662.36720107,634,877,784.63279893,801,650,629.63279893,650,0.410674912759,-0.0155442232789,0.049963294355,0.999999982019,0.000173919096018,-6.47581381515e-05,3.89849577227e-05,1793196554429070848
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,743,712,673.036486182,662.963513818,634,877,784.036486182,801,650,629.036486182,650,0.411291860462,-0.0155394273576,0.0499278747912,0.999999967148,0.000208260067642,-0.000143947824242,4.01342045591e-05,1793196554445738240
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743,712,673.538231555,662.461768445,634,877,784.538231555,801.538231555,650,629,650.538231555,0.412000329511,-0.0155467770885,0.0499273557002,0.999999985891,0.000102298124543,-0.000132648276614,1.25158611409e-05,1793196554462404608
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,877,785,801.88777467,649.88777467,629,651,0.412727431323,-0.0155559873033,0.0499337385506,0.999999993736,1.47172709385e-05,-0.000110576576103,-9.15440292206e-06,1793196554479070976
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,877,785,801.310951559,649.310951559,629,651,0.413506976527,-0.0155696226269,0.0499592779466,0.999999996821,4.10870941586e-05,-6.83246967101e-05,1.56142983198e-06,1793196554495737088
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.726948013,743,712,674,662,634,877,785,801,649.273051987,629.273051987,651,0.414264836789,-0.0155742793956,0.0499638463158,0.999999995461,7.30021748701e-05,-6.06457888379e-05,8.46246790918e-06,1793196554512403200
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.134546472,743,712,674,662,634,877,785,801,649.865453528,629.865453528,651,0.414997335403,-0.0155684352445,0.0499438879011,0.999999989373,0.000111402747419,-9.34018970906e-05,1.09018918903e-05,1793196554529070336
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.446455687,743,712.446455687,674,662,634.446455687,877.446455687,785,801.446455687,650,630,651,0.415785231005,-0.0155661961378,0.0499280189973,0.999999990253,7.51473745638e-05,-0.000117050596803,1.20645878935e-05,1793196554545736960
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743.023989757,712.976010243,674,662,634.976010243,877.976010243,785,802,650,630,651,0.416591543915,-0.015565123794,0.0499152438085,0.999999990624,1.89917549815e-05,-0.000134994505348,1.2985944556e-05,1793196554562403328
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,743.598809785,712.401190215,674,662,634.401190215,877.401190215,785,802,650,630,651,0.417446953478,-0.015566516899,0.049945910023,0.999999996331,9.63855271629e-06,-8.34016918129e-05,1.69804858664e-05,1793196554579070464
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744,712,674,662,634,877.176964893,785,801.823035107,650,629.823035107,651,0.418288970126,-0.0155680608931,0.0499692704059,0.999999998624,1.01805273581e-05,-4.71814308445e-05,2.05680069914e-05,1793196554595737088
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744,712,674,662,634,877.762826027,785,801.237173973,650,629.237173973,651,0.41910004097,-0.0155699535325,0.0499757498848,0.999999998086,3.35863631676e-05,-4.64810940176e-05,2.32150644571e-05,1793196554612403712
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,743.653080683,712,674,662,634,878,785,801,650,629.346919317,650.653080683,0.419945947604,-0.0155714286687,0.0499687005162,0.999999996991,5.29022649942e-05,-5.18095995196e-05,2.31231079995e-05,1793196554629070336
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743.070189889,712,674,662,634,878,785,801,650,629.929810111,650.070189889,0.420815549202,-0.0155726198227,0.049952448944,0.99999999549,6.94362286297e-05,-6.12388707348e-05,2.11680981805e-05,1793196554645736704
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662,634,878,785,801,650,630,650.506178098,0.421744460082,-0.0155766266051,0.0499679772332,0.9999999963,7.83224430066e-05,-2.74380263166e-05,2.26467291585e-05,1793196554662403328
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743,712.081651301,674,662,634,878,785,801,650,630,651,0.422670924522,-0.0155806026344,0.0499829636834,0.999999995973,8.63551881426e-05,2.1340848519e-06,2.43510498567e-05,1793196554679069952
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743,712.657113386,674,662,634,878,785,801,650,630,651,0.423533487436,-0.0155820614528,0.0499683608228,0.999999994692,9.55583286702e-05,-2.96610455644e-05,2.45773884047e-05,1793196554695736576
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,712.76274029,674,662,634,878,785,801.23725971,650,630,651,0.42440693239,-0.0155839519273,0.0499626764608,0.999999993345,0.000104321793786,-4.21938577001e-05,2.54242159742e-05,1793196554712403200
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,712.175687895,674,662,634,878,785,801.824312105,650,630,651,0.425296420893,-0.015586478794,0.0499701406653,0.999999992963,0.000112437045624,-2.63281823195e-05,2.71858323855e-05,1793196554729070080
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662.406685269,634,878,785,802,650,630,651,0.426206284401,-0.0155852029639,0.0499865187219,0.999999991588,0.000125713831101,-1.07566783518e-05,3.00583087395e-05,1793196554745736960
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662.987059965,634,878,785,802,650,630,651,0.427124849726,-0.0155823030567,0.0500067037561,0.999999989463,0.000141195032804,4.68918828888e-06,3.34052172764e-05,1793196554762403840
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,712,674.56266428,662.43733572,634,878,785,802,650,630,651,0.427983691761,-0.0155747928769,0.0499669103787,0.999999991878,0.000107025402867,-6.27344272043e-05,2.92351713188e-05,1793196554779070208
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743.137850411,712.137850411,675,662,634,878,785,801.862149589,650,630,651,0.4288576087,-0.0155699460721,0.0499379444594,0.999999990456,8.19003084533e-05,-0.000108161536337,2.60874539561e-05,1793196554795736832
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,743.712057136,712.712057136,675,662,634,878,785,801.287942864,650,630,651,0.429783555384,-0.0155738628014,0.0499475817415,0.999999992643,8.89891870678e-05,-7.79781500523e-05,2.67184691528e-05,1793196554812403456
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743.705209399,712.705209399,675,662.294790601,634,878,785,801,650,630,651,0.430670961807,-0.0155764786226,0.0499496199338,0.99999999231,9.8033386494e-05,-7.0929237157e-05,2.71916498608e-05,1793196554829070080
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743.113899217,712.113899217,675,662.886100783,634,878,785,801,650,630,651,0.431519601871,-0.0155777859057,0.0499440144662,0.999999989879,0.000109044374513,-8.71504857209e-05,2.75060703371e-05,1793196554845736704
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743,712,675,662.066614519,633.533307259,878.466692741,785,801,649.533307259,630,650.533307259,0.432377198318,-0.0155754327955,0.0499336781928,0.999999987487,0.000119544254641,-0.000100158428326,2.65407300144e-05,1793196554862403584
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743.044513283,712,674.955486717,661.044513283,633.044513283,879,785,801,649.044513283,630,650,0.433240120039,-0.0155725355992,0.0499254971961,0.999999985427,0.000129710052682,-0.00010800430377,2.56300762483e-05,1793196554879070976
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743.619778173,712,674.380221827,661.619778173,633.619778173,879,785,801,649.619778173,630,650,0.434141058752,-0.0155735635905,0.049956472052,0.999999988135,0.000137346359903,-6.34413092916e-05,2.90119573462e-05,1793196554895737344
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743.800447639,712,674.199552361,662,633.800447639,879,785,801,650,630,650,0.434999306406,-0.0155727020542,0.0499739948331,0.9999999886,0.00014076861208,-4.47680934549e-05,3.12959263187e-05,1793196554912403712
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743.211882806,712,674.788117194,662,633.211882806,879,785,801,650,630,650,0.435774331176,-0.0155681570244,0.0499652938016,0.99999998733,0.000135975879386,-7.65650659346e-05,3.14395980139e-05,1793196554929070336
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,743,712,675,661.629428551,633,879,785,801.370571449,650,630.370571449,650.370571449,0.436567546356,-0.0155664815954,0.0499562693798,0.999999985715,0.000138241300525,-9.20581718355e-05,3.13677506312e-05,1793196554945736704
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,743,712,675,661.050411518,633,879,785,801.949588482,650,630.949588482,650.949588482,0.437370993554,-0.0155664203104,0.0499470630524,0.999999984238,0.000144476917234,-9.83803885456e-05,3.11746742665e-05,1793196554962403328
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,743,712,675,662.053801889,633.526900945,878.473099055,785,801.473099055,650,630.473099055,650.473099055,0.438183937705,-0.0155684931571,0.04996394343,0.999999987291,0.000142911298868,-6.40052436286e-05,2.99454455837e-05,1793196554979070208
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,743,712,675,662.896582349,634,878.103417651,785,801,649.896582349,630,650.103417651,0.438982620631,-0.015570523134,0.0499764623484,0.999999988767,0.000142250794371,-3.74793578142e-05,2.87532188574e-05,1793196554995736576
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,743,712,675,662.322944686,634,878.677055314,785,801,649.322944686,630,650.677055314,0.439712342483,-0.015571432798,0.0499578389637,0.999999986423,0.000149088402351,-6.42895290726e-05,2.81785244826e-05,1793196555012403456
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,743.258276201,712,674.741723799,661.741723799,634,878.741723799,785,801,649,630.258276201,650.741723799,0.440424524071,-0.0155712837343,0.0499443423008,0.999999983643,0.00015751655193,-8.4339290133e-05,2.81104915922e-05,1793196555029070336
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,743.84926581,712,674.15073419,661.15073419,634,878.15073419,785,801,649,630.84926581,650.15073419,0.441114110098,-0.0155697708092,0.0499374499222,0.9999999809,0.000167993649123,-9.56802362027e-05,2.86951440251e-05,1793196555045737216
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.431128789,744,712,674.431128789,661.431128789,634,878,785,801.431128789,649.431128789,630.568871211,650.431128789,0.441820365792,-0.0155705255184,0.0499584249135,0.999999982441,0.000175936011637,-5.59469105128e-05,3.21619275466e-05,1793196555062403840
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.990192911,743.990192911,712.009807089,675,662,634,878,785,802,650,630,650.990192911,0.442530827039,-0.0155720055122,0.0499884646914,0.999999982584,0.00018301318754,2.68756308864e-07,3.65698518841e-05,1793196555079069952
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.414971403,743.414971403,712.585028597,675,662,634,878,785,802,650,630,650.414971403,0.443154701302,-0.0155705390788,0.0499910372994,0.999999981167,0.000190243325795,-1.42401117618e-06,3.83464364437e-05,1793196555095736576
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,743,713,674.836348707,661.836348707,633.836348707,878,785,802,650,630,650.163651293,0.443755981113,-0.015568946218,0.0499822287623,0.999999979427,0.00019787184805,-2.13683817241e-05,3.91874178715e-05,1793196555112403456
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,743,713,674.248918429,661.248918429,633.248918429,878,785,802,650,630,650.751081571,0.444298752178,-0.0155670259697,0.0499439484751,0.999999974042,0.000206531996324,-8.85757205424e-05,3.76056326151e-05,1793196555129070336
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,743,712.664816014,674.335183986,661.335183986,633.335183986,878.335183986,784.664816014,802,650,630,651,0.444854175024,-0.015564793982,0.0499258039105,0.999999970248,0.000215440558706,-0.000108311623738,3.68436312709e-05,1793196555145737216
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,743,712.083160715,674.916839285,661.916839285,633.916839285,878.916839285,784.083160715,802,650,630,651,0.44541890109,-0.0155623327626,0.0499224657772,0.999999969782,0.000224531787714,-9.314028554e-05,3.66844429603e-05,1793196555162404352
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,743,712,675,662,634,878.507975467,784.492024533,802.492024533,650,630,650.507975467,0.445963333562,-0.0155634304829,0.0499428204538,0.999999971158,0.000231318531252,-5.13586836821e-05,3.92142663882e-05,1793196555179071232
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.066499416,743,712,675,662,633.933500584,878.066499416,784.933500584,802.933500584,650,630,650.066499416,0.446491252367,-0.0155649738502,0.0499617559924,0.999999970917,0.000237075759073,-1.50516148547e-05,4.16452998246e-05,1793196555195737856
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.643808694,743,712,675,662,633.356191306,878.643808694,784.356191306,802.356191306,650,630,650.643808694,0.446918327872,-0.0155653798409,0.0499394295579,0.999999969405,0.000237877914972,-5.4896257407e-05,3.98716718503e-05,1793196555212403968
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.77363637,743,712,675,661.77363637,633,879,784,802,650,630,651,0.44732427166,-0.0155651691829,0.0499102948156,0.999999966085,0.000236815836984,-0.000101996721193,3.66639586312e-05,1793196555229070336
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.182631441,743,712,675,661.182631441,633,879,784,802,650,630,651,0.447696175058,-0.0155639651866,0.049870192809,0.999999959503,0.000232750729307,-0.000160785331114,3.11461275291e-05,1793196555245736704
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,743.400144515,712,675,661,633,878.599855485,784,802,650,629.599855485,651,0.448057902029,-0.0155644096429,0.0498485939368,0.99999996164,0.000195889473338,-0.000194935805196,1.86219666021e-05,1793196555262403328
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,743.979240386,712,675,661,633,878.020759614,784,802,650,629.020759614,651,0.448415077963,-0.0155655913147,0.049835269974,0.999999965799,0.000144361227541,-0.000218067695253,2.96445662752e-06,1793196555279070208
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,743.447806131,712.552193869,675,661,633,878.552193869,784,802,650,629.552193869,650.447806131,0.448767990534,-0.0155729622655,0.0498515662225,0.999999978686,7.39553324167e-05,-0.000192647685986,6.75775548785e-06,1793196555295737088
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.871329221,743.128670779,712.871329221,675,660.871329221,633,879,784,801.871329221,650,629.871329221,650.128670779,0.449108963842,-0.0155794544531,0.0498668266975,0.999999985277,2.12795218871e-05,-0.000169916756247,1.10264620213e-05,1793196555312403712
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.28140277,743.71859723,712.28140277,675,660.28140277,633,879,784,801.28140277,650,629.28140277,650.71859723,0.449407705934,-0.0155819715298,0.0498744261977,0.999999985962,3.46781711037e-05,-0.000163296863788,1.44068743867e-05,1793196555329070592
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.606301984,743.696849008,712,675,660.606301984,633,879,784,801.303150992,650,629,650.696849008,0.449683128188,-0.0155821176417,0.0498763850703,0.999999985499,4.60315214113e-05,-0.000163113561978,1.66535427587e-05,1793196555345737216
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.765608636,743.117195682,712,675,661.765608636,633,879,784,801.882804318,650,629,650.117195682,0.449937280527,-0.0155801012096,0.0498731991573,0.999999984052,5.55193651585e-05,-0.000168801039103,1.78661293388e-05,1793196555362403584
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.541356759,743.458643241,712,675,661.541356759,633,879,784,802.458643241,650,629,650.458643241,0.450151927146,-0.0155777881795,0.0498674072572,0.99999998113,6.56723139254e-05,-0.000181908527048,1.83591646654e-05,1793196555379070208
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,743.9664209,712,675,661,633,879,784,802.9664209,650,629,651,0.45035473726,-0.0155756339655,0.0498609729223,0.999999977611,7.56197646093e-05,-0.000196749281632,1.8699104698e-05,1793196555395736576
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,743.390457983,712,675,661,633,879,784,802.390457983,650,629,651,0.450528069344,-0.0155772590897,0.0498548288858,0.999999974762,7.95254277675e-05,-0.000209213903038,1.95115495012e-05,1793196555412403200
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,743,712.190032828,675,661,633,878.809967172,784,802,650,629,651,0.450692602272,-0.0155781367127,0.0498493062501,0.999999972056,8.3820285016e-05,-0.000220125732585,2.01606415037e-05,1793196555429070080
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,743,712.780054052,675,661,633,878.219945948,784,802,650,629,651,0.450838614375,-0.0155774409662,0.0498450915635,0.999999969897,8.89343324596e-05,-0.000227769184669,2.04659021602e-05,1793196555445737472
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,743,712.636413793,675.363586207,661,633,878,783.636413793,802,650,629,651,0.450962018356,-0.015576368906,0.0498401046588,0.999999966754,9.41415569161e-05,-0.000239175278958,2.05945489414e-05,1793196555462404096
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,743,712.056738215,675.943261785,661,633,878,783.056738215,802,650,629,651,0.451071985716,-0.0155750731921,0.0498346588032,0.999999962888,9.94041595328e-05,-0.000252817616603,2.0618229223e-05,1793196555479070720
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,743.51657313,712,675.48342687,661,632.48342687,878,783.51657313,802,649.48342687,629,651,0.451161626796,-0.0155747519032,0.0498302242344,0.999999959715,0.000101197269444,-0.00026440794981,2.04196602112e-05,1793196555495737344
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,743.910525506,712,675.089474494,660.910525506,632.089474494,878.089474494,784,802,649.089474494,629,651,0.451246814804,-0.0155750065899,0.0498265266466,0.999999957115,0.000102172306996,-0.000273709754065,2.03482204855e-05,1793196555512403712
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,743.336103449,712,675.663896551,660.336103449,632.663896551,878.663896551,784,802,649.663896551,629,651,0.451319820471,-0.0155778100168,0.0498262287628,0.99999995776,0.000100753700672,-0.0002718145446,2.10965113447e-05,1793196555529070592
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.752850274,743.247149726,712.247149726,675.752850274,660,632.752850274,878.752850274,783.752850274,802,650,629,651,0.451383050501,-0.0155791896217,0.049825340888,0.99999995731,0.000100404277584,-0.000273585510778,2.12308249719e-05,1793196555545737216
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+220,3.666666667,POSE1_TO_POSE2_PRESS,765,743.425402367,712.425402367,675.574597633,661,632.574597633,878.574597633,783,802,650,629,651,0.451533523025,-0.0155747185171,0.049820670933,0.999999952871,0.000106033521158,-0.000287418935604,2.01514565195e-05,1793196555612403712
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,743,712,676,660.847099494,633,879,783.152900506,802.152900506,650,629,651,0.451555508501,-0.0155749823536,0.0498194332225,0.999999952504,0.000105777085834,-0.000288801574548,1.99453408844e-05,1793196555629070592
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,743,712,676,660.259708221,633,879,783.740291779,802.740291779,650,629,651,0.451573170676,-0.0155732674662,0.049821771557,0.999999953434,0.000106420015084,-0.0002853512386,1.95331677567e-05,1793196555645736960
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,743,712,675.675934035,660,632.675934035,878.675934035,783.675934035,802.675934035,650,629,651,0.451583839057,-0.0155729266225,0.0498210139849,0.999999953,0.000106706198955,-0.00028676428495,1.95169879188e-05,1793196555662403840
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,743,712,675.095026542,660,632.095026542,878.095026542,783.095026542,802.095026542,650,629,651,0.451588964443,-0.0155736747899,0.0498178027233,0.999999951469,0.000106709640989,-0.000292031850288,1.98146562409e-05,1793196555679070208
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,743,712,675,660,632,878,783,802,650,629,651,0.451591134949,-0.0155714210849,0.0498153760324,0.999999950092,0.000109111479809,-0.000295884514832,1.90383292758e-05,1793196555695736576
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660.056006986,632,878,783.056006986,802,650,629,651,0.45159270509,-0.0155688849555,0.0498131960873,0.999999948808,0.000111573810073,-0.000299343668584,1.81392263249e-05,1793196555712403456
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660.630525651,632,878,783.630525651,802,650,629,651,0.451594067293,-0.0155691694465,0.0498118799377,0.999999948241,0.000110253544812,-0.000301721580429,1.80480805097e-05,1793196555729070080
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,743,712,675,660.787947339,632,878.212052661,783.787947339,802,650,629,651,0.451595337999,-0.015569219912,0.049810841981,0.999999947846,0.000109581862487,-0.000303276584304,1.79829989496e-05,1793196555745736960
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660.193791862,632,878.806208138,783.193791862,802,650,629,651,0.451596443836,-0.0155688486813,0.0498103053069,0.99999994777,0.000110078877523,-0.00030334877027,1.7964883207e-05,1793196555762403840
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+239,3.983333333,POSE1_TO_POSE2_PRESS,765,743,712.597889801,675,661,632,878,784,802.402110199,650,628.597889801,650.597889801,0.451602893269,-0.0155681260373,0.0498104430068,0.999999948101,0.000108663698803,-0.000302800078915,1.73928489513e-05,1793196555929070336
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,743,713,675,660.821966879,632,878,783.821966879,802,650,629,651,0.451603929493,-0.0155680968283,0.0498109921546,0.999999948509,0.000108295327905,-0.000301581346103,1.74239783697e-05,1793196555945736960
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,743,713,675,660.228972655,632,878,783.228972655,802,650,629,651,0.451603124018,-0.0155677689071,0.0498106949738,0.99999994831,0.000108224669845,-0.000302264921699,1.74004312468e-05,1793196555962403328
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,743.354164226,712.645835774,675,660.354164226,632,878.354164226,783,802,650,629,651,0.451602299288,-0.0155673618767,0.0498099983423,0.999999948071,0.000106914697149,-0.000303534193661,1.71502430273e-05,1793196555979069696
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,743.931100732,712.068899268,675,660.931100732,632,878.931100732,783,802,650,629,651,0.451601462448,-0.0155669050861,0.0498090504531,0.9999999478,0.000104825185109,-0.000305171873544,1.67574956495e-05,1793196555995736576
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,743.494656988,712,675.505343012,661,632,878.494656988,783,802,650,629,651,0.451600967133,-0.0155664013568,0.0498087816789,0.999999947532,0.0001053634968,-0.000305876952357,1.6530416263e-05,1793196556012403456
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,743,712,675.921274298,660.921274298,632,878,783,802,650,629,651,0.451600549067,-0.0155660214658,0.0498086005867,0.999999947257,0.000106275716878,-0.000306471052055,1.63550805669e-05,1793196556029070080
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,743,712,675.350977705,660.350977705,632,878,783,802,650,629,651,0.45160032415,-0.015566454581,0.049808391905,0.999999946936,0.000107297375443,-0.000307161928009,1.63625473767e-05,1793196556045736960
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,743,712.229827471,675,660.229827471,632,878,783,802,650,628.770172529,651,0.451600885202,-0.0155670124667,0.0498088150915,0.999999947166,0.000106866315074,-0.000306553845296,1.65221425186e-05,1793196556062403840
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,743,712.827449707,675,660.827449707,632,878,783,802,650,628.172550293,651,0.451602704046,-0.015567770024,0.0498102494618,0.99999994827,0.000104110456978,-0.000303867028607,1.69251898644e-05,1793196556079070720
+249,4.150000000,HOLD_POSE2,765,744,712,676,661,632,879,784,803,650,628,651,0.451602472101,-0.0155670210967,0.049809740426,0.99999994836,0.000101702548828,-0.000304431977916,1.603568706e-05,1793196556112719616
+250,4.166666667,HOLD_POSE2,765,744,712.575543879,675.424456121,661,632,879,783.424456121,802.424456121,650,628.575543879,651,0.451602585303,-0.0155671730908,0.0498097510975,0.999999948087,0.000103921259734,-0.000304557676047,1.6479508582e-05,1793196556129386240
+251,4.183333333,HOLD_POSE2,765,743.845499694,712.845499694,675,661,632,879,783,802,650,629,651,0.451602981746,-0.0155669750484,0.0498099429389,0.999999947964,0.000105472854004,-0.000304414351062,1.67296793978e-05,1793196556146052864
+252,4.200000000,HOLD_POSE2,765,743.256956143,712.256956143,675,661,632,879,783,802,650,629,651,0.451604173905,-0.0155657936356,0.0498106437477,0.999999948276,0.000105150294129,-0.000303515249835,1.64358204506e-05,1793196556162719488
+253,4.216666667,HOLD_POSE2,765,743.326374632,712,675.326374632,661,632,878.673625368,783,802,650,629,651,0.451604103563,-0.0155659711682,0.0498104285219,0.999999948288,0.000104904815001,-0.000303573186421,1.61685673237e-05,1793196556179386624
+254,4.233333333,HOLD_POSE2,765,743.905665851,712,675.905665851,661,632,878.094334149,783,802,650,629,651,0.451603054875,-0.0155672017849,0.0498095034358,0.999999948069,0.000104719067863,-0.000304372757711,1.59219317889e-05,1793196556196053760
+255,4.250000000,HOLD_POSE2,765,744,712.482540326,675.517459674,661,632,878,783,802.482540326,650,629,650.517459674,0.451603490584,-0.0155658072351,0.0498095545491,0.999999948162,0.00010452210755,-0.000304147387167,1.56762471988e-05,1793196556212720128
+256,4.266666667,HOLD_POSE2,765,743.941399245,713,675,661,632,878,783,802.941399245,650,629,650.058600755,0.451604147829,-0.015564336652,0.0498098461897,0.999999948306,0.000104351579166,-0.000303739002674,1.55555896713e-05,1793196556229386496
+257,4.283333333,HOLD_POSE2,765,743.368358145,713,675,661,632,878,783,802.368358145,650,629,650.631641855,0.451604215059,-0.0155666814447,0.0498105823541,0.999999948362,0.000104432237722,-0.000303474223916,1.6530887372e-05,1793196556246052864
+258,4.300000000,HOLD_POSE2,764.78822791,743.21177209,712.78822791,675,660.78822791,632,877.78822791,783,802.21177209,650,628.78822791,651,0.451604075365,-0.0155681468979,0.0498108373616,0.999999948351,0.000103892146844,-0.00030367196873,1.69818548978e-05,1793196556262719232
+259,4.316666667,HOLD_POSE2,764.195339757,743.804660243,712.195339757,675,660.195339757,632,877.195339757,783,802.804660243,650,628.195339757,651,0.451603563279,-0.0155680298461,0.0498102264539,0.999999948216,0.000102234923009,-0.000304702095033,1.64892104801e-05,1793196556279385856
+260,4.333333333,HOLD_POSE2,764,744,712,675,660,632,877.776540966,783,802.611729517,650,628.388270483,651,0.451603248408,-0.0155672923485,0.049809526169,0.999999948054,0.000102374967517,-0.000305214121439,1.60201758078e-05,1793196556296052480
+261,4.350000000,HOLD_POSE2,764,744,712,675,660,632,878.934643942,783,802.032678029,650,628.967321971,651,0.451603030441,-0.015566249988,0.0498087819675,0.999999947877,0.000103398119595,-0.000305471573811,1.55627420014e-05,1793196556312719360
+262,4.366666667,HOLD_POSE2,764.541295967,744,712.541295967,675,660.541295967,632,878.458704033,783,802,650,629,651,0.451604635652,-0.0155658056186,0.0498098338129,0.999999948182,0.000104479964921,-0.000304096056131,1.56423640882e-05,1793196556329385984
+263,4.383333333,HOLD_POSE2,765,743.881836077,712.881836077,675,660.881836077,632,878.118163923,783,802.118163923,650,629,651,0.451606376322,-0.0155656493349,0.0498109422086,0.999999948575,0.00010507976003,-0.000302585509175,1.58063348213e-05,1793196556346052608
+264,4.400000000,HOLD_POSE2,765,743.292209676,712.292209676,675,660.292209676,632,878.707790324,783,802.707790324,650,629,651,0.45160822239,-0.015566499785,0.0498118476411,0.99999994921,0.000103742216236,-0.000300925886928,1.61786897578e-05,1793196556362719232
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,743,713,675,660,633,879,783,803,650,629,651,0.451604199406,-0.0155642510088,0.0498104947359,0.999999948232,0.000103376694057,-0.000304320269035,1.54636180532e-05,1793196556399776256
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,743,713,675,660,632.423014679,878.423014679,783,802.423014679,650,629,651,0.451604854458,-0.0155648836082,0.0498101296432,0.999999948218,0.000103651843507,-0.000304271109373,1.54984874316e-05,1793196556416442880
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.156470124,743.156470124,712.843529876,675,660,632,878,783.156470124,802.156470124,650,629,651,0.4516049928,-0.0155650549462,0.0498097834642,0.999999948054,0.000104643494599,-0.000304474460257,1.54263546364e-05,1793196556433109504
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.742822067,743.742822067,712.257177933,675,660,632,878,783.742822067,802.742822067,650,629,651,0.451603711544,-0.0155639590275,0.0498094892483,0.999999947471,0.000107603643137,-0.000305371551829,1.5060246948e-05,1793196556449776128
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.674724579,743.674724579,712,675,660,632,878.325275421,783.674724579,802.674724579,650,629,651,0.451603590662,-0.0155633275669,0.0498092926892,0.999999947315,0.000108439409696,-0.000305593463795,1.49517665042e-05,1793196556466442752
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.09531716,743.09531716,712,675,660,632,878.90468284,783.09531716,802.09531716,650,629,651,0.451604376358,-0.0155630589792,0.0498091724275,0.999999947496,0.000107615433591,-0.00030528786969,1.5044565743e-05,1793196556483109376
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,743,712.484125369,675.484125369,660.484125369,632,878.515874631,783.484125369,802,650,629,651,0.45160370739,-0.0155629430361,0.0498083660212,0.999999947252,0.000106700477908,-0.000306420230484,1.47785900343e-05,1793196556499776000
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,743,712.937057607,675.937057607,660.937057607,632.062942393,878,783.937057607,802,650,629,651,0.451603036007,-0.0155630619009,0.049807716297,0.999999947073,0.000105670379233,-0.000307368621914,1.45369593273e-05,1793196556516442624
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,743,712.363372279,675.363372279,660.363372279,632.636627721,878,783.363372279,802,650,629,651,0.451604669193,-0.0155648422171,0.049809434237,0.999999948126,0.000103851319384,-0.000304526736898,1.50661010413e-05,1793196556533110272
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,743.215714689,712.215714689,675,660,632.784285311,878,783,802,650,629,651,0.451603849578,-0.0155661518396,0.0498094139684,0.999999948344,0.000102106710128,-0.000304387079461,1.53110919091e-05,1793196556549777152
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,743.804134378,712.804134378,675,660,632.195865622,878,783,802,650,629,651,0.451598792091,-0.0155666482127,0.0498063904779,0.999999947123,0.000100490734438,-0.000308916245449,1.50651358996e-05,1793196556566443264
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,743.613608516,713,675,660.386391484,632,878.386391484,783,802,650,629,651,0.451584294432,-0.0155653927443,0.0497996784351,0.99999994345,0.000101670053283,-0.000320236976133,1.45671195689e-05,1793196556583109888
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,743.034426191,713,675,660.965573809,632,878.965573809,783,802,650,629,651,0.45156508658,-0.015563263191,0.0497911259813,0.999999938375,0.000104244090037,-0.000334946372618,1.39433371874e-05,1793196556599776512
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,743,712.45843783,675,661,632,879,783,802,650,628.45843783,651,0.451526818167,-0.0155608301414,0.0497746896788,0.999999928641,0.000104249050251,-0.000362918242763,1.18820602995e-05,1793196556616443392
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.882378997,743,712.117621003,675,661,632.117621003,879,783,802,650,628.117621003,651,0.451484193789,-0.0155584447097,0.0497578247208,0.999999917945,0.000104097920588,-0.00039137923983,9.83620648884e-06,1793196556633110272
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.305256158,743,712.694743842,675,661,632.694743842,879,783,802,650,628.694743842,651,0.451429257958,-0.0155563202306,0.0497412315383,0.999999907,0.000103971264055,-0.000418476820057,8.20549569394e-06,1793196556649776896
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.277202527,743,713,675,661,632.722797473,878.722797473,783,802.277202527,650,629,651,0.451372350449,-0.01555232975,0.0497282668537,0.999999899403,0.000105801958907,-0.000435842802848,6.4376121851e-06,1793196556666443520
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.865652346,743,713,675,661,632.134347654,878.134347654,783,802.865652346,650,629,651,0.451313229112,-0.0155462440941,0.0497193763037,0.999999896152,0.00010983039829,-0.000442281995865,4.51570912998e-06,1793196556683109888
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,743,712.552927599,675.447072401,660.552927599,632,878.447072401,783,802.552927599,650,629,651,0.451242618437,-0.015541327275,0.049714331273,0.999999892744,0.000112877760234,-0.000449175373154,3.46463152857e-06,1793196556699776256
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,743.026287569,712,675.973712431,660.026287569,632.026287569,878.973712431,783,802,650,629,651,0.451168254166,-0.0155366976512,0.0497107247216,0.999999889547,0.000115654751419,-0.00045554602801,2.67133880563e-06,1793196556716442880
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,743.60288389,712,675.39711611,660.60288389,632.60288389,878.39711611,783,802,650,629,651,0.451086470025,-0.015530841095,0.049713414532,0.999999892512,0.000118848005115,-0.00044816095229,1.88114907311e-06,1793196556733109760
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,744,712,675.182268497,661,633,878.182268497,783.182268497,802,650,629,651,0.450998500948,-0.0155244338799,0.0497161678008,0.999999895126,0.000122394683808,-0.000441323189651,1.20964170611e-06,1793196556749776640
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,744,712,675.767822359,661,633,878.767822359,783.767822359,802,650,629,651,0.450896847157,-0.0155168082838,0.0497190614763,0.999999897055,0.000126723346524,-0.000435696407214,8.00729800925e-07,1793196556766443520
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,744,712,675.650486491,660.650486491,632.650486491,879,784,802.349513509,649.650486491,629,651,0.450776513515,-0.0155081684675,0.0497198373303,0.999999897719,0.000130066505079,-0.000433178813989,1.86499994559e-08,1793196556783110144
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,744,712,675.071333187,660.071333187,632.071333187,879,784,802.928666813,649.071333187,629,651,0.450643906696,-0.0154988622805,0.0497192217188,0.99999989757,0.000132762161278,-0.000432704041303,-1.0086112058e-06,1793196556799777024
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,743.492957108,712,675,660.507042892,632.507042892,878.492957108,783.492957108,802.492957108,649.507042892,629,651,0.450495603918,-0.0154906980472,0.0497224784997,0.999999899962,0.000136526737243,-0.000425950411916,-1.38956751256e-06,1793196556816443648
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,743,712,675.084519547,661,632.915480453,878.084519547,783.084519547,802.084519547,650,629,651,0.450341989318,-0.0154821385421,0.0497267455356,0.999999902906,0.000141047030415,-0.000417480586943,-1.77519740273e-06,1793196556833109760
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.657430043,661,632.342569957,878.657430043,783.657430043,802.657430043,650,629,651,0.450170420944,-0.0154703680635,0.049733707072,0.999999907201,0.000149066554667,-0.000404190337904,-2.71243503514e-06,1793196556849776128
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.237430812,743,712.237430812,676,661,632.237430812,879,784,803,650,629,651,0.449984740479,-0.0154599192624,0.0497375783214,0.99999990972,0.00015352656928,-0.000396198181324,-4.04572209511e-06,1793196556866443008
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.827976429,743,712.827976429,676,661,632.827976429,879,784,803,650,629,651,0.449778072064,-0.0154514361036,0.0497368535953,0.999999909883,0.000152692765253,-0.000396085520622,-5.96802665554e-06,1793196556883109632
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.589600438,743,713,676,660.589600438,633,878.589600438,783.589600438,802.589600438,650,629.410399562,651,0.449543585585,-0.015443300422,0.0497392966892,0.999999911953,0.000151662929208,-0.000391196993092,-7.50394346383e-06,1793196556899776768
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.010515874,743,713,676,660.010515874,633,878.010515874,783.010515874,802.010515874,650,629.989484126,651,0.449297665157,-0.0154353075629,0.0497430418403,0.999999914767,0.000150552518865,-0.000384345458807,-8.88104470685e-06,1793196556916443648
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,743.567148393,712.432851607,675.432851607,660.567148393,633,878,783.567148393,802.567148393,650,630,651,0.449018716851,-0.0154310715195,0.049740475188,0.999999913832,0.000144708775103,-0.000388932017124,-1.12599895826e-05,1793196556933110528
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,744,712.144087694,675,661,633,878,784,802.855912306,650,629.855912306,651,0.448732683441,-0.0154295103175,0.0497381025713,0.999999913649,0.000135978141907,-0.000392470522198,-1.33661241703e-05,1793196556949776896
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,744,712.718938075,675,661,633,878,784,802.281061925,650,629.281061925,651,0.448427294772,-0.0154357380597,0.0497366590427,0.9999999159,0.000118878625159,-0.000392243328576,-1.46012728612e-05,1793196556966443264
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,743.110097497,713,675,661,633,878,784,802,650,629.889902503,651,0.447780898551,-0.0154370588292,0.0497363184496,0.999999921541,9.14219331403e-05,-0.000384954892566,-1.92293942794e-05,1793196556999776256
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,743,712.532150327,675,661.467849673,633,878,784.467849673,802.467849673,650,629.532150327,651,0.447408549011,-0.0154298786919,0.0497340652232,0.999999921142,8.59282176513e-05,-0.000387074156912,-2.25130259819e-05,1793196557016442880
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,661.956531459,633,878,784.956531459,803,650,629.043468541,651,0.447024924452,-0.0154214196351,0.0497315777532,0.999999920147,8.1947750449e-05,-0.000390280291757,-2.59109959258e-05,1793196557033109760
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,661.378511092,633,878,784.378511092,803,650,629.621488908,651,0.446625331422,-0.0154143092407,0.0497332642352,0.999999921613,7.63765676087e-05,-0.000387429154848,-2.89606004181e-05,1793196557049776384
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,743,712.203173932,675,661,633,878,784,802.796826068,650,630,651,0.446222472518,-0.015409498974,0.0497379430782,0.999999925168,6.70780671113e-05,-0.000379687018166,-3.1673644165e-05,1793196557066443264
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,743,712.791811547,675,661,633,878,784,802.208188453,650,630,651,0.445813417587,-0.0154090525337,0.0497482990595,0.999999932382,5.07080613494e-05,-0.000362665626226,-3.37481611948e-05,1793196557083110144
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,743.374584627,712.625415373,675,661.374584627,633,878,784.374584627,802,649.625415373,630,651,0.445384374088,-0.015409308327,0.0497734949708,0.999999945765,3.59478826561e-05,-0.000325652595499,-3.35798736613e-05,1793196557099777024
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,743.954148511,712.045851489,675,661.954148511,633,878,784.954148511,802,649.045851489,630,651,0.444944392509,-0.015409948395,0.049806811551,0.99999996068,2.20686299572e-05,-0.000277699790384,-3.21842841203e-05,1793196557116443392
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,662,633,878.106818156,784,802,650,630,650.106818156,0.443887232971,-0.0154025088434,0.0498131047742,0.999999957477,-1.14904755453e-05,-0.000288901096848,-3.80861594186e-05,1793196557149776640
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,662,633,878.679925399,784,802,650,630,650.679925399,0.443314816663,-0.0153977139371,0.0497876868293,0.999999944008,-2.7319968121e-05,-0.000330657906639,-4.36240027392e-05,1793196557166443520
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,743.261229809,712.261229809,675,662,633.261229809,878.738770191,784.261229809,802,650,630,651,0.442743026336,-0.0153946191692,0.0497656698133,0.999999931592,-4.47955472974e-05,-0.000363890546024,-4.8918617684e-05,1793196557183110912
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,743.852903337,712.852903337,675,662,633.852903337,878.147096663,784.852903337,802,650,630,651,0.44217202777,-0.0153936749975,0.0497479548131,0.999999921847,-6.43533526517e-05,-0.000386340507231,-5.39055607079e-05,1793196557199777792
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,743.56447045,712.56447045,675,662,634,878,785,802,650,630,651,0.441611744929,-0.015395769165,0.0497683134219,0.999999934077,-8.66799729936e-05,-0.000348248034508,-5.5286162285e-05,1793196557216444416
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.015037378,743,712,675,662,633.984962622,878.015037378,785,802,650,630,650.984962622,0.441053308912,-0.015398831491,0.049801007136,0.999999950146,-0.000109861964102,-0.000290793277019,-5.54706206209e-05,1793196557233111296
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.589896305,743,712,675,662,633.410103695,878.589896305,785,802,650,630,650.410103695,0.440431632184,-0.015400511388,0.0498239370257,0.999999956557,-0.00013078259948,-0.000258256481539,-5.55464907433e-05,1793196557249777664
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,662.661815816,633.661815816,878.338184184,784,802,649.661815816,630,651,0.43841309867,-0.0153873472988,0.049771042072,0.999999919532,-0.00018591198397,-0.000348414832688,-7.05681962954e-05,1793196557299776768
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,662.082771591,633.082771591,878.917228409,784,802,649.082771591,630,651,0.437691955502,-0.0153803430298,0.0497340437622,0.999999893809,-0.000200474590608,-0.000407574077177,-7.79474241527e-05,1793196557316443648
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,764.073833489,743,712,675,661.073833489,633.073833489,877.073833489,785,802,650,630,650.073833489,0.436325529262,-0.0153907581497,0.0497775382856,0.999999934931,5.07056214903e-05,-0.000348260433151,-7.92552200878e-05,1793196557349776640
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+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.771808966,661.771808966,634,878,785,802,650,630,651,0.434874965929,-0.0153836503427,0.04981502209,0.99999995289,-2.04289248017e-06,-0.000296055937581,-8.10384489806e-05,1793196557383110400
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.18254809,661.18254809,634,878,785,802,650,630,651,0.43413011364,-0.0153798832131,0.0497923650353,0.999999940167,-7.07115243157e-06,-0.000336343474833,-8.05506462087e-05,1793196557399777024
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,661.399921326,634,878,785,802,650,630,650.600078674,0.433386150034,-0.0153770370191,0.0497851660368,0.999999938302,3.87831438711e-05,-0.000343080973639,-6.47033598446e-05,1793196557416443648
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,661.979342443,634,878,785,802,650,630,650.020657557,0.432642585346,-0.0153746041759,0.0497849051989,0.999999937312,0.000107475452644,-0.000334759944711,-4.19621571159e-05,1793196557433110016
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.554230132,662,634,878,785,801.445769868,649.445769868,630,650,0.431890311509,-0.0153692928105,0.0498023965331,0.99999994632,8.29329905992e-05,-0.000313815714138,-4.47514404502e-05,1793196557449776640
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+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,662,634,878.703123986,784.296876014,801.703123986,649,629.296876014,650.703123986,0.430290765752,-0.0153681664443,0.0497796899803,0.999999936728,1.40880328692e-05,-0.000350863288822,-5.69336866066e-05,1793196557483109888
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.713784796,661.713784796,633.713784796,878.713784796,784.286215204,801.713784796,649,629.286215204,650.713784796,0.429479964582,-0.0153697840104,0.0497572870096,0.999999924113,-1.75483325024e-05,-0.000383992505813,-6.33627302963e-05,1793196557499776768
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.121257144,661.121257144,633.121257144,878.121257144,784.878742856,801.121257144,649,629.878742856,650.121257144,0.428689345641,-0.0153704441552,0.0497430593355,0.999999914487,-4.184145979e-05,-0.000405677991688,-6.85547752707e-05,1793196557516443392
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.920820254,661.460410127,633,877.539589873,785,801,649.460410127,630,650.460410127,0.427910952238,-0.0153700775126,0.049760957833,0.999999922315,-5.2560387215e-05,-0.000384741651453,-6.76849221785e-05,1793196557533110272
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.960936563,662,633.039063437,877.039063437,785,801.039063437,649.960936563,630,650.960936563,0.427133274844,-0.015369451985,0.0497846389096,0.999999932688,-5.89914529419e-05,-0.000356193272788,-6.5344671458e-05,1793196557549776896
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.38530029,662,633.61469971,877.61469971,785,801.61469971,649.38530029,630,650.38530029,0.426322225385,-0.0153688993396,0.0497742076806,0.999999926618,-5.4499120186e-05,-0.000373721972617,-6.42313037945e-05,1793196557566443264
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.805967556,661.805967556,634,878,785,801.805967556,649,629.805967556,650,0.42553354678,-0.0153691618852,0.0497734141951,0.999999928795,-5.30792058442e-05,-0.00036811785976,-6.38901598896e-05,1793196557583109632
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.219151909,661.219151909,634,878,785,801.219151909,649,629.219151909,650,0.42479015373,-0.0153710746362,0.0497921305569,0.999999946377,-5.78788398875e-05,-0.000315685600302,-6.51122414938e-05,1793196557599776256
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,661.725925043,633.637037479,878,785,801,649,629.362962521,650.362962521,0.42403025377,-0.0153738545456,0.0498146924943,0.999999959341,-5.37637414989e-05,-0.000272605636415,-6.41297904341e-05,1793196557616442880
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.884549362,633.057725319,878,785,801,649,629.942274681,650.942274681,0.423260514645,-0.0153771513387,0.0498395466478,0.999999969469,-4.43348734351e-05,-0.000235100261599,-6.18332922099e-05,1793196557633109760
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.479709089,633,878,785,801,649,630,651,0.42245872365,-0.0153748724895,0.0498206929924,0.999999961979,-3.45209589883e-05,-0.000265885743744,-6.44525516424e-05,1793196557649776640
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,662,633.097261873,877.902738127,785,801,649.097261873,629.902738127,651,0.42165522218,-0.0153723645045,0.049797847334,0.999999951291,-2.9028519908e-05,-0.00030335867138,-6.74388028666e-05,1793196557666443520
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,662,633.669825662,877.330174338,785,801,649.669825662,629.330174338,651,0.420860696784,-0.0153717522879,0.0497791322643,0.999999939932,-4.48626299312e-05,-0.000336577742281,-6.95598544267e-05,1793196557683110400
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.749597194,743,712,674,662,634,877.250402806,785,801,649.749597194,629.250402806,651,0.420088019573,-0.0153734627551,0.0497821645886,0.99999993811,-5.85867716386e-05,-0.000339982952117,-6.89892849775e-05,1793196557699776768
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.158104587,743,712,674,662,634,877.841895413,785,801,649.158104587,629.841895413,651,0.419345103251,-0.0153783370999,0.0498148204414,0.999999949656,-6.9436788236e-05,-0.000302776777772,-6.47522849363e-05,1793196557716443136
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764.425049224,743,712,674,662,633.574950776,877.574950776,785,800.574950776,649,629.574950776,651,0.418569923495,-0.015377058419,0.0498095237481,0.999999943125,-7.2093391849e-05,-0.000323006717502,-6.49513747596e-05,1793196557733109760
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,661.419971509,633.580028491,877,785,800.580028491,649.580028491,629,650.419971509,0.417078624626,-0.0153741041992,0.0497818324406,0.999999928801,-7.11346475585e-05,-0.000364251452605,-6.82528623064e-05,1793196557766443520
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6c344f51b2223856a017d516a82f29182b484a0c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,427 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dd5d87177c432068642b33930aafeab83bbdaa35
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:330ebd1e693748d41bd5b4a19ab8c37ee038d22d1bc84cabe44fe2e9fefe61b3
+size 26594496
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2a541318044535d6d7273abec6c1ce7b8c9d4824
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_01/franka_data.csv
@@ -0,0 +1,421 @@
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+4,0.066666667,BASELINE,764,743,713,673.313838982,660,634,877,785,801,649.686161018,630,650.313838982,0.400989818368,-0.0155091384241,0.0698316291121,0.999999979134,6.12371686181e-05,-0.000194063025732,1.79220351807e-05,1793196560774406656
+5,0.083333333,BASELINE,764,743,713,673.902375763,660,634,877,785,801,649.097624237,630,650.902375763,0.400991363108,-0.01550927763,0.0698327214982,0.999999979423,6.16029808502e-05,-0.000192434944514,1.80843507502e-05,1793196560791073536
+6,0.100000000,BASELINE,764,743,713,673.516437585,660,634,877,785,801,649,630,651,0.400991511318,-0.0155100101004,0.0698331919053,0.999999979407,6.14344518318e-05,-0.000192550417477,1.83315135686e-05,1793196560807739904
+7,0.116666667,BASELINE,764,743,713,673,659.937336271,634,877,785,801,649,630,651,0.400991251968,-0.0155105513126,0.0698333776144,0.999999979304,6.13537856363e-05,-0.000193091783605,1.85176044914e-05,1793196560824406272
+8,0.133333333,BASELINE,764,743,713,673,659.363324202,634,877,785,801,649,630,651,0.400989933077,-0.0155085690949,0.0698322494536,0.999999978989,6.28572046214e-05,-0.000194279152686,1.80676500861e-05,1793196560841073152
+9,0.150000000,BASELINE,764,743,713,673.210554434,659.210554434,634,877,785,801,649,630,650.789445566,0.400989284684,-0.0155077451667,0.0698315189397,0.999999978851,6.34415968006e-05,-0.000194817639155,1.78873168978e-05,1793196560857739776
+10,0.166666667,BASELINE,764,743,713,673.784202912,659.784202912,634,877,785,801,649,630,650.215797088,0.400989792539,-0.0155089186699,0.0698314741549,0.999999979021,6.24411579925e-05,-0.000194237149251,1.81719364811e-05,1793196560874406656
+11,0.183333333,BASELINE,764.37043475,743,713,673.62956525,659.62956525,634,877,785,801,649,629.62956525,650.37043475,0.400988632379,-0.0155088164102,0.0698309341765,0.999999978664,6.39693614293e-05,-0.000195575799168,1.81481657785e-05,1793196560891073280
+12,0.200000000,BASELINE,764.964254857,743,713,673.035745143,659.035745143,634,877,785,801,649,629.035745143,650.964254857,0.400986466345,-0.01550794482,0.0698300955788,0.999999977977,6.70224261709e-05,-0.000198071758742,1.7938424769e-05,1793196560907740160
+13,0.216666667,BASELINE,764.455615046,743,713,673,659,634,877,785,801,649,629.544384954,651,0.400988366389,-0.0155078894885,0.0698311932329,0.999999978601,6.56352103559e-05,-0.000195373107233,1.78922062445e-05,1793196560924406784
+14,0.233333333,BASELINE,764,743,712.877662968,673,659.122337032,634,877,785,801,649,629.877662968,651,0.400990209668,-0.0155081519577,0.069832334594,0.999999979182,6.37148520245e-05,-0.000193015542797,1.79192859077e-05,1793196560941073152
+15,0.250000000,BASELINE,764,743,712.304505605,673,659.695494395,634,877,785,801,649,629.304505605,651,0.400990884035,-0.015509392882,0.0698331800026,0.99999997933,6.08778728778e-05,-0.000193140998804,1.81778779311e-05,1793196560957739776
+16,0.266666667,BASELINE,764,743,712,673,660,634,877,785,801,649,629.27666814,651,0.400991091551,-0.0155092599634,0.069833545542,0.999999979341,6.06713995638e-05,-0.00019314279473,1.82291413775e-05,1793196560974406144
+17,0.283333333,BASELINE,764,743,712,673,660,634,877,785,801,649,629.866928086,651,0.400990769911,-0.0155075698512,0.0698333671694,0.999999979199,6.34464951415e-05,-0.000193004427099,1.8045406508e-05,1793196560991072768
+18,0.300000000,BASELINE,764.448587156,743,712.448587156,673.448587156,659.551412844,634,877,785,801,649,629.551412844,651,0.400990158569,-0.0155069585838,0.0698328992967,0.999999978984,6.49254300286e-05,-0.000193626696753,1.8047025477e-05,1793196561007739648
+19,0.316666667,BASELINE,765,743,713,674,659.02762457,634,877,785,801,649,629.02762457,651,0.40098949708,-0.0155067103888,0.0698323752518,0.999999978765,6.58890003142e-05,-0.000194427713538,1.80952142459e-05,1793196561024406272
+20,0.333333333,BASELINE,765,743,713,674,659.604312147,634,877,785,801,649,629.604312147,651,0.400989514851,-0.0155074372531,0.0698324095522,0.999999978891,6.41077850009e-05,-0.00019438105235,1.79967107951e-05,1793196561041073408
+21,0.350000000,BASELINE,764.819243619,743,713,673.819243619,660,634,877.180756381,784.819243619,801,649,629.819243619,651,0.400989750765,-0.0155074733075,0.0698325421088,0.999999978906,6.3762075479e-05,-0.000194427473262,1.78904140496e-05,1793196561057740288
+22,0.366666667,BASELINE,764.243331438,743,713,673.243331438,660,634,877.756668562,784.243331438,801,649,629.243331438,651,0.400990463566,-0.0155059991659,0.0698328894659,0.999999978678,6.65545593578e-05,-0.000194677383166,1.7767080211e-05,1793196561074406656
+23,0.383333333,BASELINE,764,743,713,673,660,634,878,784.340237402,801,649,629.340237402,651,0.400990993937,-0.0155058154704,0.0698331293428,0.999999978714,6.75058698838e-05,-0.00019415860848,1.77914364834e-05,1793196561091072768
+24,0.400000000,BASELINE,764,743,713,673,660,634,878,784.92940827,801,649,629.92940827,651,0.400991390834,-0.0155065759251,0.0698332905824,0.999999978948,6.71100928739e-05,-0.000193077428518,1.7923849679e-05,1793196561107739392
+25,0.416666667,BASELINE,764,743,713,673.509709209,660.509709209,634,878,785,801,649,630,651,0.400991070921,-0.0155080661777,0.0698334513276,0.999999979074,6.51577197784e-05,-0.000193073261592,1.81614001147e-05,1793196561124406272
+26,0.433333333,BASELINE,764,743,713,674,660.823833993,634,877.911916996,785,801.088083004,649.088083004,630,651,0.400990793434,-0.0155092026702,0.0698336875829,0.999999979194,6.33224106302e-05,-0.000193046528069,1.83099164852e-05,1793196561141072896
+27,0.450000000,BASELINE,764,743,713,674,659.675033313,634,877.337516656,785,801.662483344,649.662483344,630,651,0.400991288914,-0.0155078375189,0.0698343411111,0.999999979388,6.3303308198e-05,-0.000192085756512,1.78878472423e-05,1793196561157739520
+28,0.466666667,BASELINE,764,743,713,673.76304669,659.23695331,634,877,785,801.76304669,649.76304669,630,651,0.40099141487,-0.015507274613,0.0698344846629,0.999999979428,6.36019084134e-05,-0.000191788752097,1.77532027658e-05,1793196561174406400
+29,0.483333333,BASELINE,764,743,713,673.188477553,659.811522447,634,877,785,801.188477553,649.188477553,630,651,0.400991014319,-0.0155078547623,0.0698339015901,0.999999979251,6.43531777327e-05,-0.000192437496471,1.80280868847e-05,1793196561191073536
+30,0.500000000,BASELINE,764,743,713,673,660,634,877,785,801,649,629.601185655,651,0.400990132516,-0.0155068985442,0.0698331215787,0.999999978975,6.51619849862e-05,-0.000193611418653,1.7870851785e-05,1793196561207739904
+31,0.516666667,BASELINE,764,743,713,673,660,634,877,785,801,649,629.007682928,651,0.400989015782,-0.0155051923207,0.0698322454283,0.999999978648,6.5998880393e-05,-0.000195041715785,1.75026699243e-05,1793196561224406528
+32,0.533333333,BASELINE,764,743,713,673.570730891,660.570730891,634,877,785,801,649,629,651,0.400988522395,-0.0155053176309,0.0698322903823,0.999999978437,6.82626269747e-05,-0.000195347923184,1.74746497205e-05,1793196561241072896
+33,0.550000000,BASELINE,764,743,713,674,660.704550413,634,877.147724793,785,801,649,629.147724793,651,0.400988630547,-0.0155058089049,0.0698326700594,0.999999978403,6.98176422445e-05,-0.000194962218348,1.7594146234e-05,1793196561257739776
+34,0.566666667,BASELINE,764,743,713,674,659.557606654,634,877.721196673,785,801,649,629.721196673,651,0.400990448792,-0.0155072856696,0.0698339796028,0.999999978884,6.92761420194e-05,-0.000192624890166,1.81259329573e-05,1793196561274406144
+35,0.583333333,BASELINE,764,743,713,673.697046818,659.302953182,634,877.697046818,785,801,649,630,650.697046818,0.400991011379,-0.0155075063633,0.0698342857286,0.999999979079,6.83017853127e-05,-0.00019195018013,1.82007018746e-05,1793196561291072768
+36,0.600000000,BASELINE,764,743,713,673.107451663,659.892548337,634,877.107451663,785,801,649,630,650.107451663,0.400990385913,-0.0155065386139,0.0698336424618,0.999999979007,6.69178773531e-05,-0.000192848571459,1.78430592024e-05,1793196561307739392
+37,0.616666667,BASELINE,763.526631283,743,713,673,660,634,877.473368717,785,801,649.473368717,629.526631283,650.473368717,0.40098906526,-0.0155072920015,0.0698326711927,0.999999978777,6.45717655566e-05,-0.000194832165157,1.78218865363e-05,1793196561324406272
+38,0.633333333,BASELINE,763.051992969,743,713,673.051992969,660,634,877.948007031,785,801,649.948007031,629,651,0.400987851925,-0.0155083196573,0.069831819487,0.999999978567,6.22460161824e-05,-0.0001966525168,1.78649072831e-05,1793196561341073664
+39,0.650000000,BASELINE,763.628192219,743,713,673.628192219,660,634,877.371807781,785,801,649.371807781,629,651,0.400989282641,-0.0155082452389,0.0698329102546,0.999999979008,6.2287593205e-05,-0.000194388621002,1.779910925e-05,1793196561357740288
+40,0.666666667,BASELINE,764.208102123,743,713,674,660,634,877,785,801,649,629,651,0.400990403639,-0.015507758571,0.0698337065001,0.999999979246,6.33714279039e-05,-0.000192812089947,1.77439097406e-05,1793196561374406656
+41,0.683333333,BASELINE,764.794762033,743,713,674,660,634,877,785,801,649,629,651,0.400990961226,-0.0155065219815,0.0698339669818,0.999999979117,6.63512295996e-05,-0.000192485941637,1.77079899697e-05,1793196561391072768
+42,0.700000000,BASELINE,765,742.623696897,712.623696897,674,660,634,877,785,801,649,629,651,0.400990425364,-0.015505819076,0.0698334853397,0.999999978862,6.79729005034e-05,-0.000193237798231,1.77661865609e-05,1793196561407739392
+43,0.716666667,BASELINE,765,742.044910222,712.044910222,674,660,634,877,785,801,649,629,651,0.400989301131,-0.0155054033388,0.0698326043709,0.99999997854,6.88637796419e-05,-0.000194569714583,1.78750258849e-05,1793196561424406272
+44,0.733333333,BASELINE,764.467731522,742.532268478,712,673.467731522,659.467731522,634,877,784.467731522,801,649,629.532268478,651,0.400989079246,-0.0155068723513,0.0698328011056,0.999999978744,6.63343705935e-05,-0.000194403481338,1.78478525369e-05,1793196561441072896
+45,0.750000000,BASELINE,764,743,712.109110604,673,659.109110604,634,877,784.109110604,801,649,629.890889396,651,0.400988919799,-0.0155083239073,0.069833027984,0.999999978941,6.39094273931e-05,-0.000194201456963,1.78553923702e-05,1793196561457739520
+46,0.766666667,BASELINE,764,743,712.685091191,673,659.685091191,634,877,784.685091191,801,649,629.314908809,651,0.400988702724,-0.0155090223668,0.0698329959318,0.999999978949,6.3162588587e-05,-0.000194385535201,1.80604221455e-05,1793196561474406656
+47,0.783333333,BASELINE,763.733157761,743,712.733157761,673,659.733157761,634,877.266842239,785,801,649.266842239,629.266842239,650.733157761,0.400988559733,-0.015508708914,0.0698329241518,0.999999978851,6.41068535011e-05,-0.000194585589228,1.80172782328e-05,1793196561491073792
+48,0.800000000,BASELINE,763.144446215,743,712.144446215,673,659.144446215,634,877.855553785,785,801,649.855553785,629.855553785,650.144446215,0.400988506106,-0.0155071748768,0.0698328044518,0.999999978619,6.70909542249e-05,-0.00019480491353,1.76747833409e-05,1793196561507740928
+49,0.816666667,BASELINE,763.43739011,743,712,673.43739011,659.43739011,634,878,784.56260989,801,649.56260989,629.56260989,650.43739011,0.400988904365,-0.0155064576318,0.0698332120268,0.999999978713,6.77336773475e-05,-0.000194106658642,1.75517232639e-05,1793196561524407040
+50,0.833333333,BASELINE,764,743,712,673.983096156,660,634,877.983096156,784.016903844,801,649,629,651,0.400989428779,-0.0155060471813,0.0698337807729,0.99999997891,6.75748480779e-05,-0.000193148734841,1.75085675478e-05,1793196561541073408
+51,0.850000000,BASELINE,764,743,712,673.406469119,660,634,877.406469119,784.593530881,801,649,629,651,0.400989265527,-0.0155070018388,0.0698340096378,0.999999978944,6.60819766696e-05,-0.000193471197916,1.77487996707e-05,1793196561557739776
+52,0.866666667,BASELINE,764,743,712,673.169309092,660,633.830690908,877,785,801.169309092,649,629,651,0.400989710185,-0.0155072903217,0.0698342524021,0.999999979023,6.55274724556e-05,-0.000193238987808,1.78573990873e-05,1793196561574406144
+53,0.883333333,BASELINE,764,743,712,673.743059612,660,633.256940388,877,785,801.743059612,649,629,651,0.400991607,-0.0155059874631,0.0698345283689,0.999999979214,6.7214516991e-05,-0.000191681787914,1.76515574925e-05,1793196561591072768
+54,0.900000000,BASELINE,764,743.326294635,712.326294635,673.673705365,660,633,877,784.673705365,801.673705365,649,629,651,0.400992049449,-0.0155057639482,0.0698346489623,0.99999997926,6.78065224355e-05,-0.000191239166192,1.76007516995e-05,1793196561607739648
+55,0.916666667,BASELINE,764,743.917221781,712.917221781,673.082778219,660,633,877,784.082778219,801.082778219,649,629,651,0.400991312374,-0.0155064158061,0.0698346435442,0.99999997919,6.75104257164e-05,-0.000191700493274,1.76756835453e-05,1793196561624406784
+56,0.933333333,BASELINE,764,743.502261828,712.502261828,673,660,633.497738172,877,784.497738172,801,649,629,650.502261828,0.400990953916,-0.0155065847745,0.0698343464553,0.999999979171,6.61226552946e-05,-0.000192283770079,1.76807531994e-05,1793196561641073408
+57,0.950000000,BASELINE,764,743,712,673,659.923902578,634,877,785,801,649,629.076097422,650.076097422,0.40099068406,-0.0155065523137,0.069833988604,0.999999979135,6.50666213312e-05,-0.000192834188206,1.76684320508e-05,1793196561657740032
+58,0.966666667,BASELINE,764,743,712,673,659.348569376,634,877,785,801,649,629.651430624,650.651430624,0.400990590837,-0.0155057144511,0.0698335438345,0.999999978945,6.73536243432e-05,-0.000193038708129,1.76166814425e-05,1793196561674406400
+59,0.983333333,BASELINE,764,743,712,673.231538025,659.231538025,634,877,785,800.768461975,649,629.768461975,650.768461975,0.400990310133,-0.0155055890155,0.0698332865073,0.999999978814,6.84031208983e-05,-0.000193353121275,1.75587611119e-05,1793196561691072768
+60,1.000000000,BASELINE,764,743,712,673.818984163,659.818984163,634,877,785,800.181015837,649,629.181015837,650.181015837,0.400989741244,-0.0155065586855,0.0698333173066,0.999999978779,6.75503877595e-05,-0.000193836456557,1.74913569999e-05,1793196561707739392
+61,1.016666667,BASELINE,764,743,712.401582335,673.598417665,660,633.598417665,877,784.598417665,800.803164669,649,629,650.401582335,0.40098837933,-0.0155061976149,0.0698324187649,0.999999978511,6.74263512936e-05,-0.000195278854154,1.72777652458e-05,1793196561724406016
+62,1.033333333,BASELINE,764,743,712.982021286,673.017978714,660,633.017978714,877,784.017978714,801.964042572,649,629,650.982021286,0.400986664219,-0.0155052438594,0.0698311063137,0.999999978135,6.76268615784e-05,-0.000197148398599,1.69990644886e-05,1793196561741072896
+63,1.050000000,BASELINE,764,743,713,673,659.441716023,633.558283977,877,784.558283977,802,649,629.558283977,651,0.40098950823,-0.0155062320954,0.0698335311241,0.999999978899,6.65381155145e-05,-0.000193578459455,1.74005809662e-05,1793196561757739776
+64,1.066666667,BASELINE,764,743,712.865844867,673,659.134155133,634,877,785,801.865844867,649,630,650.865844867,0.400991489584,-0.0155069087061,0.0698352622689,0.999999979418,6.55592250079e-05,-0.000191192966274,1.76492360872e-05,1793196561774406400
+65,1.083333333,BASELINE,764,743,712.290821733,673,659.709178267,634,877,785,801.290821733,649,630,650.290821733,0.400990157122,-0.0155063572431,0.0698343212776,0.999999979056,6.50767756127e-05,-0.000193271245906,1.7324097547e-05,1793196561791073024
+66,1.100000000,BASELINE,764,743,712,673,659.708328,634,877,785,801.291672,649,629.708328,650,0.400990042926,-0.0155065489434,0.0698341062587,0.999999979011,6.51824473234e-05,-0.000193451673517,1.74722000055e-05,1793196561807739392
+67,1.116666667,BASELINE,764,743,712,673,659.118189679,634,877,785,801.881810321,649,629.118189679,650,0.400991175375,-0.0155075011184,0.0698346341235,0.999999979293,6.58899400918e-05,-0.000191690039674,1.81045673431e-05,1793196561824406016
+68,1.133333333,BASELINE,764,743,712.46557044,673,659,634,877.46557044,785,802,649,629.46557044,650,0.400990742576,-0.0155073795796,0.0698341675379,0.999999979139,6.66247488859e-05,-0.000192245984503,1.80337408729e-05,1793196561841072640
+69,1.150000000,BASELINE,764,743,713,673,659,633.953060985,877.953060985,785,801.953060985,649,629.953060985,650,0.4009898676,-0.0155071065472,0.0698334684093,0.999999978886,6.71485718116e-05,-0.000193396227995,1.78169761098e-05,1793196561857739264
+70,1.166666667,BASELINE,764,743,713,673,659,633.380585504,877.380585504,785,801.380585504,649,629.380585504,650,0.400988430664,-0.0155081478928,0.0698329539779,0.999999978757,6.52335739081e-05,-0.000194702203432,1.79379089152e-05,1793196561874405888
+71,1.183333333,BASELINE,764,743,713,673,659.195611408,633.195611408,877,785,801,649,629,650.195611408,0.400987491956,-0.0155081354508,0.0698326123859,0.999999978622,6.47112781305e-05,-0.000195566553958,1.79470469884e-05,1793196561891072768
+72,1.200000000,BASELINE,764,743,713,673,659.779189336,633.779189336,877,785,801,649,629,650.779189336,0.400987541408,-0.0155060329763,0.0698326135953,0.999999978481,6.69512022944e-05,-0.000195555006524,1.77344566381e-05,1793196561907739392
+73,1.216666667,BASELINE,764,743,713,673.36438912,659.63561088,633.63561088,877,785,801,649,629,650.63561088,0.400988196279,-0.0155050936211,0.0698328069592,0.999999978469,6.89275349075e-05,-0.000194933250576,1.76492310739e-05,1793196561924406016
+74,1.233333333,BASELINE,764,743,713,673.950576068,659.049423932,633.049423932,877,785,801,649,629,650.049423932,0.40098921966,-0.0155048622382,0.0698331172846,0.999999978536,7.0743423427e-05,-0.000193940070473,1.76415304298e-05,1793196561941072640
+75,1.250000000,BASELINE,764,743,713,673.472800377,659,633.527199623,876.472800377,784.472800377,801,649,629.527199623,650.527199623,0.400990104298,-0.0155062791243,0.069834413182,0.999999979095,6.66454421486e-05,-0.000192510917971,1.75527019569e-05,1793196561957740032
+76,1.266666667,BASELINE,764.102530839,743.102530839,713,673,659.102530839,634,876.102530839,784.102530839,801.102530839,649,629.897469161,650.897469161,0.400990791218,-0.0155075389996,0.0698353913695,0.999999979501,6.33754744353e-05,-0.000191506664609,1.75148247928e-05,1793196561974407424
+77,1.283333333,BASELINE,764.675970858,743.675970858,713,673,659.675970858,634,876.675970858,784.675970858,801.675970858,649,629.324029142,650.324029142,0.400990628721,-0.0155073806943,0.0698344935632,0.999999979083,6.64094260356e-05,-0.000192638283644,1.77452684937e-05,1793196561991073280
+78,1.300000000,BASELINE,765,743.743725299,713,673.256274701,660,633.743725299,877,785,801.743725299,649,629.256274701,650,0.400990193562,-0.0155070871241,0.0698337697427,0.999999978788,6.79634938036e-05,-0.000193613274223,1.7842407136e-05,1793196562007739392
+79,1.316666667,BASELINE,765,743.154504171,713,673.845495829,660,633.154504171,877,785,801.154504171,649,629.845495829,650,0.400989404169,-0.0155066178208,0.0698332719609,0.999999978665,6.75949289706e-05,-0.000194384776487,1.77663587746e-05,1793196562024405760
+80,1.333333333,BASELINE,764.571576896,743,712.571576896,673.571576896,660,633.428423104,877,785,801,649,629.571576896,650.428423104,0.400990217753,-0.0155061914124,0.0698335155418,0.999999978771,6.8354007988e-05,-0.00019357411362,1.77500890337e-05,1793196562041072896
+81,1.350000000,BASELINE,764,743,712,673,659.99101175,634,877,785,801,649,629,651,0.40099154968,-0.0155057954206,0.0698340084058,0.999999978948,6.94751498363e-05,-0.000192253412097,1.77522915311e-05,1793196562057740032
+82,1.366666667,BASELINE,764,743,712,673,659.418302353,634,877,785,801,649,629,651,0.400989659278,-0.0155063509253,0.0698336102356,0.999999978663,6.81680658492e-05,-0.000194211830639,1.75805232649e-05,1793196562074406656
+83,1.383333333,BASELINE,764.155354137,743,712.155354137,673,659,633.844645863,877,785,801,649,629,650.844645863,0.400988448605,-0.0155068876593,0.0698334001606,0.999999978483,6.7295870674e-05,-0.000195444378139,1.75417936053e-05,1793196562091073024
+84,1.400000000,BASELINE,764.731576514,743,712.731576514,673,659,633.268423486,877,785,801,649,629,650.268423486,0.400989079376,-0.0155073735415,0.0698336996521,0.999999978599,6.7601827869e-05,-0.00019471047655,1.78634773833e-05,1793196562107739392
+85,1.416666667,BASELINE,764.684164798,743,712.684164798,673,659.315835202,633.315835202,877,785,800.684164798,649,629.315835202,650,0.40098993786,-0.0155071009473,0.0698341002932,0.999999978799,6.77635652064e-05,-0.00019362601692,1.78569935315e-05,1793196562124406016
+86,1.433333333,BASELINE,764.092897886,743,712.092897886,673,659.907102114,633.907102114,877,785,800.092897886,649,629.907102114,650,0.400990994928,-0.0155061669054,0.0698345891443,0.99999997907,6.77995321185e-05,-0.000192235844735,1.75643231597e-05,1793196562141072896
+87,1.450000000,BASELINE,764,743.487914831,712,673,660,634,877,785,800.487914831,649,630,650.487914831,0.400990791878,-0.015507081749,0.0698348959351,0.999999979232,6.58621894068e-05,-0.000192071002905,1.75463896902e-05,1793196562157739520
+88,1.466666667,BASELINE,764,743.933756664,712.066243336,673.066243336,660,634,877,785,801.066243336,649,630,651,0.400990434719,-0.0155080070599,0.069835138207,0.999999979328,6.41351465507e-05,-0.000192152075764,1.75669042244e-05,1793196562174406656
+89,1.483333333,BASELINE,764,743.359534627,712.640465373,673.640465373,660,634,877,785,801.640465373,649,630,651,0.400990697024,-0.0155063698151,0.0698351459638,0.999999979111,6.68414384622e-05,-0.000192367409912,1.74895396136e-05,1793196562191073280
+90,1.500000000,BASELINE,764,743,713,673.779934872,660,634,877,785,802,649,630,650.779934872,0.400991019919,-0.0155055682446,0.0698352028725,0.999999979007,6.87311076505e-05,-0.000192238022892,1.75235553414e-05,1793196562207739904
+91,1.516666667,BASELINE,764,743,713,673.191329174,660,634,877,785,802,649,630,650.191329174,0.40099144428,-0.0155061661683,0.0698353420956,0.999999979102,6.92531877648e-05,-0.000191531335224,1.77440984658e-05,1793196562224407040
+92,1.533333333,BASELINE,764,743,713,673.393170908,659.606829092,634,877,784.606829092,801.606829092,649,629.606829092,650.393170908,0.400991165187,-0.0155070429927,0.0698349672812,0.999999979276,6.70035195908e-05,-0.00019142865145,1.77055166166e-05,1793196562241073664
+93,1.550000000,BASELINE,764,743,713,673.975693768,659.024306232,634,877,784.024306232,801.024306232,649,629.024306232,650.975693768,0.400990547308,-0.0155080541363,0.0698343449053,0.999999979477,6.34189715371e-05,-0.000191616857181,1.75421396434e-05,1793196562257739776
+94,1.566666667,BASELINE,764,743,713,674,659,634,877,784.549763703,801.549763703,649,629,651,0.400991434682,-0.0155078472423,0.069834812309,0.999999979502,6.39534463959e-05,-0.000191314704915,1.74783024424e-05,1793196562274406144
+95,1.583333333,BASELINE,764,743,713,673.876930023,659.123069977,634,877,785,802,649,629,651,0.400991839341,-0.0155075288724,0.0698350772868,0.999999979428,6.45763173645e-05,-0.00019149659914,1.74076902214e-05,1793196562291072768
+96,1.600000000,BASELINE,764,743,713,673.305066196,659.694933804,634,877,785,802,649,629,651,0.400990244689,-0.0155069973946,0.0698344310468,0.999999979021,6.48674994097e-05,-0.000193521505768,1.72965663888e-05,1793196562307739392
+97,1.616666667,BASELINE,764.278456002,743,712.721543998,673.278456002,660,634,877.278456002,785,801.721543998,649,629.278456002,651,0.400989643519,-0.0155066832908,0.0698344951441,0.999999978931,6.56330026701e-05,-0.000193729773164,1.7317406564e-05,1793196562324406272
+98,1.633333333,BASELINE,764.875308773,743,712.124691227,673.875308773,660,634,877.875308773,785,801.124691227,649,629.875308773,651,0.400990178334,-0.0155066177404,0.0698353714669,0.999999979201,6.69408621272e-05,-0.000191860828742,1.74891392157e-05,1793196562341073152
+99,1.650000000,BASELINE,764.544891865,743.455108135,712.455108135,673.544891865,659.544891865,634,878,785,801.455108135,649,630,651,0.40099052829,-0.0155062836927,0.0698351977827,0.999999979125,6.73047286849e-05,-0.000192125694696,1.75415107545e-05,1793196562357740032
+100,1.666666667,BASELINE,764.030409683,743.969590317,713,673.030409683,659.030409683,634,878,785,801.969590317,649.030409683,630,651,0.400990780594,-0.0155059414357,0.069834741159,0.999999978967,6.73494376563e-05,-0.000192927043806,1.75561117211e-05,1793196562374406912
+101,1.683333333,BASELINE,764.605814456,743.394185544,713,673.605814456,659.605814456,634,878,785,801.394185544,649.605814456,630,651,0.400990157714,-0.0155067228173,0.0698341833243,0.999999978989,6.61420906278e-05,-0.000193244036501,1.74587199652e-05,1793196562391073280
+102,1.700000000,BASELINE,764.813859441,743,713,674,660,634,878,785,801,649.813859441,629.813859441,651,0.400989829296,-0.0155070840071,0.0698339975256,0.999999978991,6.58410866127e-05,-0.000193329690407,1.75246240172e-05,1793196562407739648
+103,1.716666667,BASELINE,764.222828608,743,713,674,660,634,878,785,801,649.222828608,629.222828608,651,0.400990141388,-0.0155065312013,0.0698346209744,0.999999978953,6.75115470787e-05,-0.000192912139456,1.79457267811e-05,1793196562424406272
+104,1.733333333,BASELINE,764.359478183,743,712.640521817,674,659.640521817,634,877.640521817,785,800.640521817,649,629.359478183,651,0.40099028449,-0.0155056462434,0.0698347031398,0.999999978842,6.97544972634e-05,-0.000192684232678,1.79617377106e-05,1793196562441072896
+105,1.750000000,BASELINE,764.936505414,743,712.063494586,674,659.063494586,634,877.063494586,785,800.063494586,649,629.936505414,651,0.400990325322,-0.0155045602734,0.0698344577313,0.999999978684,7.23439070024e-05,-0.000192571094741,1.77325951576e-05,1793196562457739776
+106,1.766666667,BASELINE,764.49179385,743,712.50820615,673.49179385,659.50820615,634,877,785,800.50820615,649,630,650.49179385,0.400989380876,-0.0155036013404,0.0698340374466,0.999999978413,7.19044128714e-05,-0.000194164654285,1.74462407503e-05,1793196562474406400
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,713,674,659,634,878,785,802,650,630,651,0.400989247847,-0.0155042557535,0.0698334897278,0.999999978495,6.86182847378e-05,-0.000194949735005,1.71938948851e-05,1793196562516877312
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,743,712.420018553,673.420018553,659.579981447,634,878,785,801.420018553,649.420018553,629.420018553,651,0.400988949987,-0.0155047391664,0.0698335109505,0.999999978537,6.83647624161e-05,-0.000194822053512,1.7195240862e-05,1793196562533543680
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,634,877.840632982,784.840632982,800.840632982,649,629.159367018,651,0.400988867964,-0.01550495371,0.0698336031222,0.999999978613,6.8366327848e-05,-0.000194435718447,1.71645212051e-05,1793196562550210048
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,634,877.262811888,784.262811888,800.262811888,649,629.737188112,651,0.40098935267,-0.0155044622765,0.0698338815867,0.999999978776,6.90376836944e-05,-0.000193370230026,1.704960599e-05,1793196562566876160
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,712,673.312891945,659.687108055,634,877.312891945,784.312891945,800.625783889,649,630,651,0.400989603987,-0.0155041037781,0.0698344493241,0.999999978887,6.91179807011e-05,-0.00019276103241,1.70792563318e-05,1793196562583542528
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,712,673.886829315,659.113170685,634,877.886829315,784.886829315,801.773658629,649,630,651,0.400989660587,-0.0155038561873,0.0698352584017,0.999999978957,6.87051578902e-05,-0.000192532517805,1.72295175749e-05,1793196562600209152
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,743,712,674,659.473300276,634,877.526699724,785,801.526699724,649,630,650.526699724,0.400990113392,-0.0155034773685,0.0698349842775,0.999999978652,6.94016199097e-05,-0.000193874273239,1.71125433683e-05,1793196562616875520
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,743.061736926,712,674,660,634,877,785,801,649,629.938263074,650,0.400991190984,-0.0155033385072,0.0698349293171,0.99999997829,7.00264667392e-05,-0.000195512134263,1.70387237061e-05,1793196562633542400
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,743.640848538,712,674,660,634,877,785,801,649,629.359151462,650,0.400996688976,-0.0155054806743,0.0698389405955,0.999999978258,6.77678920124e-05,-0.000196399333152,1.78766088458e-05,1793196562650209536
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,743.781462495,712.218537505,674,659.781462495,634,877,785,801,649,629.218537505,650.218537505,0.40100895334,-0.0155077314692,0.06984544624,0.999999978901,6.55665050667e-05,-0.000193773910805,1.87468203885e-05,1793196562666876416
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,743.206096481,712.793903519,674,659.206096481,634,877,785,801,649,629.793903519,650.793903519,0.401032265852,-0.0155101596314,0.0698560246905,0.999999980604,6.3458494671e-05,-0.000185413072878,1.96698144682e-05,1793196562683542784
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,743,712.622637572,674,659.377362428,634,877.377362428,785,801,649,630,651,0.401068910157,-0.0155119636336,0.0698689348942,0.999999982792,6.37777113037e-05,-0.000172985167484,2.05826365604e-05,1793196562700209152
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,743,712.034661806,674,659.965338194,634,877.965338194,785,801,649,630,651,0.401112995198,-0.0155134192803,0.069883146496,0.9999999851,6.54516105238e-05,-0.000158287351524,2.14897815509e-05,1793196562716875520
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,743,712.545048486,674,660,634,877.454951514,785,801,649,630,651,0.401178127111,-0.0155167234366,0.0698937801726,0.999999987398,6.33975548271e-05,-0.000143965931044,2.14021990297e-05,1793196562733541888
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,743,713,674,660,634,877,785,801,649.123854596,630,650.876145404,0.401247699061,-0.0155198439096,0.0699029457254,0.999999989178,6.16438494431e-05,-0.000131934509681,2.09198574672e-05,1793196562750208512
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,743,713,674,660,634,877,785,801,649.701245928,630,650.298754072,0.401328701771,-0.0155218677284,0.0699075559849,0.999999989685,6.18451469846e-05,-0.000128202371281,1.92201515535e-05,1793196562766875392
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,743,712.72247824,674,660,634,877,785,801.27752176,650,630,650.27752176,0.401418689981,-0.015523733991,0.0699095881868,0.999999989748,6.31220540876e-05,-0.000127382721711,1.71286866321e-05,1793196562783542528
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,743,712.147398481,674,660,634,877,785,801.852601519,650,630,650.852601519,0.401518312415,-0.0155254313222,0.0699088562027,0.999999989335,6.55522265281e-05,-0.000129685834163,1.4617178978e-05,1793196562800209664
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,743.438179622,712.438179622,674,659.561820378,634,877,785,801.561820378,649.561820378,630,651,0.401634364936,-0.0155271282555,0.0699064263377,0.999999988485,6.5203616647e-05,-0.000136597089614,1.09822986165e-05,1793196562816876032
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,743.973063941,713,673.973063941,659.026936059,634,877,785,801.026936059,649,630,651,0.401758443064,-0.0155287908758,0.0699038331804,0.999999987533,6.39637043482e-05,-0.000144201022573,6.96056640148e-06,1793196562833542656
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,743.393334582,713,673.393334582,659.606665418,634,877,785,801.606665418,649,630,651,0.401931016713,-0.0155297521245,0.0699098979197,0.999999989041,6.4086331913e-05,-0.000133427150204,2.94526922675e-06,1793196562850209280
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,743,712.814348092,673.185651908,660,634,877.185651908,785,801.814348092,649,629.814348092,651,0.402111315876,-0.01553013307,0.0699150059935,0.999999990122,6.40757845495e-05,-0.000125091901957,-1.37883443977e-06,1793196562866875648
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,743,712.236929294,673.763070706,660,634,877.763070706,785,801.236929294,649,629.236929294,651,0.402307917575,-0.0155292894467,0.0699180952888,0.999999990515,6.37842084125e-05,-0.000121902695352,-6.35458810034e-06,1793196562883542272
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.338901682,743,712,673.661098318,660,634,878,785,801.338901682,649,629,651,0.402526001102,-0.0155273341143,0.0699208506795,0.999999991975,4.18299724999e-05,-0.000118975372637,-1.20055436191e-05,1793196562900208640
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.913627834,743,712,673.086372166,660,634,878,785,801.913627834,649,629,651,0.402759032762,-0.0155246052001,0.0699233737233,0.999999993069,4.80179176206e-06,-0.000116230281165,-1.81263383132e-05,1793196562916875264
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.498992071,743,712.501007929,673,660,634,878,785,801.498992071,649,629.501007929,651,0.40302483282,-0.015523696881,0.069928333462,0.999999994053,-4.78466596353e-06,-0.000106505894089,-2.29847733288e-05,1793196562933542400
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,743,712.911207332,673,660,634,878,785,801,649,630,651,0.403305044054,-0.0155232560953,0.0699341934246,0.999999995089,-7.03019262064e-06,-9.51749206218e-05,-2.6724102305e-05,1793196562950209792
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,743,712.333517062,673,660,634,878,785,801,649,630,651,0.403632693551,-0.0155236166391,0.0699426371655,0.999999996319,4.4205011733e-06,-8.17945808207e-05,-2.5530884513e-05,1793196562966876416
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743,712.24309723,673,660,634,878,785,801,649,629.75690277,651,0.403967810839,-0.0155246801747,0.0699481442938,0.999999996797,4.98743265005e-06,-7.56145381032e-05,-2.57555359213e-05,1793196562983543040
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,743,712.818241804,673,660,634,878,785,801,649,629.181758196,651,0.404313128388,-0.0155267039292,0.0699496402922,0.999999996425,-9.31180505599e-06,-7.92694068295e-05,-2.79168598379e-05,1793196563000209408
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.597049788,743,713,673.402950212,659.597049788,634,878,785,801,649.402950212,629.402950212,651,0.404692809658,-0.0155300087501,0.0699557143387,0.999999997085,-1.43258146895e-05,-6.897775072e-05,-2.94419599054e-05,1793196563016876032
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.007922571,743,713,673.992077429,659.007922571,634,878,785,801,649.992077429,629.992077429,651,0.405088368153,-0.0155339054681,0.0699639036026,0.999999998052,-1.50497258062e-05,-5.22423152522e-05,-3.06731023751e-05,1793196563033542656
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.571629371,743,713,674,659.571629371,634,877.428370629,785,801,649.428370629,630,650.428370629,0.405519244038,-0.0155431219214,0.0699613533738,0.999999997839,-2.60670341683e-05,-5.34143562374e-05,-2.81059892605e-05,1793196563050209024
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,743,713,674.150102721,660,634,877.300205441,785,801.150102721,649,630,650.150102721,0.405956830592,-0.0155512966479,0.0699537396071,0.999999996866,-3.59903860035e-05,-6.5155222965e-05,-2.69570089151e-05,1793196563066875648
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,743,713,674.725887308,660,634,878.451774616,785,801.725887308,649,630,650.725887308,0.40641208283,-0.0155563114534,0.069932181128,0.999999993015,-4.2413427146e-05,-0.000106176355861,-2.99765952912e-05,1793196563083543552
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,743,713,674.69916352,660,634,878.69916352,785,802,649,630,651,0.40690310938,-0.0155578157819,0.0699191570892,0.999999990513,-4.88456602574e-05,-0.000124615998263,-3.25309178202e-05,1793196563100210688
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,743,713,674.124973378,660,634,878.124973378,785,802,649,630,651,0.407426642144,-0.0155561303323,0.0699138878272,0.999999990363,-5.52862463932e-05,-0.000122537079675,-3.46624809088e-05,1793196563116877056
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,743.462668364,712.537331636,674,660,634,878,785,802,649,630,651,0.407998294328,-0.0155549071012,0.0699255698107,0.999999992821,-5.94588443104e-05,-9.75042496499e-05,-3.62595782023e-05,1793196563133543680
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.053017172,743.946982828,712.053017172,674,660,634,878,785,802,649,630,651,0.408586573297,-0.0155539820473,0.0699411770324,0.999999995086,-6.24958621218e-05,-6.71754291228e-05,-3.75386487331e-05,1793196563150210304
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.633075424,743.366924576,712.633075424,674,660,634,878,785,802,649,630,651,0.409207059588,-0.0155547428471,0.0699489244885,0.999999996343,-6.05164868002e-05,-4.76807608604e-05,-3.71343511549e-05,1793196563166876160
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,743,713,674,660,634,878,785,802,649,630,651,0.409832882306,-0.0155544474229,0.0699498419959,0.999999996663,-5.88734761475e-05,-4.23952522135e-05,-3.75634889207e-05,1793196563183542272
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,743,713,674,660,634,878,785,802,649,630,651,0.410467892019,-0.0155523336351,0.0699390012683,0.999999995656,-5.78095409504e-05,-6.15718075135e-05,-3.94274439969e-05,1793196563200208896
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,743,713,674,660.367228494,633.632771506,878,785,802,649,630,651,0.411131655368,-0.015552190808,0.0699426013894,0.999999995947,-5.67080875174e-05,-5.71426362305e-05,-4.03031147644e-05,1793196563216876032
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,743,713,674,660.955687387,633.044312613,878,785,802,649,630,651,0.41181274082,-0.0155532353518,0.0699549011483,0.999999996891,-5.55840319092e-05,-3.84926061823e-05,-4.05834108228e-05,1793196563233543168
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743,713,674,660.464193475,633.535806525,878,785,802,649,629.464193475,651,0.412563586141,-0.0155582404833,0.0699850236011,0.999999997307,-6.12258280178e-05,1.20517959786e-05,-3.8626523492e-05,1793196563250209792
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,743,713,674,660,633.884865495,878,785,802,649,629,651,0.41331904374,-0.0155622428535,0.0700114045563,0.99999999553,-6.70467382379e-05,5.54816596545e-05,-3.69562642695e-05,1793196563266876672
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,743,713,674,660,633.305988821,878,785,802,649,629,651,0.4140701969,-0.0155609071716,0.0700168694248,0.999999994975,-7.13698434879e-05,5.97937909953e-05,-3.71743064482e-05,1793196563283543040
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.730099874,743,713,674,660,633.269900126,878,785,802,649.269900126,629,651,0.414802958341,-0.0155579415089,0.0699891829801,0.999999996447,-7.32443026856e-05,8.29566437256e-06,-4.09031173942e-05,1793196563300209152
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.157560991,743,713,674,660,633.842439009,878,785,802,649.842439009,629,651,0.41551509726,-0.0155531481499,0.069924324,0.999999990607,-7.23730972129e-05,-0.000105782451861,-4.85685497143e-05,1793196563316875520
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,713,674,660,634,878.428069886,785,802,649.571930114,629.428069886,651,0.41629517796,-0.0155524864453,0.0699041095558,0.999999986299,-7.51395708699e-05,-0.000137887402025,-5.23828134221e-05,1793196563333542400
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.018313879,743,713,674,660.018313879,634,879,785,802,649.018313879,630,651,0.417102515246,-0.0155534307199,0.069902025668,0.999999985975,-7.91957375837e-05,-0.000137116963368,-5.45546529648e-05,1793196563350209024
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.597601568,743,713,674,660.597601568,634,879,785,802,649.597601568,630,651,0.417954578258,-0.0155555160329,0.0699360767591,0.999999992033,-8.04497708597e-05,-8.26996903878e-05,-5.12070113179e-05,1793196563366876160
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,712.824783966,674.175216034,660.824783966,634,878.824783966,785,802,649.824783966,630,651,0.41881281308,-0.0155578059289,0.0699668814175,0.999999994881,-8.1551743762e-05,-3.55660505469e-05,-4.81856966096e-05,1793196563383542784
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743,712.250975884,674.749024116,660.250975884,634,878.250975884,785,802,649.250975884,630,651,0.419685087863,-0.015560561223,0.0699903008926,0.999999995546,-8.23078008526e-05,-5.00166420109e-06,-4.59067306488e-05,1793196563400209664
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660,634,878,785,802,649.325054748,630,651,0.42057626782,-0.0155635802004,0.0700082133811,0.999999995026,-8.63070794512e-05,2.14016665879e-05,-4.51692591614e-05,1793196563416876288
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743,712,675,660,634,878,785,802,649.902813206,630,651,0.421482144978,-0.0155668041703,0.0700218446329,0.999999993657,-9.28276997713e-05,4.45701126412e-05,-4.56301747473e-05,1793196563433542656
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743.491161204,712.491161204,674.508838796,660,633.508838796,878.491161204,785,802,650,629.508838796,650.508838796,0.422301826652,-0.0155654761936,0.0699905079741,0.999999994674,-9.08620031303e-05,-6.78944609918e-06,-4.84861797519e-05,1793196563450209280
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743.919894354,713,674.080105646,660.080105646,633.080105646,878.919894354,785,802,649.919894354,629.080105646,650,0.423103353322,-0.0155625244154,0.0699450796867,0.999999991576,-8.75373901693e-05,-8.00296749834e-05,-5.2722332937e-05,1793196563466875648
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743.340579038,713,674.659420962,660.659420962,633.659420962,878.340579038,785,802,649.340579038,629.659420962,650,0.423900370544,-0.0155551900365,0.0698685063302,0.999999975159,-8.64393442237e-05,-0.000195701262219,-6.2540922064e-05,1793196563483542272
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,713,675,661,634,878.235716691,785,802,649.235716691,630,650.235716691,0.424755062159,-0.0155538976071,0.0698429775764,0.999999967441,-8.76615853805e-05,-0.000230223040406,-6.65712945268e-05,1793196563500209408
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,713,675,661,634,878.807704789,785,802,649.807704789,630,650.807704789,0.425692031685,-0.01556122457,0.0698902686034,0.99999998271,-9.21939289473e-05,-0.000148977216686,-6.23442488851e-05,1793196563516876800
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743.381448225,713,675,661,633.618551775,879,785,802,649.618551775,629.618551775,651,0.426634269895,-0.0155653627516,0.0699427814238,0.999999990963,-9.66945702391e-05,-7.40922694645e-05,-5.68695429693e-05,1793196563533542912
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743.956080615,713,675,661,633.043919385,879,785,802,649.043919385,629.043919385,651,0.42757917637,-0.015567885977,0.0699979388147,0.99999999359,-0.000101179155461,-2.42878813274e-06,-5.07629605919e-05,1793196563550209024
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743.449704881,713,675,660.449704881,633.550295119,879,785,802,649.550295119,629,651,0.428481453459,-0.0155678577387,0.0700210077408,0.999999993501,-9.67166706008e-05,3.53546196276e-05,-4.89291209904e-05,1793196563566875648
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743.141196205,713,675,660,634,879,785,802,649.858803795,629.141196205,651,0.429366494562,-0.0155680340634,0.0700319999614,0.999999992838,-9.42133472002e-05,5.54957429741e-05,-4.86707032201e-05,1793196563583542272
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,743.716913413,713,675,660,634,879,785,802,649.283086587,629.716913413,651,0.430209349725,-0.0155694897062,0.0700139990943,0.999999993188,-0.000100017784781,2.99723910145e-05,-5.21723755235e-05,1793196563600208896
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744,713,675,660.292100957,633.707899043,879,785,802,649,630,651,0.430999985041,-0.0155673570869,0.0699661354579,0.999999991993,-0.000101299239806,-5.01585260435e-05,-5.68924549081e-05,1793196563616875520
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744,713,675,660.86677608,633.13322392,879,785,802,649,630,651,0.431740103598,-0.0155617532356,0.0698893830194,0.999999976441,-9.82052264469e-05,-0.000183115995879,-6.27912024465e-05,1793196563633542144
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744,713,675,661,633.454192214,879,785,802,649,630,651,0.432579025952,-0.0155631570665,0.069881837139,0.999999974646,-0.000105383148993,-0.000188161760366,-6.47842151245e-05,1793196563650208512
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744,713,675,661,633.955584731,879,785,802,649,629.955584731,651,0.433448909901,-0.0155669849702,0.0698992646057,0.999999980213,-0.000114810231758,-0.000148894984777,-6.49814256659e-05,1793196563666875392
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744,713,675,661,633.377828275,879,785,802,649,629.377828275,651,0.434332529803,-0.0155745263685,0.0699657780856,0.999999990988,-0.000114021214864,-4.10557124648e-05,-5.77684008474e-05,1793196563683542272
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744,713,675,661,633,878.800891474,785,802,649.199108526,629.199108526,651,0.435182605749,-0.0155805555172,0.0700119476593,0.999999991039,-0.000118125190099,3.43311030476e-05,-5.28116015455e-05,1793196563700208896
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744,713,675,661,633,878.225503571,785,802,649.774496429,629.774496429,651,0.435969289791,-0.0155837267868,0.0700196709135,0.999999988828,-0.000131476044129,4.83886182199e-05,-5.21186632784e-05,1793196563716875264
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744,713,675.35803903,661,633.35803903,878.35803903,785,802,649.64196097,630,651,0.436735938454,-0.015584251726,0.070009888468,0.999999988659,-0.000135027004759,3.99957828578e-05,-5.33836926062e-05,1793196563733541888
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744,713,675.946837372,661,633.946837372,878.946837372,785,802,649.053162628,630,651,0.437489674091,-0.0155830710816,0.0699888234442,0.999999989544,-0.00013226184685,1.71334977769e-05,-5.59106493399e-05,1793196563750208512
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,743.473103006,713,675.473103006,661,634,879,785,802,649.526896994,630,651,0.438182655188,-0.0155818211613,0.0699534882832,0.999999989411,-0.000129720577103,-2.78430330458e-05,-5.97956891638e-05,1793196563766875392
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,743.105220811,713,675,661,634,878.894779189,785,801.894779189,649.894779189,630,651,0.438857510125,-0.0155799594891,0.0699164847697,0.99999998693,-0.000125852312152,-7.92080745566e-05,-6.34580164831e-05,1793196563783542272
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765,744,712.248202624,676.751797376,660.751797376,632.248202624,879,782,801.248202624,649,629,651,0.449592230469,-0.0156135301039,0.0697733452568,0.999999921584,-0.00018408630009,-0.000344638277798,-6.45580884449e-05,1793196564750209024
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,743.666228653,712,676.666228653,660.666228653,632,879,782,801.333771347,649,629,651,0.449592486157,-0.0156132097801,0.0697734649229,0.999999921851,-0.000182678104933,-0.000344659827612,-6.43195148848e-05,1793196564766875904
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,743.07770628,712,676.07770628,660.07770628,632,879,782,801.92229372,649,629,651,0.449592896327,-0.0156133230704,0.0697736638822,0.999999922256,-0.000181519656849,-0.000344137165349,-6.40910913464e-05,1793196564783542272
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,743.504868121,712,676.504868121,660,632,879,781.495131879,802,649,629,651,0.449592593453,-0.0156142558012,0.069773116089,0.999999921561,-0.000184192181609,-0.000344705733101,-6.42513888148e-05,1793196564800208896
+245,4.083333333,HOLD_POSE2,764,744,712,676,660,632,879,782,802,649,629,651,0.44959430505,-0.0156129632865,0.0697735075804,0.99999992173,-0.000184913567089,-0.000343877425024,-6.39961726411e-05,1793196564843374080
+246,4.100000000,HOLD_POSE2,764,743.425911122,712,676,660,632,879,781.425911122,802,649,629,651,0.449592495703,-0.0156138490743,0.0697725825362,0.999999921041,-0.000185504702751,-0.000345485295562,-6.43854184402e-05,1793196564860040960
+247,4.116666667,HOLD_POSE2,764.152382925,743,712,676,660,632,879,781.152382925,802.152382925,649,629,651,0.449591514218,-0.0156139653977,0.0697721210748,0.999999920814,-0.000185079661324,-0.000346336363522,-6.45616345998e-05,1793196564876707840
+248,4.133333333,HOLD_POSE2,764.742764135,743,712,676,660,632,879,781.742764135,802.742764135,649,629,651,0.449592912276,-0.0156118700294,0.0697729921011,0.999999921914,-0.000181733795264,-0.000345012134114,-6.41255341038e-05,1793196564893373952
+249,4.150000000,HOLD_POSE2,765,743.326738388,712,676,659.673261612,632,879,782,802.673261612,649,629,651,0.449594103331,-0.0156126262032,0.0697729855454,0.99999992207,-0.00018197650898,-0.000344495725068,-6.37814176707e-05,1793196564910040576
+250,4.166666667,HOLD_POSE2,765,743.905765519,712,676,659.094234481,632,879,782,802.094234481,649,629,651,0.449595134548,-0.0156155841751,0.0697723013708,0.999999921497,-0.000184990119485,-0.000344603068899,-6.35083261099e-05,1793196564926707200
+251,4.183333333,HOLD_POSE2,765,744,712,676,659.481511509,632,878.518488491,782,802,649,629,651,0.449594488634,-0.0156152179028,0.069771963553,0.999999921241,-0.000185296627276,-0.000345143415705,-6.37056126013e-05,1793196564943373824
+252,4.200000000,HOLD_POSE2,765,743.941813313,712,676,660,632,878.058186687,782,802,649,629,651,0.449593676604,-0.0156142978339,0.0697718063058,0.999999921108,-0.000185105444952,-0.000345586353784,-6.39478905601e-05,1793196564960040448
+253,4.216666667,HOLD_POSE2,765,743.350788656,712,676,660,632,878.649211344,782,802,649,629,651,0.449594328723,-0.0156142236636,0.0697726860911,0.999999921528,-0.000185175424131,-0.000344366527768,-6.37648895393e-05,1793196564976706816
+254,4.233333333,HOLD_POSE2,765,743.234891221,712,676,660,632,879,782,802,649,629.234891221,650.765108779,0.449594525601,-0.0156141785675,0.069772968255,0.999999921504,-0.000185266028628,-0.000344407559994,-6.36506445496e-05,1793196564993373696
+255,4.250000000,HOLD_POSE2,765,743.812766688,712,676,660,632,879,782,802,649,629.812766688,650.187233312,0.449594057741,-0.015614175925,0.0697723777822,0.999999920833,-0.000185386749862,-0.00034628967652,-6.36367959867e-05,1793196565010040576
+256,4.266666667,HOLD_POSE2,765,744,712.3890349,676.3890349,660,632,879,782,802,649.3890349,629.6109651,650.3890349,0.449593768276,-0.0156145400469,0.0697720361986,0.999999920593,-0.000185778548898,-0.000346763402911,-6.36786794517e-05,1793196565026707200
+257,4.283333333,HOLD_POSE2,765,744,712.964532813,676.964532813,660,632,879,782,802,649.964532813,629.035467187,650.964532813,0.449593564314,-0.0156150799575,0.0697718139068,0.999999920562,-0.000186300274548,-0.000346562093202,-6.37472750741e-05,1793196565043373824
+258,4.300000000,HOLD_POSE2,764.448005662,743.448005662,712.448005662,676.448005662,660,632,879,781.448005662,802,649.448005662,629,651,0.449594015964,-0.0156146962323,0.0697723132853,0.999999920545,-0.000186684347754,-0.000346394086397,-6.38016666659e-05,1793196565060040448
+259,4.316666667,HOLD_POSE2,764,743.138067406,712,676.138067406,660,632,879,781,802.138067406,649,629,651,0.449594633617,-0.0156139282036,0.0697727701928,0.999999920797,-0.00018597211559,-0.000346036104993,-6.38631358798e-05,1793196565076707072
+260,4.333333333,HOLD_POSE2,764,743.717195131,712,676.717195131,660,632,879,781,802.717195131,649,629,651,0.449595644018,-0.015612126289,0.0697729400154,0.999999921897,-0.000181786584445,-0.00034506425709,-6.39501948473e-05,1793196565093373696
+261,4.350000000,HOLD_POSE2,764,743.704582042,712,676.704582042,660.295417958,632,879,781.295417958,802.704582042,649,629,651,0.4495970611,-0.0156117671287,0.0697740784555,0.999999922742,-0.00018036221477,-0.000343387650812,-6.38018004867e-05,1793196565110040576
+262,4.366666667,HOLD_POSE2,764,743.127222866,712,676.127222866,660.872777134,632,879,781.872777134,802.127222866,649,629,651,0.44959886631,-0.0156127849056,0.0697761413254,0.99999992335,-0.000181573044743,-0.000341038436758,-6.34286939945e-05,1793196565126707456
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,744,712,676,660,632,879,781,802,649,629,651,0.449593772983,-0.0156123557909,0.0697709398961,0.999999920578,-0.00018441028648,-0.000347518428487,-6.3778722708e-05,1793196565159417088
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,744,712.590372196,676,660,632,879,781,801.409627804,649,629,651,0.449594436382,-0.0156123469332,0.0697724583123,0.999999921031,-0.000184011459605,-0.000346419731251,-6.38046456586e-05,1793196565176083456
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,743.822598374,712.822598374,676,660,632,879,781,801.177401626,649.177401626,629,650.822598374,0.449595011709,-0.015612943573,0.0697734137181,0.9999999212,-0.00018424620541,-0.000345826133978,-6.37069898375e-05,1793196565192749824
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,743.243144669,712.243144669,676,660,632,879,781,801.756855331,649.756855331,629,650.243144669,0.449595387432,-0.0156149124753,0.0697730931522,0.999999920724,-0.0001859168411,-0.00034637726382,-6.33292627316e-05,1793196565209416448
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,743,712.333620733,676,660,632,879,781,802,649.666379267,629,650.333620733,0.449594895042,-0.0156146514361,0.0697727668299,0.999999920712,-0.00018556740258,-0.000346645566189,-6.30751379271e-05,1793196565226083328
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,743,712.90844251,676,660,632,879,781,802,649.09155749,629,650.90844251,0.449593775025,-0.0156127781943,0.0697724363457,0.999999921034,-0.000183757491149,-0.00034670938998,-6.29103751102e-05,1793196565242749952
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.516496265,743.483503735,713,676,660,632,879,781.483503735,802,649,629,651,0.44959453214,-0.0156121985072,0.069772116417,0.99999992128,-0.000182616765758,-0.000346494438004,-6.35096748937e-05,1793196565259416576
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.060252882,744,712.939747118,676,660,632,879,782,802,649,629,650.939747118,0.449595243487,-0.0156117891371,0.0697717406141,0.999999921435,-0.000181709467605,-0.000346395599744,-6.41946132145e-05,1793196565276083200
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.65147688,744,712.34852312,676,660,632,879,782,802,649,629,650.34852312,0.449592417516,-0.0156107209955,0.0697708548045,0.999999920937,-0.000181741971477,-0.000347785432432,-6.43585816556e-05,1793196565292749824
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,744,712,676.237975137,659.762024863,632,879,781.762024863,802,649,629,650.237975137,0.44958695662,-0.0156099406149,0.0697682680731,0.999999919489,-0.000181672221074,-0.00035191467103,-6.45956255084e-05,1793196565309416448
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,744,712,676.817687088,659.182312912,632,879,781.182312912,802,649,629,650.817687088,0.449577711922,-0.0156095734649,0.069763238786,0.999999916636,-0.000181455631583,-0.000359977748386,-6.49376070231e-05,1793196565326083072
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,744,712.393318737,676.606681263,659,632,879,781.393318737,802,649.393318737,629,651,0.449555261171,-0.0156093138849,0.0697524669708,0.999999910096,-0.000181391714357,-0.00037762682032,-6.55959908963e-05,1793196565342750720
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,744,712.967078536,676.032921464,659,632,879,781.967078536,802,649.967078536,629,651,0.449526751938,-0.0156091036543,0.0697390606814,0.999999901473,-0.000181397837807,-0.000399673616268,-6.63995292555e-05,1793196565359418880
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,743.445452166,712.445452166,676,659,632,879,781.445452166,802,649.445452166,629,651,0.449477935625,-0.015605761053,0.0697186123634,0.999999886661,-0.000180761068856,-0.000435255740592,-6.74909787194e-05,1793196565376084224
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.859426042,743.140573958,712,676,659.140573958,632,879,781.140573958,802,649,629,651,0.44942619065,-0.0156024481526,0.0696993461691,0.999999872301,-0.000179955744635,-0.000467243828796,-6.85320578958e-05,1793196565392750336
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.280502255,743.719497745,712,676,659.719497745,632,879,781.719497745,802,649,629,651,0.449369167824,-0.0155998224342,0.0696851028435,0.999999863786,-0.000178746847084,-0.000485455503044,-6.93614191124e-05,1793196565409416960
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.297152292,744,712.297152292,676.297152292,660,632,879,782,801.702847708,649.297152292,629,651,0.449306825536,-0.0155967571841,0.0696753850213,0.999999857476,-0.000176697596658,-0.000499022589086,-6.93046035069e-05,1793196565426083328
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,744,712.553199087,676.553199087,660,632,879,782,801.446800913,649.553199087,629,651,0.449167008774,-0.0155907626253,0.0696711116998,0.999999854606,-0.000172497744968,-0.000506558610269,-6.65584915539e-05,1793196565459416576
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,743.980231621,712,676,660,632.019768379,879,782,802,649,629,651,0.449092287969,-0.0155883697519,0.0696741208668,0.999999857217,-0.000171412373756,-0.000502028854934,-6.44308598497e-05,1793196565476083968
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.931309169,743.068690831,712,676,660,632.068690831,878.068690831,782,801.068690831,649,629,651,0.448478237155,-0.0155542009803,0.0696708241052,0.999999855548,-0.000145713998202,-0.00051469850621,-5.25073594959e-05,1793196565559417856
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,743.51620718,712,676,659.48379282,632,878.51620718,782,801,649,629,650.48379282,0.448309579191,-0.0155458621193,0.0696668112525,0.999999851764,-0.000139631246021,-0.000523963279677,-4.93657877899e-05,1793196565576084224
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,743.04801719,712.95198281,676.04801719,660,633,879,784,802.903965619,649,630,651,0.444725751008,-0.0154897394664,0.0697466786671,0.999999922246,5.18478117699e-05,-0.000390350612285,2.11396874977e-05,1793196565792750336
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,743.642245089,712.357754911,676.642245089,660,633,879,784,801.715509822,649,630,651,0.444304871177,-0.0154790659258,0.0697492542801,0.999999923375,3.80750488535e-05,-0.000389364589059,1.40147510655e-05,1793196565809416704
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,744,712,676.191394505,660,633.808605495,878.191394505,784,801,649,630,651,0.443419546867,-0.0154637918036,0.069760512939,0.999999931853,5.19461305776e-05,-0.000365076853159,1.77357165187e-05,1793196565842750208
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.968514317,743,712,674,660,633.031485683,878,784,801.968514317,649,629.968514317,651,0.408293484231,-0.0153727027647,0.0697654767055,0.999999902589,0.000219073920466,-0.000382332712294,2.54947670388e-05,1793196566709417472
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,743,712.138556931,673.138556931,660,633.861443069,877.138556931,784,800,649,630,651,0.407377972416,-0.0153733176473,0.069790353016,0.999999923007,0.00021333343961,-0.000328488031468,2.389545814e-05,1793196566742751744
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,743,712.722745651,673.722745651,660,633.277254349,877.722745651,784,800,649,630,651,0.406918920186,-0.0153745866833,0.0698044144535,0.999999928347,0.000213357113297,-0.000311573580043,2.65721949723e-05,1793196566759417600
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.127049085,742.127049085,712.127049085,674,660,633,878,784,800.872950915,649,630,651,0.406011946016,-0.0153729150636,0.0698029625656,0.999999920668,0.00022158844478,-0.000329933314423,2.65924057257e-05,1793196566792750336
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742.44707601,712.44707601,674,660,633,877.55292399,784,801,649,630,651,0.405602258569,-0.0153710636651,0.0697956755771,0.999999916546,0.000221315450002,-0.000342452899948,2.55818353772e-05,1793196566809416704
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.022537653,743,712.977462347,674,660,633,877,784.022537653,801,649,630,651,0.405207114218,-0.015369274319,0.069788658104,0.999999913411,0.000220152250039,-0.000352283532755,2.46265804852e-05,1793196566826083840
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.618580723,743,712.381419277,674,660,633,877,784.618580723,801,649,630,651,0.404876568336,-0.015371683243,0.0698027330583,0.999999917538,0.000237448883022,-0.00032839163912,2.64659020202e-05,1793196566842756096
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633.207046826,877.207046826,784.792953174,801,649,630,651,0.404557143098,-0.0153729211431,0.0698171598233,0.999999923764,0.000245621456025,-0.000302270683595,2.78253828145e-05,1793196566859424512
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633.782047437,877.782047437,784.217952563,801,649,630,651,0.404257480978,-0.0153720779546,0.0698322118077,0.999999934333,0.000237579181219,-0.000272188347889,2.83321132513e-05,1793196566876086016
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633.642591748,877.642591748,784.357408252,800.642591748,649,630,651,0.403956793425,-0.0153717552495,0.0698406764366,0.999999938434,0.000236277192337,-0.000257803232013,2.90161992479e-05,1793196566892750592
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633.067010997,877.067010997,784.932989003,800.067010997,649,630,651,0.403655479888,-0.0153717502626,0.0698451199517,0.999999938969,0.00023908967132,-0.000253000157479,2.98085483484e-05,1793196566909416960
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.478008022,743,712,674,660,633.521991978,877.521991978,784.478008022,800,649,629.478008022,650.478008022,0.403377865934,-0.0153701954784,0.069831757418,0.999999933026,0.000241150452069,-0.000273881143595,2.79978596074e-05,1793196566926083328
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.110563673,743,712.110563673,674,660,634,878,784.110563673,800.110563673,649,629,650.110563673,0.403110013736,-0.0153682209516,0.0698177214954,0.999999926643,0.000242228801204,-0.000295578241023,2.5922303198e-05,1793196566942749696
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.689810351,743,712.689810351,674,660,634,878,784.689810351,800.689810351,649,629,650.689810351,0.402870304448,-0.0153653327614,0.0698107766245,0.999999924076,0.000239562453165,-0.000306389028731,2.41778911273e-05,1793196566959416320
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,743,712.732499175,673.732499175,659.732499175,633.732499175,878,785,801,649.267500825,629.267500825,651,0.402646570003,-0.0153638040369,0.069807319435,0.999999922544,0.000238381564881,-0.000312316037295,2.33352183785e-05,1793196566976083200
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,743,712.156602849,673.156602849,659.156602849,633.156602849,878,785,801,649.843397151,629.843397151,651,0.402441252596,-0.015363842609,0.0698078831128,0.99999992232,0.000238913228909,-0.000312612649465,2.35321401012e-05,1793196566992749824
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,743,712.426693866,673,659,633.426693866,877.573306134,785,801,649.573306134,630,651,0.402254029975,-0.0153633642222,0.0698047288095,0.999999920155,0.000240992120114,-0.000317964524026,2.26187827482e-05,1793196567009416704
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,743,713,673.012597138,659.012597138,633.987402862,877,784.987402862,801,649.012597138,630,651,0.402074201448,-0.0153626783694,0.0698002168847,0.999999917244,0.000243598392409,-0.000325143891548,2.13103709647e-05,1793196567026083328
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,743,713,673.591424563,659.591424563,633.408575437,877,784.408575437,801,649.591424563,630,651,0.401922952843,-0.0153613458825,0.0697970990767,0.999999915712,0.00024393490722,-0.000329598981909,2.08841366766e-05,1793196567042749952
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,660,634,878,784,801,649,630,651,0.401548379827,-0.0153617958627,0.069795691446,0.999999915104,0.000243924484481,-0.000331453839708,2.07616432008e-05,1793196567092749824
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,660,634,878,784,801,649,630,651,0.401445474996,-0.0153609954161,0.069796594552,0.999999914045,0.000249028583029,-0.000330858843943,2.06885549449e-05,1793196567109416448
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,659.512480095,633.512480095,878,784.487519905,800.512480095,649,630,650.512480095,0.401359079302,-0.0153599928413,0.0697961382394,0.999999913272,0.000251502813513,-0.00033139264614,1.9539863901e-05,1793196567126083072
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,659.146450928,633,877.926774536,784.926774536,800,649.073225464,630,650,0.401278472463,-0.0153590126551,0.0697955264362,0.999999912696,0.000253028786602,-0.000332045563983,1.81735828023e-05,1793196567142749952
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,660.311857661,633,877.344071169,784.344071169,800,649.655928831,630,650,0.40121490719,-0.0153584727206,0.0697957460541,0.999999913101,0.000251658434734,-0.000331938556407,1.68072074361e-05,1793196567159416832
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.235012671,743,712.235012671,673.764987329,660.764987329,633.235012671,877.235012671,784,800.235012671,649.764987329,630,650.235012671,0.401158321104,-0.0153581459331,0.0697957734398,0.999999913581,0.00025077394265,-0.000331203612582,1.59291145899e-05,1793196567176083456
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.808877674,743,712.808877674,673.191122326,660.191122326,633.808877674,877.808877674,784,800.808877674,649.191122326,630,650.808877674,0.40111179794,-0.015358126471,0.069795523656,0.999999914172,0.000250589986153,-0.000329563280728,1.57550505451e-05,1793196567192750080
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.61999254,743,712.61999254,673,659.61999254,634,877.61999254,784,800.61999254,649,630,651,0.40107380408,-0.0153582364895,0.0697959547515,0.999999915028,0.000249359203159,-0.000327892958681,1.58288375243e-05,1793196567209416704
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.050228599,743,712.050228599,673,659.050228599,634,877.050228599,784,800.050228599,649,630,651,0.401040069322,-0.0153584111641,0.0697967258437,0.999999916012,0.000247605688032,-0.000326207661097,1.6026388758e-05,1793196567226083328
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.542487256,659.542487256,634,877,784,801.084974512,649,630,650.457512744,0.401013931513,-0.015357512122,0.0697971564743,0.999999915648,0.000248926333311,-0.000326309715057,1.61493985201e-05,1793196567242749952
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.134039937,743,712.134039937,673.865960063,660,634,877,784.134039937,801.865960063,649,629.865960063,650.134039937,0.400991315009,-0.0153570041999,0.0697976637279,0.999999915387,0.000250298530914,-0.000326054653963,1.62899291222e-05,1793196567259416832
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.714332425,743,712.714332425,673.285667575,660,634,877,784.714332425,801.285667575,649,629.285667575,650.714332425,0.400977976575,-0.015358144013,0.0697985356629,0.999999915901,0.000250852874285,-0.000324035369828,1.65127837398e-05,1793196567276084736
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,743,712.708795854,673,660,634,877,785,801,649,629.291204146,651,0.400966949167,-0.0153587035507,0.0697996295095,0.999999916565,0.000251381436246,-0.000321564516821,1.65649868852e-05,1793196567292751616
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,743,712.13524083,673,660,634,877,785,801,649,629.86475917,651,0.400958162522,-0.015358700455,0.0698009385212,0.999999917371,0.000251885000679,-0.000318655823422,1.6451726778e-05,1793196567309417472
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,743,712,673.449110245,660,634,877,784.550889755,801,649,630,651,0.400951481859,-0.0153578969015,0.0698012500109,0.999999917685,0.000250876249142,-0.00031847782063,1.62415151557e-05,1793196567326083840
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.963741399,743,712.036258601,674,660,634,877,784.036258601,801,649,630,650.963741399,0.400945588034,-0.0153570211197,0.069801135974,0.999999917809,0.000249474027084,-0.000319200008212,1.60085321836e-05,1793196567342750720
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.384585278,743,712.615414722,674,660,634,877,784.615414722,801,649,630,650.384585278,0.400941746139,-0.015358761871,0.0697992589717,0.99999991738,0.000249167089592,-0.000320785267612,1.58824978728e-05,1793196567359417088
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.194576258,743,712.805423742,673.805423742,660,633.805423742,877,784.805423742,801,649,630,650.194576258,0.400939932379,-0.0153599655635,0.0697989592267,0.999999917619,0.000248596200969,-0.000320484567799,1.58340011704e-05,1793196567376083712
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.773748465,743,712.226251535,673.226251535,660,633.226251535,877,784.226251535,801,649,630,650.773748465,0.400942127394,-0.0153601077151,0.0698017770605,0.999999919172,0.000247503591281,-0.000316456114675,1.59387639242e-05,1793196567392750080
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.651113708,743,712,673,659.651113708,633.348886292,877,784,801,649,630,650.651113708,0.400941831633,-0.0153601723856,0.0698029665176,0.999999919513,0.000247970307103,-0.000315003919166,1.60135276952e-05,1793196567409416448
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.078562277,743,712,673,659.078562277,633.921437723,877,784,801,649,630,650.078562277,0.400939939077,-0.0153601873844,0.0698031120498,0.999999919085,0.000249436680353,-0.000315203319284,1.60690596186e-05,1793196567426083328
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.508644177,634,877.508644177,784.508644177,801,649,630,650.508644177,0.400940190159,-0.0153611757814,0.0698041875385,0.999999920354,0.000246171726625,-0.000313739298485,1.61210991194e-05,1793196567442749952
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,743,712.097057869,673,660,633.902942131,877.902942131,785,801,649.097057869,630,651,0.400940737128,-0.0153621167416,0.0698051040639,0.99999992153,0.000243137765136,-0.000312350556003,1.61665527508e-05,1793196567459416832
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,743,712.679848994,673,660,633.320151006,877.320151006,785,801,649.679848994,630,651,0.400941058748,-0.0153620455634,0.0698044848839,0.999999920971,0.000245025531236,-0.000312662482679,1.61818265496e-05,1793196567476083456
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.258439517,743,712.741560483,673,660,633.258439517,877,785,801,649.741560483,629.741560483,651,0.400941246102,-0.015361914143,0.0698042431884,0.999999920863,0.000245618098646,-0.000312553698909,1.60198412154e-05,1793196567492750080
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,764.018332765,743,712,673.981667235,660,634,877,785,801,649,629.981667235,650.018332765,0.400939637854,-0.0153610613748,0.0698052621975,0.999999921021,0.000247078438532,-0.000310918370851,1.54941988727e-05,1793196567542749696
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2991f7553d5318d0e26e7d85b21323d326c1c626
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_01/simulation_data.csv
@@ -0,0 +1,421 @@
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+390,6.500000000,pose2_to_pose3_retreat,0.578285984083,-0.00999866390055,1.06001144319,0.548857217874,-0.00132500150756,1.05966098062
+391,6.516666667,pose2_to_pose3_retreat,0.578275885806,-0.00999869593593,1.06001150889,0.548847119134,-0.00132503494482,1.0596610505
+392,6.533333333,pose2_to_pose3_retreat,0.578268605178,-0.00999874141539,1.06001150757,0.548839840002,-0.00132507524961,1.05966105166
+393,6.550000000,pose2_to_pose3_retreat,0.578262939679,-0.00999879028165,1.06001144817,0.548834175942,-0.00132511913525,1.05966099473
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+395,6.583333333,pose2_to_pose3_retreat,0.578256597561,-0.00999883431702,1.06001140284,0.548827834206,-0.00132516184844,1.0596609501
+396,6.600000000,pose2_to_pose3_retreat,0.578255230722,-0.00999881075246,1.06001155597,0.548826467113,-0.00132513928867,1.05966109972
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+398,6.633333333,pose2_to_pose3_retreat,0.578254254726,-0.00999877464163,1.06001159952,0.548825490768,-0.00132510439391,1.05966114248
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+400,6.666666667,pose2_to_pose3_retreat,0.578254030588,-0.00999875291906,1.0600115637,0.548825266432,-0.00132508329783,1.05966110768
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+402,6.700000000,pose2_to_pose3_retreat,0.578253801323,-0.00999873069964,1.06001152706,0.548825036966,-0.00132506171923,1.05966107209
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+404,6.733333333,pose2_to_pose3_retreat,0.578253621007,-0.00999871322407,1.06001149824,0.548824856491,-0.00132504474768,1.05966104409
+405,6.750000000,pose2_to_pose3_retreat,0.57825347971,-0.00999869953018,1.06001147566,0.548824715071,-0.00132503144873,1.05966102216
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+407,6.783333333,pose2_to_pose3_retreat,0.578253349409,-0.0099986869019,1.06001145483,0.548824584655,-0.00132501918466,1.05966100193
+408,6.800000000,pose2_to_pose3_retreat,0.578253224238,-0.00999867477084,1.06001143483,0.548824459374,-0.00132500740347,1.05966098249
+409,6.816666667,pose2_to_pose3_retreat,0.578253062208,-0.00999865906756,1.06001140893,0.548824297202,-0.00132499215309,1.05966095734
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+411,6.850000000,pose2_to_pose3_retreat,0.578252895455,-0.00999864290646,1.06001138228,0.548824130302,-0.00132497645809,1.05966093145
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+415,6.916666667,pose2_to_pose3_retreat,0.578252434164,-0.0099987921269,1.0600116166,0.548823671093,-0.00132511923352,1.05966115049
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b08b22ab9de80847ace09c0224b37eaa8fe0efb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23c3d0dfbd09c1e63c13dbe7b9d6d8360b6197815e67465684d9450ddac9107f
+size 26781741
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d95b2a1c41fab26878f28b5383da4b5465c3087
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_02/franka_data.csv
@@ -0,0 +1,424 @@
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+14,0.233333333,BASELINE,765,743,712.12187708,674,659.12187708,634,878,784.87812292,801,649,629.12187708,651,0.400938797518,-0.0153644832785,0.0698072874939,0.999999922942,0.000242211689194,-0.000308602623067,1.4621640723e-05,1793196568149675776
+15,0.250000000,BASELINE,765,743,712.710994385,674,659.710994385,634,878,784.289005615,801,649,629.710994385,651,0.400940051184,-0.0153634195774,0.0698076944547,0.999999922765,0.000244411685942,-0.000307439729466,1.46010625431e-05,1793196568166342144
+16,0.266666667,BASELINE,765,743,713,674,660,634,877.7050701,784.2949299,801,649,630,651,0.400940327441,-0.0153630262339,0.0698079696803,0.99999992278,0.000245151798214,-0.000306796848588,1.46738101776e-05,1793196568183008512
+17,0.283333333,BASELINE,765,743,713,674,660,634,877.126124649,784.873875351,801,649,630,651,0.400939662461,-0.0153632784403,0.0698081180459,0.999999922985,0.000244486051223,-0.000306654736605,1.4836429958e-05,1793196568199675648
+18,0.300000000,BASELINE,764.550256895,743,712.550256895,673.550256895,660,634,877.449743105,785,801.449743105,649,630,651,0.400939770107,-0.0153652347707,0.0698081771804,0.999999923466,0.000242536066763,-0.000306624289948,1.50302168685e-05,1793196568216342272
+19,0.316666667,BASELINE,764.024882374,743,712,673.024882374,659.975117626,634,877.975117626,784.975117626,801.975117626,649,630,650.975117626,0.400940063597,-0.0153674409532,0.0698081799753,0.999999923969,0.000240438265719,-0.000306626421096,1.5203887796e-05,1793196568233009152
+20,0.333333333,BASELINE,764.602883823,743,712,673.602883823,659.397116177,634,877.397116177,784.397116177,801.397116177,649,630,650.397116177,0.400939704524,-0.0153646499946,0.0698074828577,0.999999923345,0.000243006036511,-0.000306661352753,1.47374201865e-05,1793196568249675520
+21,0.350000000,BASELINE,764.815729249,743,712,673.815729249,659,634,877,784,801,649,630,650.184270751,0.400939259845,-0.0153630793466,0.069807125414,0.999999922926,0.000244446491428,-0.000306893953767,1.45042208902e-05,1793196568266341888
+22,0.366666667,BASELINE,764.226909903,743,712,673.226909903,659,634,877,784,801,649,630,650.773090097,0.400938627229,-0.0153641877727,0.0698075136916,0.999999922969,0.000243412033145,-0.000307560518716,1.47831396527e-05,1793196568283008512
+23,0.383333333,BASELINE,764.709965949,743,712.354982975,673,659,633.645017025,877,784,801,649,630,651,0.400938786939,-0.0153644089498,0.0698076507947,0.999999922831,0.00024385778004,-0.000307645503798,1.50122412979e-05,1793196568299674880
+24,0.400000000,BASELINE,765.865066307,743,712.932533154,673,659,633.067466846,877,784,801,649,630,651,0.400939443422,-0.0153640738397,0.0698076304164,0.999999922578,0.000245231585791,-0.000307365850033,1.52101086372e-05,1793196568316341504
+25,0.416666667,BASELINE,764.985665625,743,713,673,659,633.507167187,877,784.507167187,801,649,630,651,0.400939164501,-0.0153641245344,0.0698075112243,0.999999922422,0.00024529103479,-0.00030784091902,1.49403674796e-05,1793196568333008640
+26,0.433333333,BASELINE,764,743,713,673.083599591,659.083599591,634,877.083599591,785,801,649,630,651,0.4009389678,-0.0153641607027,0.0698075540778,0.999999922385,0.000245219884264,-0.000308028185167,1.46687023226e-05,1793196568349675264
+27,0.450000000,BASELINE,764,743,713,673.673253132,659.673253132,634,877.673253132,785,801,649,630,651,0.400940017731,-0.0153638000448,0.0698086569581,0.999999923,0.000245410512613,-0.000305869025052,1.47597805472e-05,1793196568366342144
+28,0.466666667,BASELINE,764,743,712.741983343,673.483966686,660,634,877.741983343,785,800.741983343,649,629.741983343,651,0.400939976656,-0.015364039589,0.069808774709,0.999999923295,0.000244547834372,-0.00030559959278,1.46831370805e-05,1793196568383008768
+29,0.483333333,BASELINE,764,743,712.163297284,672.326594569,660,634,877.163297284,785,800.163297284,649,629.163297284,651,0.400938579649,-0.015365025079,0.0698076681172,0.99999992319,0.000242376080966,-0.000307678760548,1.43980449945e-05,1793196568399675392
+30,0.500000000,BASELINE,764.415336072,743.415336072,712.415336072,672.415336072,660,633.584663928,877,785,800.415336072,649,629,650.584663928,0.400938562797,-0.0153637585167,0.069807787015,0.999999922766,0.000244660476725,-0.000307248766477,1.44295465996e-05,1793196568416341760
+31,0.516666667,BASELINE,764.993948696,743.993948696,712.993948696,672.993948696,660,633.006051304,877,785,800.993948696,649,629,650.006051304,0.40093908851,-0.0153616066296,0.0698083876764,0.999999922202,0.000248696669981,-0.000305832372852,1.45855072453e-05,1793196568433008384
+32,0.533333333,BASELINE,765,743.421692508,713,673,660,633.578307492,877,785,801,649,629.578307492,650.578307492,0.400939429352,-0.0153647796614,0.0698077455813,0.999999923509,0.000242316443413,-0.000306680454202,1.45491126848e-05,1793196568449675008
+33,0.550000000,BASELINE,765,743,713,673,660,634,877.162124021,785,801,649,630,651,0.400939823041,-0.0153671518038,0.06980758651,0.999999924348,0.000238473241572,-0.000306951001604,1.46651454443e-05,1793196568466341632
+34,0.566666667,BASELINE,765,743,713,673,660,634,877.744377847,785,801,649,630,651,0.400940358742,-0.0153673026728,0.0698087131887,0.999999924011,0.000241489798675,-0.000305662901831,1.51814481458e-05,1793196568483008512
+35,0.583333333,BASELINE,764.677043006,743,713,673.322956994,660,634,877.677043006,785,800.677043006,649.322956994,630,651,0.400939948613,-0.0153669302661,0.0698085557218,0.999999923885,0.000241967262878,-0.000305698717026,1.51997801234e-05,1793196568499675392
+36,0.600000000,BASELINE,764.101339605,743,713,673.898660395,660,634,877.101339605,785,800.101339605,649.898660395,630,651,0.400938798277,-0.0153661483434,0.0698073932816,0.999999923926,0.000240457631224,-0.000306770629022,1.48283998604e-05,1793196568516342784
+37,0.616666667,BASELINE,764,743,712.526427436,674,660,634,877.473572564,785,800,649.526427436,630,650.526427436,0.400939369214,-0.015364118673,0.0698079274178,0.999999923284,0.000243725277002,-0.000306284519442,1.48535650769e-05,1793196568533009152
+38,0.633333333,BASELINE,764.049412546,743,712,673.950587454,660,634,877.950587454,784.950587454,800,649,630,650.049412546,0.400940228655,-0.0153621175759,0.0698088004396,0.999999922611,0.000247408862085,-0.000305519236766,1.49622201828e-05,1793196568549675520
+39,0.650000000,BASELINE,764.637203717,743,712,673.362796283,660,634,877.362796283,784.362796283,800,649,630,650.637203717,0.400940224988,-0.015363332123,0.0698094167783,0.99999992338,0.000244504508119,-0.000305338732891,1.50575263048e-05,1793196568566342144
+40,0.666666667,BASELINE,765,743,712,673,660,634,877,784.223036343,800,649,629.776963657,651,0.400940551544,-0.0153648942864,0.0698098032346,0.999999924163,0.000242020809122,-0.00030474485299,1.51674242787e-05,1793196568583008768
+41,0.683333333,BASELINE,765,743,712,673,660,634,877,784.805710849,800,649,629.194289151,651,0.400941410573,-0.0153670169687,0.0698098190139,0.99999992498,0.000240215401462,-0.000303484418977,1.53008510887e-05,1793196568599675136
+42,0.700000000,BASELINE,765,743,712.382211949,673.382211949,660,634,877,785,800.764423899,649,629.382211949,651,0.400940271077,-0.0153676047348,0.0698085770453,0.999999924655,0.000239220789213,-0.000305341444901,1.51460488904e-05,1793196568616341760
+43,0.716666667,BASELINE,765,743,712.955624796,673.955624796,660,634,877,785,801.911249593,649,629.955624796,651,0.400938131822,-0.0153674246617,0.0698067058905,0.999999923751,0.000238631776082,-0.000308757975053,1.48470606016e-05,1793196568633008384
+44,0.733333333,BASELINE,764.468358043,743,713,674,660,634,877,785,800.936716085,649,630,651,0.400939038356,-0.0153664979013,0.0698080206757,0.999999923753,0.000240852018414,-0.000307024776842,1.4830071318e-05,1793196568649675008
+45,0.750000000,BASELINE,764,743,712.88975641,673.88975641,660,633.88975641,877,785,800.11024359,649.11024359,630,650.88975641,0.40093998289,-0.0153655751604,0.0698091826785,0.999999923781,0.000242958293842,-0.000305270804971,1.47994043178e-05,1793196568666341632
+46,0.766666667,BASELINE,764,743,712.300882682,673.300882682,660,633.300882682,877,785,800.699117318,649.699117318,630,650.300882682,0.400939983225,-0.0153649417891,0.0698085211514,0.999999923631,0.000243546735555,-0.000305302004106,1.46066598628e-05,1793196568683008256
+47,0.783333333,BASELINE,764,743,712,673.284235027,660,633.284235027,877,785,800.715764973,649.715764973,630,650.284235027,0.400940945525,-0.0153651284053,0.0698089710593,0.999999924192,0.000242670531902,-0.000304153832698,1.47365404046e-05,1793196568699674880
+48,0.800000000,BASELINE,764,743,712,673.865428652,660,633.865428652,877,785,800.134571348,649.134571348,630,650.865428652,0.400942912852,-0.015366171715,0.0698105821546,0.999999925487,0.00024026411918,-0.000301773497095,1.52034879902e-05,1793196568716341504
+49,0.816666667,BASELINE,764.44209285,743,712,674,659.55790715,634,877,785,800,649,630,651,0.400942487521,-0.0153662738794,0.069810755786,0.99999992538,0.000240564155595,-0.000301886636212,1.52806075587e-05,1793196568733008128
+50,0.833333333,BASELINE,765,743,712.017696484,674,659.017696484,634,877.017696484,784.982303516,800,649,630,651,0.400941344731,-0.0153660802906,0.0698104659105,0.999999924847,0.000241642493839,-0.000302790908356,1.52328301024e-05,1793196568749674752
+51,0.850000000,BASELINE,765,743,712.603059126,674,659.603059126,634,877.603059126,784.396940874,800,649,630,651,0.400940313256,-0.0153654960703,0.0698092013211,0.999999924216,0.000241528310146,-0.000304972731429,1.49464473641e-05,1793196568766341376
+52,0.866666667,BASELINE,765,743,713,674,660,634,877.813579035,784.186420965,800,649,630,651,0.400939882364,-0.0153653148265,0.0698086028693,0.999999923883,0.000241753620636,-0.000305894508857,1.47792092491e-05,1793196568783008000
+53,0.883333333,BASELINE,765,743,713,674,660,634,877.234432247,784.765567753,800,649,630,651,0.400940716696,-0.0153659825178,0.0698094077437,0.999999924182,0.000242694130377,-0.00030416179682,1.48629685128e-05,1793196568799674880
+54,0.900000000,BASELINE,764.656873077,743.343126923,712.656873077,674,660,634,877,785,800.343126923,649,630,651,0.400941274834,-0.0153658307908,0.0698096623999,0.99999992423,0.000243203116114,-0.000303599349788,1.48351719805e-05,1793196568816342272
+55,0.916666667,BASELINE,764.080393631,743.919606369,712.080393631,674,660,634,877,785,800.919606369,649,630,651,0.400941645139,-0.0153651217967,0.0698095428655,0.999999924108,0.000243418632522,-0.000303832772438,1.47315089808e-05,1793196568833009664
+56,0.933333333,BASELINE,764.494589717,743.505410283,712.494589717,673.505410283,660,634,877.494589717,784.505410283,800.505410283,649,630,651,0.400940975481,-0.0153647480486,0.0698090867662,0.999999923935,0.00024347565772,-0.000304362235003,1.45780372451e-05,1793196568849676032
+57,0.950000000,BASELINE,764.928750996,743,713,673,659.928750996,634,878,784.071249004,800,649,630,651,0.400940184399,-0.0153643200959,0.0698086225694,0.999999923757,0.000243584622,-0.00030486818135,1.44501615227e-05,1793196568866341888
+58,0.966666667,BASELINE,764.338107212,743,713,673,659.338107212,634,878,784.661892788,800,649,630,651,0.400939736728,-0.0153631009515,0.0698084969484,0.999999923595,0.000244259450308,-0.000304852966807,1.45677192965e-05,1793196568883008768
+59,0.983333333,BASELINE,764,743,713,673.24781016,659,634,877.75218984,785,800.24781016,649,630,651,0.400939709734,-0.0153630727697,0.0698084288785,0.999999923564,0.000244469896153,-0.000304781922468,1.46199957955e-05,1793196568899675392
+60,1.000000000,BASELINE,764,743,713,673.827399681,659,634,877.172600319,785,800.827399681,649,630,651,0.400940245961,-0.0153646391019,0.0698084378605,0.99999992371,0.000244058606016,-0.000304636130689,1.45848708115e-05,1793196568916342016
+61,1.016666667,BASELINE,764.404353828,743,712.595646172,674,659,634,877,784.595646172,801,649,629.595646172,651,0.400941325915,-0.0153662469132,0.0698091535406,0.999999924263,0.000242865177567,-0.000303752296845,1.49873472009e-05,1793196568933008384
+62,1.033333333,BASELINE,764.980190303,743,712.019809697,674,659,634,877,784.019809697,801,649,629.019809697,651,0.400942636459,-0.0153678723152,0.0698101689248,0.999999924986,0.000241340051655,-0.000302555466327,1.55754062092e-05,1793196568949674752
+63,1.050000000,BASELINE,765,743.566279493,712.566279493,673.433720507,659.566279493,633.433720507,877.566279493,784.566279493,800.433720507,649,629.566279493,651,0.40094199869,-0.0153673801998,0.0698100907923,0.999999925376,0.000239529048248,-0.000302728729519,1.51627090045e-05,1793196568966341632
+64,1.066666667,BASELINE,764.848212195,743.848212195,713,673,660.151787805,633,877.848212195,784.848212195,800.151787805,649,630,651,0.400941252655,-0.0153667141702,0.069810091271,0.999999925479,0.000238672096746,-0.000303081903853,1.48127682659e-05,1793196568983008000
+65,1.083333333,BASELINE,764.265390719,743.265390719,713,673,660.734609281,633,877.265390719,784.265390719,800.734609281,649,630,651,0.400940396288,-0.0153657685059,0.0698104256152,0.999999924809,0.000240553300653,-0.000303807360152,1.4742285449e-05,1793196568999674880
+66,1.100000000,BASELINE,764.313786758,743,713,673,660.686213242,633.313786758,877,784.313786758,801,649,630,651,0.400940522148,-0.0153663507583,0.0698105645572,0.999999924882,0.000240957147469,-0.000303237184873,1.49366789978e-05,1793196569016341760
+67,1.116666667,BASELINE,764.889917609,743,713,673,660.110082391,633.889917609,877,784.889917609,801,649,630,651,0.400941469207,-0.0153682104384,0.0698105401315,0.999999925576,0.000240125837207,-0.000301583785734,1.53525246931e-05,1793196569033008384
+68,1.133333333,BASELINE,764.5355791,743,713,673,660,634,877.4644209,785,800.5355791,649,630,650.5355791,0.400941630875,-0.0153674218683,0.0698100571502,0.999999925581,0.000239309754401,-0.000302224167676,1.51548463322e-05,1793196569049674752
+69,1.150000000,BASELINE,764.039695131,743,713,673.039695131,660,634,877.960304869,785,800,649,629.960304869,650.039695131,0.400941581014,-0.0153661250891,0.0698095142732,0.99999992543,0.000238561994596,-0.000303330219045,1.48181945426e-05,1793196569066341376
+70,1.166666667,BASELINE,764.631024781,743,713,673.631024781,660,634,877.368975219,785,800,649,629.368975219,650.631024781,0.400941169615,-0.0153664586457,0.0698096442357,0.999999925383,0.000238713721683,-0.000303378303768,1.45641351525e-05,1793196569083008256
+71,1.183333333,BASELINE,764.783284769,743,713,673.783284769,660,634,877,785,800,649,629.216715231,651,0.400940652836,-0.0153666614981,0.0698094278741,0.999999925135,0.00023920340886,-0.000303807853415,1.45529004961e-05,1793196569099675136
+72,1.200000000,BASELINE,764.206951923,743,713,673.206951923,660,634,877,785,800,649,629.793048077,651,0.400939961191,-0.0153666474597,0.0698086368217,0.999999924554,0.00024025390759,-0.0003048704066,1.49446095652e-05,1793196569116343040
+73,1.216666667,BASELINE,764.369473846,743,712.630526154,673.369473846,659.630526154,633.630526154,877.369473846,785,800.369473846,649,630,651,0.400939515678,-0.0153665412794,0.0698083510053,0.99999992408,0.000241749997919,-0.000305234632139,1.50943239365e-05,1793196569133009408
+74,1.233333333,BASELINE,764.945951642,743,712.054048358,673.945951642,659.054048358,633.054048358,877.945951642,785,800.945951642,649,630,651,0.400939208063,-0.015366383475,0.069808348256,0.999999923665,0.000243495738388,-0.000305207607782,1.51084566762e-05,1793196569149675008
+75,1.250000000,BASELINE,764.466589462,743,712,673.466589462,659.533410538,633.533410538,877.466589462,785,800.466589462,649,630,651,0.40093955207,-0.0153652564283,0.0698082596218,0.999999923306,0.000244867349364,-0.000305293817155,1.49851921382e-05,1793196569166341632
+76,1.266666667,BASELINE,764,743,712.120055117,673,660,634,877,784.879944883,800,649,630,651,0.400939881216,-0.015364412616,0.0698083123762,0.999999923184,0.000245395247263,-0.00030527349801,1.48553544968e-05,1793196569183008512
+77,1.283333333,BASELINE,764,743,712.699240788,673,660,634,877,784.300759212,800,649,630,651,0.400939895716,-0.0153650354667,0.0698089398281,0.999999923953,0.000242844530751,-0.000304800977668,1.47547402694e-05,1793196569199675136
+78,1.300000000,BASELINE,764.277629372,743,713,673.277629372,660,634,877.277629372,784.277629372,800.277629372,649,630,651,0.400939949974,-0.0153656914246,0.0698093020791,0.999999924443,0.000241286675349,-0.000304427717861,1.47817368489e-05,1793196569216342016
+79,1.316666667,BASELINE,764.855156897,743,713,673.855156897,660,634,877.855156897,784.855156897,800.855156897,649,630,651,0.40094004718,-0.0153663831454,0.0698093778574,0.999999924638,0.000240801319072,-0.000304161680354,1.49465799633e-05,1793196569233008896
+80,1.333333333,BASELINE,765,743,712.569619539,674,660,634,877.569619539,785,801,649,630,650.569619539,0.400940313731,-0.0153657099152,0.0698095023814,0.999999924439,0.000241555651549,-0.000304232886762,1.47030588887e-05,1793196569249675264
+81,1.350000000,BASELINE,765,743,712.004963511,674,660,634,877.004963511,784.995036489,801,649,629.995036489,650.004963511,0.400940632431,-0.0153645952826,0.0698096385724,0.999999924112,0.000242697157482,-0.00030441609783,1.43259233937e-05,1793196569266341632
+82,1.366666667,BASELINE,765,743,712.59495163,674,660,634,877.59495163,784.40504837,801,649,629.40504837,650.59495163,0.400940416063,-0.0153653100808,0.0698092265793,0.999999924605,0.000240559874151,-0.000304494490626,1.43126849639e-05,1793196569283008000
+83,1.383333333,BASELINE,765,743,712.818450934,674,660,634,877.818450934,784.181549066,800.818450934,649,629.181549066,651,0.400940657049,-0.0153657824601,0.0698092191921,0.999999925009,0.000239435206036,-0.000304050807332,1.43299315451e-05,1793196569299674880
+84,1.400000000,BASELINE,765,743,712.239279538,674,660,634,877.239279538,784.760720462,800.239279538,649,629.760720462,651,0.400941899713,-0.0153657239026,0.0698100979585,0.999999925227,0.000240528331471,-0.000302463691501,1.44139453146e-05,1793196569316341504
+85,1.416666667,BASELINE,765,743,712,674,660,634,877,784.661410927,800,649,630,651,0.40094158476,-0.0153648194717,0.0698100434479,0.999999925003,0.000241526000438,-0.000302414686618,1.4279578611e-05,1793196569333008128
+86,1.433333333,BASELINE,765,743,712,674,660,634,877,784.084459496,800,649,630,651,0.400940173262,-0.0153633195567,0.0698093319221,0.999999924469,0.000242456469208,-0.000303448492182,1.39914748542e-05,1793196569349674752
+87,1.450000000,BASELINE,765,743,712,674,660,634,877,784.488681358,800,649,630,651,0.400941404183,-0.0153647600584,0.069810233736,0.999999925047,0.00024155465646,-0.000302250104282,1.42420963115e-05,1793196569366341376
+88,1.466666667,BASELINE,765,743,712,674,660,634,877.12666428,784.93666786,800.06333214,649,630,651,0.40094276139,-0.0153663291802,0.0698112130112,0.999999925634,0.00024068076119,-0.000300987244594,1.45230205915e-05,1793196569383008000
+89,1.483333333,BASELINE,765,743,712,674,660,634,878.312134563,784.343932718,800.656067282,649,630,651,0.400941386219,-0.0153647582348,0.0698105270015,0.999999924736,0.000242666892001,-0.000302385407162,1.42849634746e-05,1793196569399674624
+90,1.500000000,BASELINE,765,743,712,674,660,633.757673881,878.515347761,784.242326119,801,649,629.757673881,651,0.400941009576,-0.0153647822114,0.0698102022128,0.999999924709,0.000242179774421,-0.000302863615792,1.42895423072e-05,1793196569416341504
+91,1.516666667,BASELINE,765,743,712,674,660,633.180367627,877.360735255,784.819632373,801,649,629.180367627,651,0.400942013254,-0.0153670109327,0.069810376759,0.999999925883,0.000238273755404,-0.000302070123612,1.46295295884e-05,1793196569433008128
+92,1.533333333,BASELINE,765,743,712,673.604002895,660,633,877.395997105,784.604002895,800.604002895,649,629.395997105,651,0.400941835515,-0.0153675568509,0.0698102068882,0.999999925979,0.000238322231075,-0.000301718707361,1.44909003266e-05,1793196569449674752
+93,1.550000000,BASELINE,765,743,712,673.028065937,660,633,877.971934063,784.028065937,800.028065937,649,629.971934063,651,0.400941120945,-0.0153673381087,0.0698098805153,0.999999925588,0.0002401676165,-0.000301568168972,1.4134789225e-05,1793196569466341376
+94,1.566666667,BASELINE,764.440287425,743,712.559712575,673.559712575,660,633.559712575,877.440287425,784.559712575,800.559712575,649,630,651,0.400940002775,-0.0153667818767,0.0698090406005,0.999999924613,0.000241624771944,-0.000303608418672,1.46091158835e-05,1793196569483008000
+95,1.583333333,BASELINE,764.145780581,742.854219419,713,674,660,633.854219419,877,785,801,649,630,651,0.400939853789,-0.0153665485304,0.0698090607332,0.99999992432,0.000242141607943,-0.000304141997109,1.50051912601e-05,1793196569499674624
+96,1.600000000,BASELINE,764.724960048,742.275039952,713,674,660,633.275039952,877,785,801,649,630,651,0.400942647613,-0.0153673265064,0.0698117159572,0.999999926147,0.000239922044299,-0.000299862663573,1.50421567453e-05,1793196569516341248
+97,1.616666667,BASELINE,765,742.302479952,713,673.697520048,660,633,877,784.697520048,801,649,629.697520048,651,0.400943543834,-0.0153679428672,0.0698126821504,0.999999926823,0.000239001737952,-0.000298338862278,1.50534502685e-05,1793196569533008128
+98,1.633333333,BASELINE,765,742.878499044,713,673.121500956,660,633,877,784.121500956,801,649,629.121500956,651,0.400942724011,-0.015368413076,0.0698121209163,0.999999926473,0.000239256378114,-0.000299306948429,1.50415280816e-05,1793196569549674752
+99,1.650000000,BASELINE,765,743,713,673,660,633,877,784.450386967,800.549613033,649,629,651,0.40094047748,-0.0153679614929,0.0698104819343,0.999999925625,0.00023809553977,-0.000303052260818,1.48377791259e-05,1793196569566341120
+100,1.666666667,BASELINE,765,743,712.977934679,673.022065321,660,633.022065321,877,785,800.022065321,649,629,651,0.400938042497,-0.01536734604,0.0698086875947,0.999999924702,0.000236616122747,-0.000307236891109,1.46076255492e-05,1793196569583008000
+101,1.683333333,BASELINE,765,743,712.383026887,673.616973113,660,633.616973113,877,785,800.616973113,649,629,651,0.400940616288,-0.0153688734733,0.0698103394541,0.999999925804,0.00023668930108,-0.00030355306592,1.50232352041e-05,1793196569599674880
+102,1.700000000,BASELINE,765,743,712,673.793893906,660,634,877.206106094,784.793893906,801,649,629.206106094,651,0.400941844735,-0.0153690903561,0.0698109886983,0.999999926172,0.000237660891341,-0.000301568959957,1.51151464867e-05,1793196569616341504
+103,1.716666667,BASELINE,765,743,712,673.215200378,660,634,877.784799622,784.215200378,801,649,629.784799622,651,0.400940641144,-0.0153669380964,0.0698098254691,0.999999925231,0.000240256582024,-0.000302657514755,1.46218933383e-05,1793196569633008128
+104,1.733333333,BASELINE,765,743,712.360446755,673.72089351,660,634,877.639553245,784.360446755,800.639553245,649,629.639553245,650.639553245,0.400940281626,-0.0153665863581,0.0698094327182,0.999999925039,0.000240332096765,-0.000303245098444,1.43430531398e-05,1793196569649674752
+105,1.750000000,BASELINE,765,743,712.934290374,674.868580747,660,634,877.065709626,784.934290374,800.065709626,649,629.065709626,650.065709626,0.40094042183,-0.0153673005899,0.069809496117,0.999999925292,0.000238915581007,-0.000303536090127,1.41911527272e-05,1793196569666341376
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,743,712,674,659,634,877,785,801,649,629,651,0.400939277788,-0.0153667233689,0.0698087955535,0.999999924835,0.000239254856893,-0.000304765812543,1.43195262633e-05,1793196569697250048
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.406497422,743,712,674,660.187005157,633.406497422,877,784.406497422,800.406497422,649,629.593502578,651,0.40093994884,-0.0153656507611,0.0698099413919,0.999999924421,0.000242323376303,-0.000303686634696,1.45716675915e-05,1793196569713916928
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.181917328,743,712,674,660.818082672,633.181917328,877,784.181917328,800.181917328,649,630,651,0.400940416984,-0.015364884697,0.0698104186065,0.999999924099,0.000244200375841,-0.000303236582082,1.46623301524e-05,1793196569730583552
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+110,1.833333333,POSE1_TO_POSE2_PRESS,765,743,712,673.664976436,660.335023564,633.664976436,877.335023564,784.664976436,801,649,630,651,0.400939870903,-0.0153650522287,0.0698090805647,0.999999923907,0.00024323123812,-0.000304661109612,1.4376969149e-05,1793196569763916544
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,743,712,673.090372911,660.909627089,633.090372911,877.909627089,784.090372911,801,649,630,651,0.400938868514,-0.0153655819151,0.0698091580316,0.999999923822,0.000243301893545,-0.000304874623022,1.45202465043e-05,1793196569780583168
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,743,712.496985784,673.496985784,660.503014216,633,877.503014216,784.496985784,800.503014216,649,630,650.503014216,0.400939327087,-0.0153657062583,0.0698094435951,0.999999924169,0.00024281536646,-0.00030413371038,1.43166762645e-05,1793196569797250048
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+114,1.900000000,POSE1_TO_POSE2_PRESS,764.333367692,743,713,673.333367692,660,633.666632308,877,785,800,649,629.333367692,650.666632308,0.40094223159,-0.0153668502923,0.0698097509838,0.999999924967,0.000240323338014,-0.00030349882929,1.4135946323e-05,1793196569830583296
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.244597909,743,713,673,660,633.755402091,877.244597909,785,800.244597909,649,629.244597909,650.755402091,0.400950067745,-0.0153676468395,0.0698131920372,0.999999926592,0.000240252671748,-0.000298125148309,1.46885419756e-05,1793196569847249920
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.818255529,743,713,673,660,633.181744471,877.818255529,785,800.818255529,649,629.818255529,650.181744471,0.40096577094,-0.0153682219353,0.0698212263722,0.999999929778,0.00024241894819,-0.000285347446147,1.59281155644e-05,1793196569863916800
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,743,712.608514694,673.391485306,660,633.391485306,878,784.608514694,801,649.391485306,629.608514694,650.391485306,0.400995352255,-0.0153702844901,0.0698351220295,0.999999936275,0.00024099878582,-0.000262832967184,1.69971286277e-05,1793196569880583424
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,743,712.035483274,673.964516726,660,633.964516726,878,784.035483274,801,649.964516726,629.035483274,650.964516726,0.401031369366,-0.0153730368342,0.0698517357979,0.999999943735,0.000237915460103,-0.000235803185932,1.79870466101e-05,1793196569897249792
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+120,2.000000000,POSE1_TO_POSE2_PRESS,765,743,712.146266773,673,659.146266773,634,877.146266773,785,800.146266773,649,630,651,0.401145185576,-0.0153778299271,0.069884824152,0.999999954511,0.000237648078182,-0.000184653776752,2.01004289767e-05,1793196569930583296
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,743,712.726211065,673,659.726211065,634,877.726211065,785,800.726211065,649,630,651,0.401211804311,-0.015381261115,0.0698948909597,0.999999956315,0.0002359501259,-0.000176920727349,1.99146579157e-05,1793196569947249920
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.698215811,743,713,673,660,634,877.698215811,785,801,649,630,651,0.401285360827,-0.015385144673,0.0699002869857,0.999999957999,0.000232716771839,-0.000171748564231,1.86236137616e-05,1793196569963916544
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.126551776,743,713,673,660,634,877.126551776,785,801,649,630,651,0.401365121664,-0.0153894327767,0.06990150602,0.999999959591,0.000228110337345,-0.000168866553357,1.63441449646e-05,1793196569980583168
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.458991784,743,713,673,660,633.541008216,877,785,801,649,629.541008216,651,0.401462607861,-0.0153921426328,0.0699019817542,0.99999995958,0.000229009519679,-0.000167969783796,1.34420869291e-05,1793196569997249792
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+132,2.200000000,POSE1_TO_POSE2_PRESS,764.887137569,743,712.112862431,674,660,633.112862431,877.112862431,784.887137569,800.887137569,649,629.112862431,651,0.402894341686,-0.0154523590169,0.0699229318774,0.999999982495,0.000139907720987,-0.000122133335667,-2.27949133615e-05,1793196570130583040
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.309066621,743,712.690933379,674,660,633.690933379,877.690933379,784.309066621,800.309066621,649,629.690933379,651,0.403194017147,-0.0154647269954,0.0699353981607,0.999999993011,5.71710057747e-05,-9.98475566976e-05,-2.72162647861e-05,1793196570147249664
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.267490456,743,713,673.732509544,660,634,877.732509544,784.267490456,800.267490456,649,629.732509544,651,0.403500639884,-0.0154751244519,0.0699440754996,0.999999995778,1.56106233405e-05,-8.52252691789e-05,-3.0601526777e-05,1793196570163916800
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.84230817,743,713,673.15769183,660,634,877.15769183,784.84230817,800.84230817,649,629.15769183,651,0.403815244523,-0.0154832579199,0.0699483996139,0.999999996081,2.13588850033e-05,-7.9407782997e-05,-3.27963965926e-05,1793196570180584448
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.57318888,743,712.57318888,673,660,634,877.42681112,784.57318888,801,649,629,650.57318888,0.404152978766,-0.0154891385807,0.0699506029854,0.999999995988,3.24785963328e-05,-7.79677566594e-05,-2.98480403231e-05,1793196570197250816
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.014743256,743,712.014743256,673,660.014743256,633.985256744,878,784,801.014743256,649,629.014743256,650.014743256,0.404501011808,-0.0154938690237,0.0699521299608,0.999999995631,4.51925566305e-05,-7.78691755768e-05,-2.51598321863e-05,1793196570213916928
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.5937862,743,712.5937862,673,660.5937862,633.4062138,878,784,801.5937862,649,629.5937862,650.5937862,0.404908555156,-0.0154871721275,0.0699584542401,0.999999996588,4.12035022903e-05,-6.57741798157e-05,-2.82993607776e-05,1793196570230583296
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,743,713,673,660.827867328,633.172132672,878.172132672,784.172132672,801.655734655,649,630,651,0.405325991528,-0.015484849959,0.0699616708262,0.999999997097,3.80180913323e-05,-5.91509756331e-05,-2.93401628515e-05,1793196570247249920
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743,713,673,660.251157906,633.748842094,878.748842094,784.748842094,800.502315811,649,630,651,0.40576668018,-0.0154928100528,0.0699575831598,0.999999996864,3.6721546225e-05,-6.53885486594e-05,-2.54481650318e-05,1793196570263916800
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.676736873,743,712.676736873,673,660,633.676736873,878.353473746,784.676736873,800.323263127,649,630,650.676736873,0.406211574797,-0.0155068589876,0.0699430313878,0.999999995393,2.04391743021e-05,-9.01451117083e-05,-2.59054796588e-05,1793196570280584192
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.104081236,743,712.104081236,673,660,633.104081236,877.208162473,784.104081236,800.895918764,649,630,650.104081236,0.406659714298,-0.0155256053701,0.0699204067195,0.999999991186,-7.40453174175e-06,-0.000129188790056,-2.97182212066e-05,1793196570297251840
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.48450881,743,712,673.48450881,660,633.48450881,877,784.48450881,801,649,630,650.48450881,0.407171179814,-0.015530461853,0.0699136806229,0.999999990605,-1.88674283965e-05,-0.000132009633619,-3.17501240826e-05,1793196570313918208
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,742.925051308,712,673.925051308,660,634,877,785,801,649,629.925051308,651,0.407706885892,-0.0155313490702,0.0699127205448,0.999999991444,-2.57388580355e-05,-0.000123836070361,-3.33713528882e-05,1793196570330584576
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,742.345975678,712,673.345975678,660,634,877,785,801,649,629.345975678,651,0.40831102813,-0.0155262902647,0.0699267908886,0.999999994456,-2.62007416298e-05,-9.58301910871e-05,-3.48909580466e-05,1793196570347251456
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.768613759,742.231386241,712,673.231386241,660,633.768613759,877.231386241,785,801,649,629.231386241,651,0.408922179457,-0.0155224811979,0.0699360938172,0.999999996287,-2.34382516489e-05,-7.46873642471e-05,-3.60400907893e-05,1793196570363918080
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.193795431,742.806204569,712,673.806204569,660,633.193795431,877.806204569,785,801,649,629.806204569,651,0.409543733898,-0.0155205270402,0.0699383207694,0.999999997172,-1.58900261641e-05,-6.37309375109e-05,-3.66393544951e-05,1793196570380583936
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.389370955,743,712,674,660.389370955,633,878,784.610629045,801,649,630,651,0.41016314778,-0.0155216455856,0.0699359159522,0.99999999678,-1.9479316894e-05,-6.8047831051e-05,-3.78119639306e-05,1793196570397250816
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.976783303,743,712,674,660.976783303,633,878,784.023216697,801,649,630,651,0.410781472913,-0.0155243269657,0.0699311553299,0.999999995605,-2.87333581457e-05,-8.0133022969e-05,-3.9276187768e-05,1793196570413917952
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660.441035864,633.558964136,878,784.558964136,801,649,630,651,0.411479704082,-0.0155264454354,0.0699403616828,0.999999996642,-3.3603458669e-05,-6.31341032111e-05,-4.0010258909e-05,1793196570430584576
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743.139629002,712.139629002,674,660.139629002,634,877.860370998,785,801,649,629.860370998,651,0.412197614184,-0.0155291914357,0.0699562711205,0.999999997861,-3.70879063227e-05,-3.60457594238e-05,-4.00452622173e-05,1793196570447251200
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,743.716223284,712.716223284,674,660.716223284,634,877.283776716,785,801,649,629.283776716,651,0.4129668187,-0.0155339737665,0.0699913590424,0.999999998423,-3.68005444652e-05,1.88717706364e-05,-3.79865786856e-05,1793196570463917312
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,743.70963156,712.70963156,674,660.70963156,634,877,785,801,649,629.29036844,651,0.413723884414,-0.0155360300315,0.0700052299106,0.99999999783,-3.96950065559e-05,3.68902817811e-05,-3.74732083461e-05,1793196570480583680
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,743.137859842,712.137859842,674,660.137859842,634,877,785,801,649,629.862140158,651,0.414469186204,-0.0155354443989,0.0699985388087,0.999999998034,-4.56730534056e-05,1.91490425303e-05,-3.84574392832e-05,1793196570497250304
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,743.450889956,712.450889956,674,660,634,877.450889956,784.549110044,801.450889956,649,629.549110044,651,0.41518212759,-0.0155311439032,0.0699504021717,0.999999995882,-4.60259350615e-05,-6.41896045682e-05,-4.47003445904e-05,1793196570513916928
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743.956152816,712.956152816,674,660,634,878,784.043847184,802,649,629.043847184,651,0.415894548309,-0.0155263325271,0.0698943358401,0.999999984927,-4.53449638158e-05,-0.000159283443831,-5.21489081002e-05,1793196570530583296
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743.377665371,712.377665371,674,660,634,878,784.622334629,802,649,629.622334629,651,0.416725984192,-0.0155296831136,0.0699021393408,0.999999986787,-5.38496740386e-05,-0.000143589171643,-5.39264468909e-05,1793196570547250432
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.199011368,743.199011368,712.199011368,674,660,634,878.199011368,785,801.800988632,649.199011368,629.800988632,651,0.417566860914,-0.0155335479806,0.0699193705741,0.999999990389,-5.95186461746e-05,-0.0001131956554,-5.35296291719e-05,1793196570563917568
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.772282863,743.772282863,712.772282863,674,660,634,878.772282863,785,801.227717137,649.772282863,629.227717137,651,0.418425491998,-0.0155383800018,0.0699543315701,0.999999995485,-5.98547379302e-05,-5.51587896181e-05,-4.90437235135e-05,1793196570580584192
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.307533214,744,713,674.346233393,660,634,878.653766607,785,801.346233393,649.653766607,629.346233393,651,0.419304879186,-0.0155410056535,0.0699812620735,0.999999996798,-6.26153838638e-05,-1.71665173952e-05,-4.67845811972e-05,1793196570597250816
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.158737246,744,713,674.920631377,660,634,878.079368623,785,801.920631377,649.079368623,629.920631377,651,0.420197944421,-0.0155421773279,0.0700029005555,0.999999996671,-6.69737885396e-05,7.61655142991e-06,-4.59928554777e-05,1793196570613917184
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.512443849,744,713,674.487556151,660.512443849,634,878,785,801.487556151,649,630,651,0.421074033407,-0.0155474330726,0.0700149245115,0.999999995871,-7.3410295786e-05,2.77841706591e-05,-4.57822936004e-05,1793196570630583296
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743.896328963,712.896328963,674,661,634,878,785,801.103671037,649,630,651,0.421933755001,-0.0155513844599,0.0700140017775,0.999999995445,-7.83451655166e-05,2.83592062682e-05,-4.65541926854e-05,1793196570647249920
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743.320484316,712.320484316,674,661,634,878,785,801.679515684,649,630,651,0.422731327059,-0.0155464127731,0.0699611337119,0.999999994253,-7.49232672094e-05,-5.69305591242e-05,-5.13763611142e-05,1793196570663916544
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743.255259041,712.255259041,674.255259041,660.744740959,634,878,785,801.744740959,649,630,651,0.423541596207,-0.0155415502068,0.0699033128813,0.999999985202,-7.17406340023e-05,-0.000145234665638,-5.79355050963e-05,1793196570680583424
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743.830875354,712.830875354,674.830875354,660.169124646,634,878,785,801.169124646,649,630,651,0.424367800667,-0.0155368245891,0.0698392761841,0.999999967246,-6.88582848417e-05,-0.000237321866333,-6.66746029158e-05,1793196570697250304
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743.585465326,713,675,660,634,878,785,801,649.414534674,630,651,0.425280796354,-0.0155401610785,0.0698603243427,0.999999975225,-7.2086525613e-05,-0.000200094017534,-6.56990334236e-05,1793196570713917184
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743,713,675,660,633.998474557,878.001525443,785,801.001525443,649.998474557,630,651,0.42622985562,-0.0155468409428,0.0699167535703,0.999999989171,-7.78534359499e-05,-0.000109150383559,-6.06804761664e-05,1793196570730583808
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743,713,675,660,633.417140832,878.582859168,785,801.582859168,649.417140832,630,651,0.427161178499,-0.0155493627784,0.0699658567053,0.999999993781,-8.22149129798e-05,-5.12525110833e-05,-5.52400556992e-05,1793196570747250432
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,712.837449894,675,660,633.162550106,878.837449894,785,802,649,629.837449894,651,0.428088406001,-0.0155523748311,0.0700082922315,0.999999995041,-8.55697770941e-05,4.6553087543e-06,-5.07335930544e-05,1793196570763916800
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743,712.261932581,675,660,633.738067419,878.261932581,785,802,649,629.261932581,651,0.429005228923,-0.0155566323062,0.0700337883397,0.999999993549,-8.63672876647e-05,5.55072899995e-05,-4.85999006749e-05,1793196570780583424
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,743.312573051,712.312573051,675,660.312573051,634,878.312573051,785,802,649.312573051,629.312573051,651,0.429872819486,-0.0155584172147,0.0700262926336,0.999999993742,-8.83415584053e-05,4.69410837705e-05,-5.00773275635e-05,1793196570797249792
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743.886233613,712.886233613,675,660.886233613,634,878.886233613,785,802,649.886233613,629.886233613,651,0.430699286965,-0.0155581368256,0.0699912393663,0.99999999428,-9.12987588625e-05,-1.1256232302e-05,-5.45710674439e-05,1793196570813916416
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743.524104468,712.524104468,675,661,634,878.524104468,785,801.524104468,649.524104468,630,651,0.431469974659,-0.015552528116,0.0699223450263,0.999999985919,-8.76097374303e-05,-0.000129581526064,-6.07840418748e-05,1793196570830583296
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743,712.067551528,675,660.932448472,633.932448472,878,785,801.067551528,649,630,651,0.432243388943,-0.0155474570095,0.0698584250396,0.999999965816,-8.42506488327e-05,-0.000238470870839,-6.63388375197e-05,1793196570847250176
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743,712.644397938,675,660.355602062,633.355602062,878,785,801.644397938,649,630,651,0.43314139154,-0.0155563766654,0.0698951237565,0.999999979922,-9.57745808509e-05,-0.000164077584684,-6.37249367697e-05,1793196570863917568
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743,713,675,660.221057599,633,878,785,801.778942401,649.221057599,630,651,0.434025526892,-0.0155637229661,0.0699391086049,0.999999989101,-0.000104414672465,-8.5485543561e-05,-5.9898327136e-05,1793196570880584192
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743,713,675,660.797417192,633,878,785,801.202582808,649.797417192,630,651,0.434887373807,-0.015568540442,0.0699948043302,0.999999992658,-0.000108419620089,-1.44906309648e-07,-5.4122551576e-05,1793196570897250560
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743.381439075,712.618560925,675,661,633.381439075,878.381439075,785.381439075,801,649.618560925,630,651,0.435713920694,-0.0155718183897,0.070016036154,0.999999991293,-0.00011595729538,3.47792688959e-05,-5.25251440284e-05,1793196570913916672
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,743.969613799,712.030386201,675,661,633.969613799,878.969613799,785.969613799,801,649.030386201,630,651,0.436521335315,-0.0155742619305,0.0700185889311,0.999999989824,-0.000125409668994,4.23782890908e-05,-5.31923649795e-05,1793196570930583040
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744,712.549275368,675,661,634,879,785.450724632,801.549275368,649.549275368,630,651,0.437270364849,-0.0155738002939,0.0699934499451,0.999999990543,-0.000124358247952,1.84445812842e-05,-5.57583647744e-05,1793196570947249920
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744,713,675,661,634,879,785,802,650,630,651,0.438000940451,-0.0155728492703,0.0699634775458,0.999999990597,-0.000122812736921,-1.57882974799e-05,-5.89412835891e-05,1793196570963916544
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744,713,675,661,634,879,785,802,650,630,651,0.438677932318,-0.0155707365589,0.069921840446,0.99999998736,-0.000121541284658,-8.01274022295e-05,-6.39256554548e-05,1793196570980583424
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.713426852,743.713426852,713,675.286573148,661,633.713426852,879,785,802,649.713426852,630,651,0.439331811089,-0.0155676197206,0.0698872442029,0.999999981902,-0.000113996221824,-0.000137029852155,-6.65128452598e-05,1793196570997250304
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.129102156,743.129102156,713,675.870897844,661,633.129102156,879,785,802,649.129102156,630,651,0.439961675146,-0.0155634595874,0.0698599634628,0.999999975452,-9.99328330358e-05,-0.000186205560642,-6.66093455508e-05,1793196571013917440
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.451464279,743.451464279,713,675.548535721,661,633.451464279,878.548535721,785,802,649.451464279,630,651,0.440675919743,-0.0155650144415,0.0698871251175,0.999999981875,-0.000109917257629,-0.000140777775016,-6.59538881531e-05,1793196571030583808
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,743.969068052,712.969068052,675,661,633.969068052,878.030931948,785,801.969068052,650,630,651,0.441410840897,-0.0155683077658,0.0699306410163,0.999999987698,-0.000125761972967,-6.77496537029e-05,-6.47950552112e-05,1793196571047250432
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,743.39018428,712.39018428,675,661,633.39018428,878.60981572,785,801.39018428,650,630,651,0.442088117961,-0.015573685876,0.0699903526781,0.999999990347,-0.000124605393978,1.89287765006e-05,-5.84968483871e-05,1793196571063917056
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,743.187149075,712.187149075,675.187149075,661,633,879,784.812850925,801,650,630,651,0.442722508183,-0.0155780865971,0.0700256332834,0.999999988749,-0.000123164469376,6.64448337211e-05,-5.40142990753e-05,1793196571080583936
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.461069923,660.538930077,633,879,784,802,649.461069923,630,651,0.442686040223,-0.0154644277578,0.0697793803714,0.999999941937,5.8461825214e-05,-0.000334895288261,2.35205935191e-05,1793196573100794880
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764.883352393,743.116647607,712,675,660.883352393,633,879,784.116647607,801.883352393,649,630,651,0.442183284894,-0.0154631613856,0.0697965897502,0.999999949519,5.76198206388e-05,-0.000311438951247,2.54385428663e-05,1793196573117462272
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764.309100189,743.690899811,712,675,660.309100189,633,879,784.690899811,801.309100189,649,630,651,0.441660914355,-0.0154630194215,0.0698090457862,0.999999954852,5.5452860962e-05,-0.000294085677716,2.7110110034e-05,1793196573134129152
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,743.890531339,712,675,660.890531339,633,878.890531339,784,801,649,630,651,0.436004037286,-0.0154119408951,0.0697591917919,0.999999927822,0.000128324811783,-0.000357129336911,1.86595779016e-05,1793196573284127744
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,743.513019376,712.486980624,675,660.513019376,633,878.513019376,784,801.486980624,649,629.513019376,651,0.435324777389,-0.0154111012119,0.0697946164362,0.999999942079,0.000139767594852,-0.000309341261632,2.48174704848e-05,1793196573300794368
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,743,712,674.770161627,660.770161627,634,878.770161627,784.229838373,801,649,630,651,0.433171218321,-0.0153976484255,0.0698149297206,0.999999943806,0.00015900643663,-0.000293923018129,2.67243917159e-05,1793196573350794496
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,743,712.1396197,674.1396197,660,633.8603803,879,784.8603803,801,649,630,650.8603803,0.429280019516,-0.0153902484291,0.0697186350468,0.999999886769,0.000187377794139,-0.00043687007783,2.22844999863e-05,1793196573434127360
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+345,5.750000000,POSE2_TO_POSE3_RETREAT,764.011569617,743,712.011569617,674,660,634,877.988430383,785,802,649,630,651,0.4164074416,-0.0153840109684,0.0697995704891,0.99999992118,0.000211477433345,-0.00033458905588,3.11010691931e-05,1793196573717460992
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2cd4ef84cb8a5f09536afa20ed54568b5db11eda
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_02/simulation_data.csv
@@ -0,0 +1,424 @@
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+396,6.600000000,pose2_to_pose3_retreat,0.578260015273,-0.00999876728602,1.06001175663,0.54883125185,-0.00132509552082,1.05966129184
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+410,6.833333333,pose2_to_pose3_retreat,0.578253987232,-0.00999870561607,1.06001148168,0.548825222232,-0.00132503903687,1.05966102135
+411,6.850000000,pose2_to_pose3_retreat,0.578253867043,-0.00999871228455,1.06001149257,0.548825102221,-0.0013250451306,1.05966103158
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..89de920e3d661e8904da8ebfdce5e2593582fe18
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcb66fd3a00267c160faf27d3afb2b9b52c492f48d0d9badce2e93af118e7aed
+size 26836732
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3deffdd9065b5306a6641a874bfcf12a1cc739a8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_03/franka_data.csv
@@ -0,0 +1,425 @@
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+17,0.283333333,BASELINE,764.12719642,743,712.12719642,673.87280358,660,634,877,785,800.12719642,649,630,650.87280358,0.400940942715,-0.015366153757,0.0698127234641,0.999999925199,0.000241137001629,-0.000302038094066,1.50709008837e-05,1793196575408363264
+18,0.300000000,BASELINE,764,743,712,674,660,634,877,784.542513145,800.457486855,649,630,650.542513145,0.400941072933,-0.0153654733347,0.069813052169,0.999999924818,0.000243381710991,-0.000301490845729,1.5226061898e-05,1793196575425029632
+19,0.316666667,BASELINE,764.044919388,743,712.044919388,674,660,634,877,784,801,649,630,650.044919388,0.400940741249,-0.0153644276776,0.0698129672955,0.999999924012,0.000246686594981,-0.000301477759103,1.52614482174e-05,1793196575441696000
+20,0.333333333,BASELINE,764.624759455,743,712.624759455,674,660,634,877,784,801,649,630,650.624759455,0.400939490904,-0.0153637103046,0.069811714573,0.999999923587,0.000246273707365,-0.000303268913309,1.42557546718e-05,1793196575458362624
+21,0.350000000,BASELINE,765,743,713,673.796533226,660,634,877,784,801,649,630,651,0.400939474006,-0.0153634436914,0.0698111225205,0.999999923446,0.000246288545198,-0.000303745860538,1.37540070352e-05,1793196575475028992
+22,0.366666667,BASELINE,765,743,713,673.219903456,660,634,877,784,801,649,630,651,0.40094171928,-0.0153640037826,0.0698117421529,0.999999923828,0.000247087841919,-0.00030181252012,1.41765085221e-05,1793196575491695872
+23,0.383333333,BASELINE,765,743,713,673.354847638,660,634,877.354847638,784,801,649,630.354847638,651,0.400941368844,-0.0153648636757,0.0698119806581,0.999999924122,0.000245817362431,-0.000301869752851,1.42782575789e-05,1793196575508362240
+24,0.400000000,BASELINE,765,743,713,673.928440679,660,634,877.928440679,784,801,649,630.928440679,651,0.400939418285,-0.0153659083814,0.069811984218,0.999999924358,0.000243270971944,-0.00030315407184,1.41822792236e-05,1793196575525028864
+25,0.416666667,BASELINE,765,743,712.480059873,673.480059873,660,634,877.480059873,784.519940127,801,649,630.480059873,651,0.400939459944,-0.015366054657,0.0698114795453,0.999999924118,0.000244281934668,-0.000303117134312,1.44944987174e-05,1793196575541696000
+26,0.433333333,BASELINE,765,743,712.110331771,673,659.889668229,634,877,784.889668229,801,649,629.889668229,651,0.40093979864,-0.0153660518613,0.0698111300753,0.999999923952,0.000245199152434,-0.000302907873989,1.48205428756e-05,1793196575558363136
+27,0.450000000,BASELINE,765,743,712.685309372,673,659.314690628,634,877,784.314690628,801,649,629.314690628,651,0.400940192377,-0.0153659605848,0.0698117393012,0.999999924387,0.000243586165306,-0.000302766027309,1.49597741509e-05,1793196575575030272
+28,0.466666667,BASELINE,765,743,712.738329751,673,659.523340498,634,877.523340498,784.261670249,800.738329751,649,629.261670249,651,0.400940363619,-0.0153659426588,0.0698119218886,0.999999924556,0.000242944177275,-0.000302732741231,1.48289384967e-05,1793196575591696896
+29,0.483333333,BASELINE,765,743,712.160296509,673,660.679406982,634,878.679406982,784.839703491,800.160296509,649,629.839703491,651,0.400940265862,-0.0153660134144,0.069811588664,0.999999924403,0.000243476140842,-0.00030283070645,1.43715881366e-05,1793196575608362752
+30,0.500000000,BASELINE,765,743,712,673.851384455,660.574307772,634,878.574307772,784.574307772,800.425692228,649,630,650.574307772,0.400939052679,-0.0153656124141,0.0698108897495,0.999999923661,0.000244735411997,-0.00030426296776,1.43566477247e-05,1793196575625029632
+31,0.516666667,BASELINE,765,743,712,674.971022919,660,634,877.98551146,784,801,649,629.98551146,650,0.400937499856,-0.0153650731338,0.0698101035989,0.999999922745,0.000246195761868,-0.000306084813035,1.45130500272e-05,1793196575641696256
+32,0.533333333,BASELINE,765,743,712,673.812541227,660,634,877.406270614,784,801,649,629.406270614,650,0.400939391979,-0.0153662000265,0.069811386807,0.999999924028,0.000244615411707,-0.000303134808036,1.47309791641e-05,1793196575658362880
+33,0.550000000,BASELINE,765,743,712.171508918,673.171508918,660,633.828491082,877,784,801.171508918,649,629.171508918,650.171508918,0.400940036035,-0.0153666852235,0.0698118708913,0.999999924573,0.000243800561753,-0.000301985588395,1.48502214479e-05,1793196575675029248
+34,0.566666667,BASELINE,765,743,712.745856051,673.745856051,660,633.254143949,877,784,801.745856051,649,629.745856051,650.745856051,0.400937748646,-0.0153656632124,0.0698104780026,0.999999923399,0.000244783710286,-0.000305066033522,1.47376691325e-05,1793196575691696128
+35,0.583333333,BASELINE,765,743,713,673.680230612,660,633.319769388,877.319769388,784.319769388,801.360461224,649,630,651,0.400938487379,-0.0153661039289,0.0698109307055,0.999999923805,0.000243992911876,-0.000304368114702,1.47401968639e-05,1793196575708362752
+36,0.600000000,BASELINE,765,743,713,673.106661515,660,633.893338485,877.893338485,784.893338485,800.21332303,649,630,651,0.400941627934,-0.0153677056065,0.0698128482471,0.999999925456,0.000241794138838,-0.000300671323571,1.48340631645e-05,1793196575725029632
+37,0.616666667,BASELINE,764.516761575,743,712.516761575,673,659.516761575,634,878,784.516761575,800.483238425,649,630,651,0.400941558952,-0.0153666909618,0.0698130163949,0.999999925341,0.000242685025471,-0.000300341299602,1.47568555382e-05,1793196575741696000
+38,0.633333333,BASELINE,764,743,712,673,659,634,877.925679544,784,801,649,630,651,0.400940865348,-0.0153653138633,0.0698127275326,0.999999924843,0.000244064462559,-0.000300884057804,1.46422320287e-05,1793196575758362368
+39,0.650000000,BASELINE,764,743,712,673,659,634,877.3517303,784,801,649,630,651,0.400940901635,-0.0153655180961,0.0698120529651,0.999999924491,0.000243983349015,-0.000302123748438,1.45387993901e-05,1793196575775029248
+40,0.666666667,BASELINE,764,743,712,673,659.223542621,633.776457379,876.776457379,784,801,649,630,651,0.400940668161,-0.0153653949093,0.0698115795273,0.999999924191,0.000244371967431,-0.000302804928038,1.4451588756e-05,1793196575791695872
+41,0.683333333,BASELINE,764,743,712,673,659.800910636,633.199089364,876.199089364,784,801,649,630,651,0.400940007708,-0.0153647534796,0.0698114244397,0.999999923976,0.000245504082089,-0.000302602090965,1.43900544723e-05,1793196575808362240
+42,0.700000000,BASELINE,764.386730918,743,712,673,660,633.386730918,876.386730918,784.386730918,801,649,630,651,0.400940096401,-0.0153652192304,0.0698122036773,0.9999999243,0.000244907587581,-0.000302019963795,1.42718927764e-05,1793196575825029120
+43,0.716666667,BASELINE,764.976999637,743,712,673,660,633.976999637,876.976999637,784.976999637,801,649,630,651,0.400940579373,-0.0153662676939,0.0698134746534,0.999999924906,0.000243401320136,-0.00030123821496,1.41239278822e-05,1793196575841696000
+44,0.733333333,BASELINE,765,743,712,673,660,634,877,785,801.551435395,649,629.448564605,650.448564605,0.400941325243,-0.0153644992065,0.0698131469594,0.999999924432,0.000245472314274,-0.00030111941714,1.43554355852e-05,1793196575858362624
+45,0.750000000,BASELINE,765,743,712,673.126562885,660,633.873437115,877.126562885,785,801.873437115,649,629,650.126562885,0.400941669308,-0.0153632119618,0.0698127263035,0.999999924023,0.00024688072055,-0.000301316343841,1.45724910411e-05,1793196575875029248
+46,0.766666667,BASELINE,765,743,712,673.706467466,660,633.293532534,877.706467466,785,801.293532534,649,629,650.706467466,0.400940535947,-0.0153640576181,0.0698122048424,0.999999924015,0.000245396234366,-0.000302547897051,1.46826672807e-05,1793196575891696128
+47,0.783333333,BASELINE,764.71646706,743,712.28353294,674,660,633.28353294,878,785,801,649,629.28353294,650.71646706,0.400940265377,-0.0153655810403,0.0698122604657,0.999999924588,0.00024297276221,-0.000302607174009,1.4703972859e-05,1793196575908362752
+48,0.800000000,BASELINE,764.142311613,743,712.857688387,674,660,633.857688387,878,785,801,649,629.857688387,650.142311613,0.400940879172,-0.0153677991756,0.0698129076028,0.999999925751,0.00023958682513,-0.000301464862813,1.46341856323e-05,1793196575925029120
+49,0.816666667,BASELINE,764.892863852,743,713,674,660,634,877.553568074,785,800.553568074,649,630.446431926,650,0.400940132498,-0.015367504869,0.0698126975894,0.999999925478,0.000240902697196,-0.00030132545237,1.46220926243e-05,1793196575941695488
+50,0.833333333,BASELINE,765.922007321,743,713,673.961003661,659.961003661,634,877,784.961003661,800.038996339,649,630.961003661,650,0.400939070703,-0.0153664222208,0.0698122689908,0.999999924751,0.000243672189182,-0.00030151029406,1.46351641854e-05,1793196575958362624
+51,0.850000000,BASELINE,764.764195179,743,713,673.382097589,659.382097589,634,877,784.382097589,800.617902411,649,630.382097589,650,0.40093985328,-0.0153658881018,0.0698127248733,0.999999924367,0.000245114851156,-0.000301608632184,1.47334079528e-05,1793196575975029504
+52,0.866666667,BASELINE,764.195852002,743,712.804147998,673,659.195852002,633.804147998,877.195852002,784.195852002,801,648.804147998,630,650,0.400940215854,-0.0153652583267,0.0698127765148,0.999999924057,0.000245926748054,-0.000301978677446,1.46704183148e-05,1793196575991696128
+53,0.883333333,BASELINE,764.771944583,743,712.228055417,673,659.771944583,633.228055417,877.771944583,784.771944583,801,648.228055417,630,650,0.400939763008,-0.0153644428383,0.0698120433348,0.999999923892,0.000245514034059,-0.000302876233675,1.42943990214e-05,1793196576008363008
+54,0.900000000,BASELINE,764.645844271,743,712.354155729,673.354155729,659.645844271,633.354155729,877.645844271,785,801,648.354155729,630,650.354155729,0.400939482477,-0.0153648180472,0.0698119131346,0.999999924258,0.000244015588951,-0.000302884711512,1.41870644647e-05,1793196576025029376
+55,0.916666667,BASELINE,764.059623888,743,712.940376112,673.940376112,659.059623888,633.940376112,877.059623888,785,801,648.940376112,630,650.940376112,0.400939314858,-0.0153659734744,0.0698121780438,0.999999924968,0.000241805705937,-0.000302310610368,1.42557887176e-05,1793196576041696000
+56,0.933333333,BASELINE,764.520527082,743,713,673.479472918,659.520527082,634,877,784.479472918,800.479472918,649,630,650.479472918,0.40094029833,-0.0153658241036,0.0698130190953,0.999999925285,0.000242158228149,-0.000300974387894,1.42859088071e-05,1793196576058362624
+57,0.950000000,BASELINE,765,743,712.900339526,673,660,634,877,784,800.099660474,649,630,650.099660474,0.400941047504,-0.015365639737,0.0698135080843,0.999999925446,0.000242575772557,-0.000300098390564,1.43473092031e-05,1793196576075028992
+58,0.966666667,BASELINE,765,743,712.322790488,673,660,634,877,784,800.677209512,649,630,650.677209512,0.400940048217,-0.0153659959772,0.0698119960688,0.999999925078,0.000241913895368,-0.000301843030497,1.45796633316e-05,1793196576091695616
+59,0.983333333,BASELINE,764.746382244,743,712,673.253617756,660,634,877,784.253617756,800.746382244,649,630,651,0.400939731307,-0.0153665285928,0.069811686392,0.999999924888,0.000242147275781,-0.000302278029105,1.47485919296e-05,1793196576108362496
+60,1.000000000,BASELINE,764.171419362,743,712,673.828580638,660,634,877,784.828580638,800.171419362,649,630,651,0.400940278998,-0.015367284684,0.0698129001324,0.999999924924,0.000243514987837,-0.000301053653361,1.48371575533e-05,1793196576125029376
+61,1.016666667,BASELINE,764,743,712,674,659.586629463,634,877.413370537,784.586629463,800.413370537,649,630,650.586629463,0.400940547631,-0.0153659397817,0.069812841665,0.999999924887,0.000244157047017,-0.000300670032672,1.45289222934e-05,1793196576141696000
+62,1.033333333,BASELINE,764,743,712,673.997704098,659,634,877.997704098,784.002295902,801,649,630,650.002295902,0.400940696702,-0.0153637106579,0.0698122448881,0.999999924821,0.000244486340025,-0.000300644679206,1.40531134501e-05,1793196576158362368
+63,1.050000000,BASELINE,764,743,712,673.418545099,659,634,877.418545099,784.581454901,801,649,630,650.581454901,0.400940589216,-0.0153635542953,0.0698121771966,0.999999924943,0.000243680082564,-0.000300902448504,1.38239331526e-05,1793196576175028992
+64,1.066666667,BASELINE,764,743,712,673.160183157,659.160183157,633.839816843,877.160183157,785,800.839816843,649,629.839816843,651,0.400940708936,-0.0153634772248,0.0698124426142,0.999999924876,0.000243880911833,-0.000300961352119,1.38741321899e-05,1793196576191695616
+65,1.083333333,BASELINE,764,743,712,673.737788906,659.737788906,633.262211094,877.737788906,785,800.262211094,649,629.262211094,651,0.400941420734,-0.0153636067823,0.0698135760836,0.99999992431,0.000246706116642,-0.000300502030021,1.46523681191e-05,1793196576208362240
+66,1.100000000,BASELINE,764.312649793,743,712,674,660,633.312649793,877.687350207,784.687350207,800.312649793,649,629.312649793,650.687350207,0.400941578112,-0.0153643799548,0.0698136076473,0.999999924448,0.000246193426257,-0.000300453956533,1.48354811369e-05,1793196576225028864
+67,1.116666667,BASELINE,764.885228644,743,712,674,660,633.885228644,877.114771356,784.114771356,800.885228644,649,629.885228644,650.114771356,0.40094127456,-0.0153656882123,0.0698127231148,0.999999925168,0.00024290569486,-0.000300747784663,1.45238241168e-05,1793196576241695744
+68,1.133333333,BASELINE,764.524152082,743,712,673.524152082,660,634,877.475847918,784.475847918,801,648.524152082,629.524152082,650.475847918,0.400940004027,-0.0153657875185,0.0698124841601,0.999999924995,0.000242519271472,-0.000301635304988,1.44926971501e-05,1793196576258362112
+69,1.150000000,BASELINE,764,743,712,673,660,634,877.93137617,785,801,648.06862383,629.06862383,651,0.400938821908,-0.0153656684567,0.0698123753839,0.999999924694,0.00024273687696,-0.000302457840941,1.44996988932e-05,1793196576275028736
+70,1.166666667,BASELINE,764,743,712,673,660,634,877.356070296,785,801,648.643929704,629.643929704,651,0.400940082491,-0.015366174875,0.069812032799,0.999999925094,0.000242043931894,-0.000301701629814,1.42689560135e-05,1793196576291695360
+71,1.183333333,BASELINE,764.219072508,743,712.219072508,673,660,634,877.219072508,784.780927492,801,649,630,650.780927492,0.400940915218,-0.0153658771081,0.0698122406433,0.999999925135,0.000242585697658,-0.000301132110141,1.42105268996e-05,1793196576308362496
+72,1.200000000,BASELINE,764.793950549,743,712.793950549,673,660,634,877.793950549,784.206049451,801,649,630,650.206049451,0.400941053045,-0.015364273228,0.0698133424643,0.999999924591,0.000245132812825,-0.000300865804353,1.44319603031e-05,1793196576325030144
+73,1.216666667,BASELINE,765,742.620461104,713,673.379538896,660.379538896,634,877.620461104,784,800.620461104,649,630,650,0.400940961658,-0.0153640568021,0.0698132591478,0.999999924471,0.000245718408441,-0.000300786399341,1.44018210008e-05,1793196576341696768
+74,1.233333333,BASELINE,765,742.028889382,713,673.971110618,660.971110618,634,877.028889382,784,800.028889382,649,630,650,0.40094074222,-0.01536461549,0.0698125137434,0.999999924591,0.00024520818333,-0.000300811408151,1.42311383261e-05,1793196576358362368
+75,1.250000000,BASELINE,765,742.550054439,713,674,660.449945561,634,877.550054439,784.550054439,800.550054439,649,630,650.550054439,0.400941756123,-0.0153660765372,0.0698136676141,0.999999925539,0.000243250442034,-0.000299244813157,1.42973256617e-05,1793196576375028992
+76,1.266666667,BASELINE,765,743,712.872477403,673.872477403,660,634,877.872477403,784.872477403,801,649,630,651,0.400942372208,-0.0153672392206,0.0698144607702,0.999999926175,0.000241855952153,-0.000298241121834,1.44540655933e-05,1793196576391695872
+77,1.283333333,BASELINE,765,743,712.297909534,673.297909534,660,634,877.297909534,784.297909534,801,649,630,651,0.400941371713,-0.015367193543,0.069813647556,0.999999925589,0.000242696538624,-0.000299497221584,1.48856148164e-05,1793196576408362752
+78,1.300000000,BASELINE,765,743,712.283194903,673.283194903,659.716805097,634,877,784,801,649,630,651,0.400941151333,-0.0153669232105,0.0698131400425,0.999999925138,0.000243687335021,-0.000300200560245,1.48589968269e-05,1793196576425029632
+79,1.316666667,BASELINE,765,743,712.871337967,673.871337967,659.128662033,634,877,784,801,649,630,651,0.400941770994,-0.0153664109667,0.0698129617118,0.999999924831,0.000244839879478,-0.000300308678093,1.43390180612e-05,1793196576441696512
+80,1.333333333,BASELINE,765,743,712.547458963,674,659.452541037,634,877,784.452541037,801,649,630,651,0.400940904924,-0.0153665025236,0.0698128049205,0.999999925073,0.000243378735322,-0.000300697558791,1.42176457961e-05,1793196576458362880
+81,1.350000000,BASELINE,765,743,712,673.968204505,660,634,877,785,801,649,629.968204505,650.968204505,0.40093977491,-0.0153667131818,0.0698127007468,0.999999925434,0.000241438061461,-0.000301059565207,1.42154931051e-05,1793196576475029504
+82,1.366666667,BASELINE,765,743,712,673.389042085,660,634,877,785,801,649,629.389042085,650.389042085,0.400941263072,-0.015366063551,0.0698133985639,0.999999925286,0.000243841567035,-0.00029960549507,1.43442344499e-05,1793196576491695872
+83,1.383333333,BASELINE,765,743,712,673,660,634,877,785,801,649,629.186836156,650,0.400942466824,-0.015365591831,0.0698140436501,0.999999925356,0.000244820024176,-0.00029857121092,1.4389848038e-05,1793196576508362240
+84,1.400000000,BASELINE,765,743,712,673,660,634,877,785,801,649,629.755994104,650,0.400943088586,-0.015365484169,0.0698145808335,0.999999925882,0.000242882413022,-0.000298395932253,1.42653577804e-05,1793196576525028864
+85,1.416666667,BASELINE,765,743,712,673,660,634,877,784.660868536,801,649,630,650.339131464,0.400943032438,-0.0153648944919,0.0698144898551,0.99999992577,0.000243173941692,-0.000298533275194,1.42740396978e-05,1793196576541695488
+86,1.433333333,BASELINE,765,743,712,673,660,634,877,784.067240553,801,649,630,650.932759447,0.400942467563,-0.0153639430932,0.0698139274812,0.999999925178,0.000245138297635,-0.000298905220708,1.43826588398e-05,1793196576558362368
+87,1.450000000,BASELINE,764.487133987,743,712,673,660,633.487133987,877,784.512866013,800.487133987,649,630,650.487133987,0.400942247148,-0.0153647738409,0.0698138335168,0.999999925148,0.000245020688122,-0.000299102547092,1.43661644479e-05,1793196576575029760
+88,1.466666667,BASELINE,764,743,712.090861409,673.181722818,660,633.090861409,877,784.909138591,800.090861409,649,630,650.090861409,0.400942072858,-0.0153657269313,0.0698138485203,0.999999925222,0.000244628393575,-0.000299176997857,1.43268370132e-05,1793196576591697152
+89,1.483333333,BASELINE,764,743,712.66680699,674.33361398,660,633.66680699,877,784.33319301,800.66680699,649,630,650.66680699,0.40094190991,-0.01536611781,0.069814125834,0.999999925469,0.000244189462762,-0.000298714533847,1.42509335292e-05,1793196576608363264
+90,1.500000000,BASELINE,764.241858509,743,713,674.758141491,659.758141491,633.758141491,877,784,801,649,630,651,0.400941750756,-0.0153663889434,0.0698141085965,0.999999925626,0.000243645786812,-0.000298634234765,1.4217160397e-05,1793196576625029632
+91,1.516666667,BASELINE,764.815682825,743,713,674.184317175,659.184317175,633.184317175,877,784,801,649,630,651,0.400941596812,-0.0153664957188,0.069813687069,0.99999992566,0.000242958341698,-0.00029907848079,1.42412137924e-05,1793196576641696000
+92,1.533333333,BASELINE,765,743,712.598107518,673.598107518,659.401892482,633.401892482,877.401892482,784.401892482,800.598107518,649,630,651,0.400941230412,-0.0153671970879,0.0698134170615,0.999999925741,0.000241820943616,-0.000299726681958,1.4282757564e-05,1793196576658362624
+93,1.550000000,BASELINE,765,743,712.006036988,673.006036988,659.993963012,633.993963012,877.993963012,784.993963012,800.006036988,649,630,651,0.400940763477,-0.0153681798224,0.0698132187541,0.999999925843,0.000240470624901,-0.000300471396021,1.43325778937e-05,1793196576675029504
+94,1.566666667,BASELINE,765,743,712,673.573322893,660,633.426677107,878,785,800.573322893,649,630,651,0.40094033962,-0.0153676773362,0.0698129957188,0.999999925951,0.000239946320802,-0.000300532229272,1.43137951335e-05,1793196576691696128
+95,1.583333333,BASELINE,765,743,712,673.848691558,660,633.151308442,877.848691558,784.848691558,801,649,630,650.848691558,0.400940262704,-0.0153669217166,0.0698129381417,0.999999925866,0.000240451838619,-0.000300409602679,1.42867926159e-05,1793196576708362752
+96,1.600000000,BASELINE,765,743,712,673.274183566,660,633.725816434,877.274183566,784.274183566,801,649,630,650.274183566,0.400941154918,-0.0153655008927,0.0698133440525,0.999999925238,0.000243813899547,-0.0002997935555,1.42387766057e-05,1793196576725029888
+97,1.616666667,BASELINE,765,743,712,673.307247076,659.692752924,634,877,784.307247076,801,649,630,650.307247076,0.40094061996,-0.0153652307398,0.0698132087173,0.999999924885,0.000244431782473,-0.000300468377293,1.42261724108e-05,1793196576741696768
+98,1.633333333,BASELINE,765,743,712,673.89499777,659.10500223,634,877,784.89499777,801,649,630,650.89499777,0.400938782053,-0.015366011101,0.0698125792473,0.999999924785,0.000242544346448,-0.000302321708039,1.42458977122e-05,1793196576758363392
+99,1.650000000,BASELINE,765,743,712.475400063,674,659.475400063,634,877,785,800.524599937,649,630,651,0.400939619594,-0.0153665783557,0.0698132708753,0.999999925208,0.000242587721648,-0.0003008782438,1.43783547386e-05,1793196576775029760
+100,1.666666667,BASELINE,765,743,713,673.945727567,660,634,877.054272433,785,800.108544866,649,630,651,0.400940832936,-0.0153669657372,0.069814109061,0.999999925678,0.000242949583471,-0.00029901401878,1.45208868336e-05,1793196576791696384
+101,1.683333333,BASELINE,765,743,713,673.366192959,660,634,877.633807041,785,801.267614083,649,630,651,0.400940051255,-0.0153660608739,0.0698135846138,0.999999925527,0.000242329271623,-0.000300017676312,1.45236154732e-05,1793196576808363008
+102,1.700000000,BASELINE,765,743,713,673.211483211,660.211483211,633.788516789,878,784.788516789,801.788516789,648.788516789,630,651,0.400939736583,-0.0153654882726,0.0698134238488,0.999999925537,0.000241817813704,-0.00030040737056,1.43610563907e-05,1793196576825029632
+103,1.716666667,BASELINE,765,743,713,673.78596938,660.78596938,633.21403062,878,784.21403062,801.21403062,648.21403062,630,651,0.400940223512,-0.0153654859866,0.0698138873307,0.999999925821,0.000241493199513,-0.00029974321988,1.39147871645e-05,1793196576841696512
+104,1.733333333,BASELINE,765.368679105,743,713,673.631320895,660.631320895,633.368679105,877.631320895,784.368679105,801,648.368679105,630,651,0.400940984088,-0.0153657696193,0.0698141160148,0.999999926087,0.000241310631686,-0.000299003642773,1.38468366963e-05,1793196576858363136
+105,1.750000000,BASELINE,765.956271854,743,713,673.043728146,660.043728146,633.956271854,877.043728146,784.956271854,801,648.956271854,630,651,0.400941907149,-0.0153662230243,0.0698142052811,0.999999926343,0.000241212407873,-0.000298219279033,1.4003523646e-05,1793196576875029504
+106,1.766666667,BASELINE,764.927369216,743,712.463684608,673.536315392,660,634,877,785,801,649,630,651,0.400941768705,-0.0153658140997,0.0698141070183,0.999999925952,0.000242350462205,-0.000298602063739,1.41338203209e-05,1793196576891696128
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,712,674,659,633,877,784,801,649,629,651,0.400941548463,-0.0153658711975,0.0698140171285,0.999999925784,0.000242505021917,-0.000299035204078,1.42034815533e-05,1793196576933967360
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,743,712.586422274,673.413577726,659.586422274,633.586422274,877,784.586422274,801,649,629.586422274,651,0.400940666387,-0.01536569593,0.0698129259553,0.999999925903,0.000241091389292,-0.000299797516682,1.38295907097e-05,1793196576950633984
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,743,713,673.170639245,660,634,877,785,801,649,630,650.829360755,0.400940403341,-0.0153659149092,0.0698126165991,0.999999925994,0.000240608631597,-0.000299886671194,1.3705201753e-05,1793196576967300352
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,743,713,673.749579542,660,634,877,785,801,649,630,650.250420458,0.400941621495,-0.0153670772312,0.0698141779539,0.999999926021,0.000242353246414,-0.000298365111068,1.41778142064e-05,1793196576983966720
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.672267258,743,712.672267258,674,660,634,877,784.672267258,801,649,630,650.327732742,0.400942030273,-0.0153666842811,0.0698145391792,0.99999992585,0.000243367168807,-0.00029810960968,1.42604282567e-05,1793196577000633344
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.094714071,743,712.094714071,674,660,634,877,784.094714071,801,649,630,650.905285929,0.400941822089,-0.0153651057956,0.0698139855832,0.99999992553,0.000243824107059,-0.000298819185461,1.40457586634e-05,1793196577017299968
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.481030371,743,712,673.518969629,660,634,877,784.481030371,801.481030371,649,630,651,0.400942663745,-0.0153659136457,0.0698147454052,0.999999925948,0.000242808911422,-0.000298237571439,1.42413735379e-05,1793196577033966592
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.94222758,743.05777242,712.05777242,673,660,634,877,785,801.94222758,649,629.94222758,651,0.400944155219,-0.0153671585347,0.0698159435949,0.999999926585,0.000241589307741,-0.000297076586781,1.45213248828e-05,1793196577050633216
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.353045584,743.646954416,712.646954416,673,660,634,877,785,801.353045584,649,629.353045584,651,0.400949729644,-0.0153681176639,0.0698188041682,0.999999927914,0.000241145737446,-0.000292916120667,1.4836733686e-05,1793196577067299584
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.466741031,743.766629485,713,673,660,634,877.233370515,785,801,649,629.233370515,651,0.40096210199,-0.0153687536071,0.0698244110791,0.999999930402,0.000241653418674,-0.000283830605585,1.54944544398e-05,1793196577083965952
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.63130259,743.184348705,713,673,660,634,877.815651295,785,801,649,629.815651295,651,0.400984637849,-0.0153689063576,0.0698341240154,0.999999934448,0.000243583307928,-0.000267381692192,1.66639628356e-05,1793196577100632576
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.607635484,743,713,673.392364516,660,634,877.607635484,784.607635484,801,649,630,651,0.401022905263,-0.0153702364525,0.0698488463246,0.999999941287,0.000242784605355,-0.000241201334711,1.74409896766e-05,1793196577117299200
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.033501477,743,713,673.966498523,660,634,877.033501477,784.033501477,801,649,630,651,0.401068460587,-0.015372111972,0.0698658893113,0.999999948706,0.000240721836515,-0.000210512719727,1.80361928967e-05,1793196577133965824
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,743,712.459693783,673.459693783,660,634,877,784,800.459693783,649,630,651,0.401126360102,-0.01537662717,0.0698805869973,0.999999952351,0.000238714376863,-0.000194800491864,1.91268301909e-05,1793196577150632448
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,743,712.117388197,673,660,634,877,784,800,649.117388197,630,651,0.401187489439,-0.0153808765712,0.0698933137267,0.999999955346,0.000237025128692,-0.000180929740767,1.97681143517e-05,1793196577167299072
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,743,712.707744229,673,660,634,877,784,800,649.707744229,630,651,0.401258550055,-0.015383396001,0.0698986848499,0.999999957263,0.000236604174231,-0.000170739287605,1.84752180366e-05,1793196577183965696
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,743,712.707489746,673.292510254,659.707489746,634,877,784,800,649.707489746,630,651,0.401340747469,-0.0153867329889,0.0699023151763,0.999999958382,0.000235728213065,-0.000165484032926,1.68078349724e-05,1793196577200632832
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,743,712.128204165,673.871795835,659.128204165,634,877,784,800,649.128204165,630,651,0.401433863331,-0.0153908715056,0.0699042388356,0.999999958794,0.000234406166054,-0.000165067218337,1.47733073887e-05,1793196577217300224
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743,712.448002603,674,659.448002603,633.551997397,877,784,800.448002603,649,630,651,0.401541967689,-0.0153955550679,0.0699037107808,0.999999959537,0.000229574587859,-0.000167615162309,1.12402945164e-05,1793196577233966592
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.976724969,743,712.976724969,674,660,633.023275031,877,784.023275031,800.976724969,649,630,651,0.401655805497,-0.0154004586123,0.0699025924381,0.999999960403,0.000223666830009,-0.000170630590365,7.27996399669e-06,1793196577250632704
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.402854987,743,712.402854987,674,660,633.597145013,877,784.597145013,800.402854987,649,630,651,0.401804500321,-0.0154069015057,0.0699039940855,0.999999963114,0.00021589691979,-0.0001647715726,3.28591159756e-06,1793196577267299328
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.177372289,743,712,674,660,633.822627711,877,784.822627711,800.177372289,649,630,651,0.401962726838,-0.0154135753506,0.069906270192,0.999999965727,0.000208552378903,-0.000158278205126,-9.3476032428e-07,1793196577283966464
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.772575173,743,712,674,660,633.227424827,877,784.227424827,800.772575173,649,630,651,0.402143406856,-0.0154207932401,0.0699106062352,0.999999968246,0.000202209868948,-0.000150290519874,-5.68927251069e-06,1793196577300633344
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+136,2.266666667,POSE1_TO_POSE2_PRESS,765,743,713,673,660,633.839023236,877,785,800.160976764,649,629.839023236,650.160976764,0.40402047631,-0.0154891729196,0.06994320679,0.999999995163,8.94668509269e-06,-9.11717561754e-05,-3.57922169758e-05,1793196577417299456
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,743,713,673.414817801,660,634,877,785,800.414817801,649,630,650,0.404392238172,-0.0154937417744,0.0699476206845,0.999999995732,2.47488599493e-05,-8.32048122824e-05,-3.16364762108e-05,1793196577433966080
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,743,713,673.98802955,660,634,877,785,800.98802955,649,630,650,0.404779180249,-0.0154962137115,0.0699539813844,0.999999996274,4.28941113383e-05,-7.03281448817e-05,-2.57986810171e-05,1793196577450632960
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,743,713,674,660,634,877,784.436185048,800.436185048,649,630,650.563814952,0.405187382034,-0.0154931666016,0.0699557318693,0.999999996506,3.87238700611e-05,-6.97278033763e-05,-2.50480453631e-05,1793196577467299840
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743,713,674,660,634,877.14379385,784.14379385,800.14379385,649,629.85620615,651,0.405602648456,-0.0154942103727,0.0699555261645,0.99999999662,3.21918443435e-05,-7.15748688456e-05,-2.45062277565e-05,1793196577483966464
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,743,713,674,660,634,877.736698728,784.736698728,800.736698728,649,629.263301272,651,0.406038563545,-0.0155083988379,0.0699495178075,0.99999999629,1.97698172465e-05,-8.02481238245e-05,-2.42777283797e-05,1793196577500632832
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,743,713,674,660,634,878,784.679800372,800.679800372,649,629.320199628,651,0.406499113469,-0.0155200019213,0.0699347377952,0.999999994553,-1.53223139659e-06,-0.000100810873494,-2.69967311054e-05,1793196577517299456
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743,713,674,660,634,878,784.103811703,800.103811703,649,629.896188297,651,0.406979342793,-0.0155295396935,0.069912950612,0.999999990474,-2.99280191226e-05,-0.000130871456476,-3.20703234333e-05,1793196577533966080
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,743,713,673.530990705,660,634,878,784.469009295,800.469009295,649,630,650.530990705,0.407536905386,-0.0155261962324,0.0699157355414,0.999999991944,-2.24489321898e-05,-0.000120379152466,-3.34168702727e-05,1793196577550632704
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.957373755,743,712.957373755,673.042626245,660,634,878,784.957373755,801,649,629.957373755,650.042626245,0.408113557917,-0.0155203965392,0.0699242378482,0.999999994346,-8.78720571373e-06,-0.000100385208599,-3.39660933079e-05,1793196577567299328
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.364491275,743,712.364491275,673.635508725,660,634,878,784.364491275,801,649,629.364491275,650.635508725,0.408717159834,-0.0155194480575,0.0699368065991,0.999999996596,-1.71315219194e-05,-7.28295132817e-05,-3.48005451049e-05,1793196577583966976
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.223256322,743,712,673.776743678,659.776743678,634,877.776743678,784.223256322,800.776743678,649,629,651,0.409320618452,-0.0155190041325,0.0699419776201,0.999999997399,-1.95413063707e-05,-5.94965170428e-05,-3.57907277968e-05,1793196577600634368
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.802809088,743,712,673.197190912,659.197190912,634,877.197190912,784.802809088,800.197190912,649,629,651,0.40992384834,-0.0155193654335,0.0699353425474,0.999999996866,-1.24801264809e-05,-6.88616349496e-05,-3.70294425791e-05,1793196577617300736
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,743,712.379772319,673.379772319,659.379772319,633.620227681,877.759544639,785,800,649,629,651,0.410564723662,-0.015521626789,0.069933030304,0.999999996294,-1.70024111627e-05,-7.49872861527e-05,-3.87209229682e-05,1793196577633966848
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,743,712.955400064,673.955400064,659.955400064,633.044599936,878.910800128,785,800,649,629,651,0.411225013393,-0.0155248680369,0.0699329474217,0.99999999564,-2.74984973662e-05,-7.94422857374e-05,-4.06459026946e-05,1793196577650633216
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743,712.459056602,674,660,633.540943398,877.918113204,784.459056602,800,649,629,651,0.411955750046,-0.0155267501212,0.0699551400495,0.999999998036,-3.21991729609e-05,-3.74346244531e-05,-3.86085395746e-05,1793196577667300352
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.874364249,877.125635751,784.125635751,800.125635751,649,629.125635751,650.874364249,0.412697630032,-0.0155285969954,0.0699791965186,0.999999998677,-3.56305295397e-05,5.35570261007e-06,-3.67008287142e-05,1793196577683967232
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.295742947,877.704257053,784.704257053,800.704257053,649,629.704257053,650.295742947,0.41345835474,-0.0155307285026,0.0700032276239,0.999999997998,-3.62402769997e-05,3.68980194422e-05,-3.6460472293e-05,1793196577700633344
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,743,712.282745076,674,660,633.282745076,878,785,801,649,630,650.282745076,0.414193732445,-0.0155310081668,0.0699990313549,0.999999998313,-3.81251364539e-05,2.14233412451e-05,-3.82332220686e-05,1793196577717299968
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,743,712.86109383,674,660,633.86109383,878,785,801,649,630,650.86109383,0.414902610516,-0.0155293517706,0.0699653239978,0.999999997325,-4.13430970738e-05,-4.32065538728e-05,-4.2110629401e-05,1793196577733967616
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743,712.56315847,674,660,633.56315847,878,784.56315847,801,649,630,651,0.415651799006,-0.0155265914071,0.0699232172106,0.999999992046,-4.2043814119e-05,-0.000108810535383,-4.79661911088e-05,1793196577750634496
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743,712.012038616,674,660,633,877.987961384,784.012038616,801,649,629.987961384,650.987961384,0.416415658087,-0.0155236744345,0.0698799560518,0.999999982766,-4.22076053649e-05,-0.000172447114999,-5.42917399154e-05,1793196577767300864
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,743,712.600234464,674,660,633,877.399765536,784.600234464,801,649,629.399765536,650.399765536,0.41727182124,-0.0155299631974,0.0699085148454,0.999999988998,-5.47556867723e-05,-0.000127189777357,-5.31847900768e-05,1793196577783967232
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.814244098,743,712.814244098,674,660,633.185755902,877.185755902,784.814244098,801.185755902,649,629,650.185755902,0.418132506888,-0.0155343069939,0.0699377483942,0.999999993276,-6.28376058487e-05,-8.27885375438e-05,-5.14387580377e-05,1793196577800633344
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.234396608,743,712.234396608,674,660,633.765603392,877.765603392,784.234396608,801.765603392,649,629,650.765603392,0.419002787213,-0.0155345244342,0.0699684134724,0.999999996136,-6.14443098696e-05,-4.02035604962e-05,-4.8336877398e-05,1793196577817299712
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,634,878,784,801.656292291,649,629,651,0.41988144551,-0.0155373305469,0.0699931162228,0.999999997054,-6.11144495241e-05,-2.5282324051e-06,-4.6382466123e-05,1793196577833966336
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660,634,878,784,801.079370783,649,629,651,0.420765788424,-0.0155418931348,0.0700137733916,0.999999996581,-6.150615543e-05,3.18157811384e-05,-4.52066400424e-05,1793196577850633216
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712.490965217,674.490965217,660,633.509034783,878,784.490965217,801,649,629,651,0.421628132197,-0.01554443722,0.0700101916263,0.999999996463,-6.60822958008e-05,2.41044322926e-05,-4.61054664056e-05,1793196577867299840
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,712.937035178,674.874070356,660,633,878,785,801,649,629.062964822,651,0.42247958673,-0.0155456464266,0.0699945962559,0.999999996368,-7.02426366611e-05,-3.26226238404e-06,-4.81627799915e-05,1793196577883966464
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,712.34210516,673.68421032,660,633,878,785,801,649,629.65789484,651,0.423268691101,-0.015538298196,0.0699101705934,0.999999986433,-6.52504848581e-05,-0.000140009282298,-5.72115910204e-05,1793196577900633344
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,712,673.493631156,660,633,878,784.753184422,801,649,629.753184422,651,0.424107268884,-0.0155347805739,0.069858526691,0.999999972542,-6.35834397162e-05,-0.000216414019206,-6.35491277258e-05,1793196577917299968
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,712,674.655210107,660,633,878,784.172394947,801,649,629.172394947,651,0.425012790806,-0.0155364462675,0.0698512408044,0.999999973306,-6.64157012519e-05,-0.000211167743246,-6.6217956569e-05,1793196577933966336
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.404468936,743,712,674.595531064,660.404468936,633,878.404468936,784,801,649,629.404468936,650.595531064,0.425942682276,-0.0155407794075,0.0698950260256,0.999999985139,-7.03910564906e-05,-0.000144482334586,-6.23860138432e-05,1793196577950632960
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.979675679,743,712,674.020324321,660.979675679,633,878.979675679,784,801,649,629.979675679,650.020324321,0.426882860767,-0.0155462385523,0.0699603698102,0.999999994297,-7.48489433111e-05,-5.18617249546e-05,-5.58099104691e-05,1793196577967299584
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.446054326,743,712,674.553945674,660.446054326,633.553945674,878.446054326,784,801,649,630,650.553945674,0.427811832165,-0.0155494303932,0.0699962854671,0.999999995771,-7.57923712705e-05,-3.02063604708e-06,-5.19947324839e-05,1793196577983966208
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.131892972,743,712,675,660.131892972,633.868107028,878,784.131892972,801,649,630,651,0.428735417065,-0.0155525514877,0.0700248061198,0.999999995033,-7.80891105345e-05,3.75574709314e-05,-4.92538755792e-05,1793196578000632832
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.722756166,743,712,675,660.722756166,633.277243834,878,784.722756166,801,649,630,651,0.429641686084,-0.0155557153869,0.070031344071,0.999999993586,-8.55431529132e-05,5.49616728504e-05,-4.98996046485e-05,1793196578017299456
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660.693825319,633,878,785,801,649,629.693825319,651,0.430480165535,-0.0155546179705,0.0699999894715,0.999999994634,-8.87106354803e-05,2.14046363863e-06,-5.34522572178e-05,1793196578033966336
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743,712,675,660.116988033,633,878,785,801,649,629.116988033,651,0.431258718033,-0.0155497534925,0.0699351373388,0.999999987988,-8.80887392712e-05,-0.000112760970655,-5.95746693678e-05,1793196578050632960
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743,712.459930211,675,660.459930211,633.459930211,878,784.540069789,801,649,629.459930211,651,0.432061255143,-0.0155488535359,0.0698928940771,0.999999977351,-9.30572955828e-05,-0.000180150926607,-6.46796045939e-05,1793196578067299584
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743.037593637,712.962406363,675,660.962406363,633.962406363,878.037593637,784.037593637,801.037593637,649.037593637,630,651,0.432878129757,-0.0155493848746,0.0698631845008,0.999999967704,-9.87967609693e-05,-0.000223837175395,-6.87621049309e-05,1793196578083965952
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743.625870392,712.374129608,675,660.374129608,633.374129608,878.625870392,784.625870392,801.625870392,649.625870392,630,651,0.433815642443,-0.0155561080603,0.0699328178958,0.999999988847,-9.49953231304e-05,-9.73607116686e-05,-6.16593950401e-05,1793196578100632576
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744,712,675,660.423564578,633,878.788217711,784.788217711,801.788217711,649.788217711,629.788217711,651,0.434716705171,-0.0155623361955,0.0699868701139,0.999999993766,-9.65101816052e-05,-3.53602639533e-06,-5.60416128777e-05,1793196578117299200
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744,712,675,661.587125428,633,878.206437286,784.206437286,801.206437286,649.206437286,629.206437286,651,0.435554087486,-0.0155676994448,0.0700137009624,0.999999992284,-0.000107312974596,3.32437887839e-05,-5.30181011378e-05,1793196578133965824
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,744,712.369752126,674.630247874,661.630247874,633,878.369752126,784.369752126,801.369752126,649.369752126,629.369752126,651,0.436354860785,-0.0155699848569,0.0700141233229,0.999999991286,-0.000114868526809,3.66819195306e-05,-5.37292006199e-05,1793196578150632704
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744,712.94286647,674.05713353,661.05713353,633,878.94286647,784.94286647,801.94286647,649.94286647,629.94286647,651,0.437135499219,-0.0155705774705,0.0700000211173,0.99999999089,-0.00012063810874,2.17822526575e-05,-5.64943217983e-05,1793196578167299584
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744,712.482269247,674.517730753,661.517730753,633,879,785,802,650,630,651,0.437860677424,-0.015569660523,0.0699675134522,0.999999990614,-0.000121963562102,-1.55369586442e-05,-6.04686427609e-05,1793196578183966208
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.904040717,743.904040717,712,675.095959283,661.904040717,633.095959283,879,785,802,650,630,651,0.43857089578,-0.0155681884728,0.0699306223809,0.999999988681,-0.000120631678817,-6.29859451891e-05,-6.41729159736e-05,1793196578200632832
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.309333655,743.309333655,712,675.690666345,661.309333655,633.690666345,879,785,802,650,630,651,0.439235278212,-0.0155647000451,0.0698815410765,0.999999980722,-0.000108045937322,-0.000150181743981,-6.57777133727e-05,1793196578217299200
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743.275554774,712.275554774,675.724445226,661,633.724445226,879,785,802,649.724445226,630,651,0.439919205933,-0.0155617072076,0.0698610845386,0.999999975295,-0.000105380776676,-0.000183873616951,-6.70476603565e-05,1793196578233966080
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743.849800152,712.849800152,675.150199848,661,633.150199848,879,785,802,649.150199848,630,651,0.44062431994,-0.0155592515706,0.0698716561317,0.999999978522,-0.000113469139302,-0.000159569321207,-6.79546428659e-05,1793196578250633728
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.425325887,744,713,675,661,633.425325887,879,785,802,649,630,650.574674113,0.441352455607,-0.0155653438564,0.069927614645,0.999999988326,-0.000117553869352,-7.38467441001e-05,-6.384130492e-05,1793196578267300096
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,743.99866058,713,675,660.99866058,634,879,785,802,649,630,650.00133942,0.442088450763,-0.0155744528184,0.069999525921,0.999999990535,-0.000120227246881,3.34233988624e-05,-5.79542630779e-05,1793196578283966464
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,743.407571454,713,675,660.407571454,634,879,785,802,649,630,650.592428546,0.442694556557,-0.0155786930411,0.0700170146047,0.999999989393,-0.000125878241814,4.94532348578e-05,-5.406148356e-05,1793196578300632832
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,743.179406272,713,675.179406272,660.179406272,634,879,784.820593728,802.179406272,649.179406272,630,651,0.44327930394,-0.0155819767511,0.0700164281939,0.999999989535,-0.000128736051534,3.98524007601e-05,-5.26151988199e-05,1793196578317299712
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,743.757253169,713,675.757253169,660.757253169,634,879,784.242746831,802.757253169,649.757253169,630,651,0.443816616875,-0.0155831361577,0.0699756990878,0.999999990181,-0.000125390520046,-2.66711906217e-05,-5.66022957582e-05,1793196578333967360
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,744,712.666427159,675.666427159,661,633.666427159,879,784,803,649.666427159,629.666427159,651,0.444321577928,-0.0155832691529,0.0699351895804,0.99999998491,-0.000134474554546,-9.14652947267e-05,-6.10822243394e-05,1793196578350634240
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,764.015236888,743,712,675,660,633,878,784,800.984763112,649,630,650.015236888,0.440118547337,-0.0154292720373,0.0698401327902,0.999999970066,0.000100630135174,-0.00022195230069,2.18724721391e-05,1793196580438233344
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764.606248272,743,712,675,660,633,878,784,800.393751728,649,630,650.606248272,0.439449830119,-0.0154050680268,0.0698226956982,0.999999956253,0.000137171374491,-0.000261223486837,2.09819663489e-05,1793196580454899968
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633,878,784,800.192784296,649,630,650.807215704,0.438768739773,-0.0153878229276,0.0697937233102,0.999999938025,0.000161275181003,-0.000312365672477,1.91614947824e-05,1793196580471566592
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633,878,784,800.770386981,649,630,650.229613019,0.438062951362,-0.0153844685729,0.06974172522,0.999999912028,0.000160552518873,-0.000387203660067,1.54847106142e-05,1793196580488233728
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.346814674,633,878,784,801,649.346814674,629.653185326,650.346814674,0.437382305663,-0.0153904445525,0.0697201397481,0.999999901106,0.000155918811713,-0.000416279294271,1.37482432376e-05,1793196580504900608
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.922467052,633,878,784,801,649.922467052,629.077532948,650.922467052,0.436718249833,-0.0154025769394,0.0697186213464,0.999999902676,0.000148704491683,-0.000415159687893,1.32920495485e-05,1793196580521567488
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.928047679,660.928047679,633.071952321,878.928047679,784.071952321,801,649,629,650.928047679,0.435402740003,-0.015409848341,0.0697938489267,0.999999942981,0.000142319138447,-0.000305252288272,2.45884435169e-05,1793196580554900480
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.333262161,660.333262161,633.666737839,878.333262161,784.666737839,801,649,629,650.333262161,0.434679437529,-0.0154057990492,0.0698161374771,0.999999947325,0.000153748298151,-0.000284539365539,2.73760894048e-05,1793196580571566592
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633.747325423,878,785,801,649,629,650.252674577,0.433947800251,-0.0154022045253,0.0698237997695,0.999999947258,0.000159193993449,-0.000281687036027,2.81819226958e-05,1793196580588233216
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,743,712,675,660,633.172664705,878,785,801,649,629,650.827335295,0.433205541734,-0.0153991895167,0.069812823655,0.999999941843,0.000157014892351,-0.000301594664589,2.64623096273e-05,1793196580604899840
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.404196342,633,878.404196342,784.595803658,801,649,629.404196342,650.595803658,0.432465164609,-0.0153994601314,0.0698132606986,0.999999943181,0.00016113824409,-0.000294856502488,2.70476655139e-05,1793196580621566720
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.982002437,633,878.982002437,784.017997563,801,649,629.982002437,650.017997563,0.431725595621,-0.0154011419818,0.0698185999041,0.99999994721,0.000167968615174,-0.000276673482664,2.86230479974e-05,1793196580638233344
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,743,712.5704967,674.4295033,661,633,878.4295033,784,801,649,630,650,0.430939642113,-0.0153982763855,0.0697961655126,0.99999993496,0.000172405010325,-0.000315512521977,2.84468150233e-05,1793196580654899968
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,743,712.843189204,674.156810796,660.843189204,633,878,784,801,649,630,650,0.430140285247,-0.0153957457428,0.0697684467282,0.999999918881,0.000177351651252,-0.00036060728563,2.73392074994e-05,1793196580671566848
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,743,712.263678272,674.736321728,660.263678272,633,878,784,801,649,630,650,0.429308818046,-0.0153945120956,0.0697288902293,0.999999895604,0.000183881181499,-0.000417623348739,2.38727803074e-05,1793196580688233472
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,743.312199731,712.312199731,674.687800269,660,633.312199731,878,784.312199731,801,649,630,650.312199731,0.428533000378,-0.0153933791544,0.0697354005213,0.999999898585,0.000187606553718,-0.000408695595594,2.45453757189e-05,1793196580704899840
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,743.885044694,712.885044694,674.114955306,660,633.885044694,878,784.885044694,801,649,630,650.885044694,0.427803642705,-0.0153923302894,0.0697803704557,0.999999922316,0.000188990826573,-0.000344713527467,2.8673504383e-05,1793196580721566464
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,743.528956192,712.528956192,674.471043808,660,633.528956192,878,785,801,649,630,651,0.427081546551,-0.0153909974319,0.069826423767,0.999999941579,0.000200840662576,-0.000274462179992,3.42954827701e-05,1793196580738233088
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.940683438,660,633,878,784.940683438,801,649,630,650.940683438,0.426351921783,-0.0153898548722,0.0698660884916,0.999999953779,0.000212754674884,-0.000213583805857,3.94811150771e-05,1793196580754899456
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.361428727,660,633,878,784.361428727,801,649,630,650.361428727,0.425540325778,-0.0153910053225,0.0698473700597,0.999999947936,0.000202200554356,-0.000248660365632,3.75545748392e-05,1793196580771566080
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633.216563784,878,784,801,649,630,650.216563784,0.42472691719,-0.015392357931,0.0698282198893,0.999999940401,0.000196314719418,-0.000281783014395,3.54536314108e-05,1793196580788232704
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633.792462074,878,784,801,649,630,650.792462074,0.423910500936,-0.0153940459717,0.0698083533516,0.99999993125,0.000198174758526,-0.000311663632732,3.30633083816e-05,1793196580804899584
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,634,878,784.368605484,801,649,630,651,0.423084350911,-0.0153898861546,0.0697768334067,0.999999912438,0.000203722533343,-0.000364304891187,3.00402341333e-05,1793196580821566464
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633.466800328,878,784.466800328,800.466800328,649,630,650.466800328,0.421467163274,-0.0153784543343,0.0697106884724,0.999999863903,0.000212315083465,-0.000475986589393,2.35233568616e-05,1793196580854899968
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,743,712.120609469,674,660,633.120609469,878,784,800.120609469,649,630,650.120609469,0.420704891351,-0.0153771499046,0.0697017797725,0.999999857288,0.000211528218008,-0.000490078456579,2.24396291897e-05,1793196580871566336
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,743,712.699749596,674,660,633.699749596,878,784,800.699749596,649,630,650.699749596,0.420012605153,-0.0153846090021,0.0697616467173,0.999999902242,0.000206750189784,-0.00038977646367,2.90657497355e-05,1793196580888232960
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,743,713,674,660,633.723561279,878,784.276438721,801,649,630,650.723561279,0.419311542553,-0.0153897523233,0.0698161264966,0.999999932893,0.000205231287212,-0.000301435749248,3.50811486588e-05,1793196580904899584
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,743,713,674,660,633.149510919,878,784.850489081,801,649,630,650.149510919,0.418601031398,-0.0153924024986,0.0698648064944,0.99999995218,0.000207221133476,-0.000225972456376,4.0439049421e-05,1793196580921566208
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764.564890107,743,712.564890107,674,659.564890107,633,877.564890107,784.564890107,801,649,630,650.435109893,0.417869580805,-0.0153903180773,0.0698623445992,0.999999949637,0.000210265179626,-0.000234340179348,4.00024546288e-05,1793196580938232832
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.023085805,743,712,674,659.023085805,633,877,784,801,649,630,651,0.417130856443,-0.0153866025313,0.0698413433105,0.999999939429,0.000213500996978,-0.00027232032069,3.7417003204e-05,1793196580954899456
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.60220864,743,712,674,659.60220864,633,877,784,801,649,630,651,0.416394554492,-0.0153837605255,0.0698076092001,0.999999928107,0.000212413706422,-0.000312455544303,3.22255515127e-05,1793196580971566336
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633,877.181569981,784,800.818430019,649,630,651,0.415664555039,-0.0153825535256,0.0697827116227,0.999999918887,0.000209954920431,-0.000342527080334,2.86312804029e-05,1793196580988233216
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633,877.761454647,784,800.238545353,649,630,651,0.414948381394,-0.0153849332791,0.0697771989658,0.999999917252,0.000204487450428,-0.000350521657504,2.85407840693e-05,1793196581004899840
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,743,712.337454507,674,660,633.337454507,878,784.337454507,800.337454507,649,630,651,0.41423010003,-0.0153821265195,0.0697649203074,0.999999907495,0.000207724922693,-0.000375618905417,2.77454795459e-05,1793196581021566464
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,743,712.910739431,674,660,633.910739431,878,784.910739431,800.910739431,649,630,651,0.413510345726,-0.0153756951599,0.0697479132226,0.999999890948,0.000217045852597,-0.000412668370855,2.64576190938e-05,1793196581038232832
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.503026009,743,712.503026009,674,660,633.503026009,877.503026009,784.503026009,801,649,630,651,0.412910358088,-0.0153768136698,0.0697732737095,0.999999909052,0.000215809432305,-0.000366806005889,2.78616088436e-05,1793196581054899456
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742.915754085,712,674,660,633.084245915,877,784,801,649,630,650.915754085,0.412334884138,-0.0153793174732,0.0698079846714,0.999999930808,0.000212592795571,-0.000303795038964,2.99518368892e-05,1793196581071566080
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742.336419956,712,674,660,633.663580044,877,784,801,649,630,650.336419956,0.4117736736,-0.0153817801186,0.0698517300515,0.999999951154,0.000209180469185,-0.000229861926843,3.315761101e-05,1793196581088232960
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742.242134392,712,674,660,634,877.242134392,784,800.757865608,649,629.757865608,650,0.411193637358,-0.0153830702049,0.0698739645877,0.999999959122,0.00020784650315,-0.000193206894737,3.5015232341e-05,1793196581104899328
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.441215879,742.441215879,712,673.441215879,659.441215879,634,877.441215879,784.441215879,801.441215879,649,630,651,0.408814140596,-0.0153717364003,0.0697811051893,0.999999910351,0.000224345388459,-0.000358178744188,2.59877458019e-05,1793196581171565824
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742.145157915,712,673.145157915,659,633.854842085,877,784,801,649,630,651,0.408291625485,-0.0153711957823,0.0697669704569,0.999999902273,0.000220784577226,-0.000382292069651,2.36701735807e-05,1793196581188232704
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742.72407959,712,673.72407959,659,633.27592041,877,784,801,649,630,651,0.407815068744,-0.0153720628381,0.0697761573394,0.999999912879,0.000212784416655,-0.000358438981399,2.20645814522e-05,1793196581204899584
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,633.301161438,877.301161438,784,800.698838562,649,630,650.698838562,0.407352166697,-0.015371329105,0.0697902004655,0.999999921496,0.000212243254439,-0.000333795006715,2.32931685534e-05,1793196581221566208
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,633.87656786,877.87656786,784,800.12343214,649,630,650.12343214,0.406901698976,-0.015369137654,0.0698086658055,0.999999928198,0.000218494439316,-0.000308430832872,2.71026287865e-05,1793196581238232832
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,743,712,673,659.971160861,633,877,784,801,649,629.028839139,650.028839139,0.405993005274,-0.0153648855603,0.0698058253224,0.99999991864,0.000232463137782,-0.000328690597149,2.53501115608e-05,1793196581271566080
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,743,712,673,659.206224752,633.206224752,877.206224752,784,801,649,630,650.793775248,0.405202658471,-0.0153694416785,0.069788852602,0.999999909801,0.000227774035373,-0.000357668483407,2.42784298995e-05,1793196581304899328
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,660.783282919,633.10835854,877.89164146,784,801,649,629,650.89164146,0.403652681807,-0.0153594468481,0.0698408536478,0.99999993242,0.000253469696109,-0.000264778876171,2.83813123862e-05,1793196581388232704
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.624256957,633.687871521,877.312128479,784,801,649,629,650.312128479,0.40337453253,-0.0153510797218,0.0698301335346,0.999999925266,0.000264463329294,-0.000280722925803,2.68675913626e-05,1793196581404899584
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.843456495,743,712,673.843456495,659.843456495,633.156543505,877,784,801,648.156543505,629.843456495,650,0.4028673912,-0.0153430200382,0.0698113959756,0.999999916936,0.000266969937207,-0.000307084154278,2.35515925993e-05,1793196581438232832
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.581518315,743,712,674,660,633.418481685,877,784,800.581518315,648.418481685,629.581518315,650.418481685,0.402646866906,-0.0153440192618,0.0698084325731,0.999999916213,0.000262893882722,-0.000312975895109,2.25074297154e-05,1793196581454899456
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.007287063,743,712,674,660,633.992712937,877,784,800.007287063,648.992712937,629.007287063,650.992712937,0.402435270337,-0.0153462952549,0.0698076677497,0.999999916341,0.00025817042161,-0.000316533934375,2.17115135149e-05,1793196581471566336
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+422,7.033333333,POSE2_TO_POSE3_RETREAT,764,743,712.126998731,673.126998731,659.126998731,633.873001269,877.873001269,784.126998731,801,649,630,651,0.400940790963,-0.0153615558251,0.0698107451936,0.999999922367,0.000249315228028,-0.00030479907345,1.43306741527e-05,1793196582221566208
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c08622edee00606fe480102e15b24d2140f34dd9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_03/simulation_data.csv
@@ -0,0 +1,425 @@
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+390,6.500000000,pose2_to_pose3_retreat,0.578377527362,-0.00999863139144,1.06001169671,0.54894876044,-0.00132497169935,1.05966122711
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+395,6.583333333,pose2_to_pose3_retreat,0.578279664533,-0.0099987828556,1.06001166436,0.548850898938,-0.001325118466,1.05966119965
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+397,6.616666667,pose2_to_pose3_retreat,0.578266340992,-0.00999863308396,1.0600114843,0.548837574389,-0.00132497197149,1.05966102306
+398,6.633333333,pose2_to_pose3_retreat,0.578262320833,-0.0099986605578,1.06001171004,0.548833554363,-0.00132499935607,1.05966123966
+399,6.650000000,pose2_to_pose3_retreat,0.578259800981,-0.00999868770053,1.06001183539,0.5488310348,-0.00132502566769,1.05966136123
+400,6.666666667,pose2_to_pose3_retreat,0.578258190994,-0.00999873398382,1.06001186842,0.548829425599,-0.00132506915894,1.05966139752
+401,6.683333333,pose2_to_pose3_retreat,0.578257191694,-0.00999876271134,1.06001188892,0.548828426787,-0.00132509615346,1.05966142004
+402,6.700000000,pose2_to_pose3_retreat,0.578256464913,-0.00999878360456,1.06001190383,0.548827700361,-0.00132511578629,1.05966143642
+403,6.716666667,pose2_to_pose3_retreat,0.578255971598,-0.00999879778621,1.06001191395,0.548827207286,-0.00132512911243,1.05966144754
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+405,6.750000000,pose2_to_pose3_retreat,0.578255565378,-0.00999880184237,1.06001188216,0.548826801303,-0.00132513232387,1.05966141679
+406,6.766666667,pose2_to_pose3_retreat,0.578254959433,-0.00999879773527,1.06001178126,0.548826195762,-0.00132512676979,1.05966131775
+407,6.783333333,pose2_to_pose3_retreat,0.578254413712,-0.00999879403637,1.06001169038,0.548825650406,-0.00132512176773,1.05966122855
+408,6.800000000,pose2_to_pose3_retreat,0.578254016112,-0.00999879134144,1.06001162417,0.548825253071,-0.00132511812334,1.05966116357
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+411,6.850000000,pose2_to_pose3_retreat,0.578253249893,-0.00999876709195,1.06001155068,0.548824486707,-0.00132509432422,1.05966109111
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+413,6.883333333,pose2_to_pose3_retreat,0.578252771304,-0.00999871102555,1.06001162095,0.548824006618,-0.00132504343523,1.05966115918
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3ebdc378d6b32fc9955a0d3f1aaf75a2917f2053
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ed5d20b81a94556d0ba76c5244f09755734b267a7888d23b5a09fa17042e932
+size 26854892
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0e948b1ab3639e37315c464b0fa2e2831965609f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_04/franka_data.csv
@@ -0,0 +1,425 @@
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+26,0.433333333,BASELINE,764,742.09627465,712,673.09627465,660.90372535,634,877,784.09627465,800.09627465,649,630,651,0.40093929143,-0.0153637925389,0.0698112226853,0.999999923796,0.000243657663932,-0.000304740247969,1.31495040184e-05,1793196582823637248
+27,0.450000000,BASELINE,764,742.673028457,712,673.673028457,660.326971543,634,877,784.673028457,800.673028457,649,630,651,0.400941062866,-0.0153636004494,0.0698129296116,0.999999924656,0.00024254849412,-0.000302791419428,1.32252360931e-05,1793196582840303872
+28,0.466666667,BASELINE,764,743,712,674,660,634,877,785,800.750777718,649,630,651,0.400941949109,-0.015363461455,0.0698138663788,0.999999925091,0.000242315516287,-0.000301534559122,1.33385197193e-05,1793196582856970752
+29,0.483333333,BASELINE,764,743,712,674,660,634,877,785,800.175316959,649,630,651,0.400941676613,-0.0153633919634,0.0698137949873,0.999999924973,0.000243229496709,-0.000301183503429,1.35009593027e-05,1793196582873637376
+30,0.500000000,BASELINE,764,743,712,673.590391103,659.590391103,633.590391103,877,784.590391103,800.409608897,649,629.590391103,651,0.400941357922,-0.0153628240752,0.069813411449,0.999999924594,0.000244453164664,-0.000301447543878,1.35847649027e-05,1793196582890304000
+31,0.516666667,BASELINE,764,743,712,673.001318274,659.001318274,633.001318274,877,784.001318274,800.998681726,649,629.001318274,651,0.40094101899,-0.0153620378222,0.0698128911484,0.999999924099,0.000245812517494,-0.000301981079391,1.363411821e-05,1793196582906970624
+32,0.533333333,BASELINE,764.577735433,743,712,673,659.577735433,633.577735433,877,784.577735433,801,649,629.577735433,650.422264567,0.40094147419,-0.0153618235202,0.0698131815783,0.999999923916,0.000246461788377,-0.000302067048161,1.34153815236e-05,1793196582923637504
+33,0.550000000,BASELINE,764.844161532,743,712.155838468,673,659.844161532,634,877.155838468,785,800.844161532,649,630,650.155838468,0.400941820784,-0.0153623396435,0.0698133574536,0.999999924106,0.000245743867792,-0.000302030507314,1.32723653925e-05,1793196582940304128
+34,0.566666667,BASELINE,764.268558776,743,712.731441224,673,659.268558776,634,877.731441224,785,800.268558776,649,630,650.731441224,0.400941870043,-0.0153648197748,0.0698132198679,0.999999925285,0.000241347589477,-0.000301666680231,1.33349287607e-05,1793196582956971008
+35,0.583333333,BASELINE,764,743,712.692933001,673,659,633.692933001,877.692933001,785,800.307066999,649,630,651,0.400942450568,-0.0153657229461,0.0698135426532,0.999999925852,0.00024006338999,-0.000300807041368,1.34264415317e-05,1793196582973637376
+36,0.600000000,BASELINE,764,743,712.117287025,673,659,633.117287025,877.117287025,785,800.882712975,649,630,651,0.400943495771,-0.0153652468151,0.0698142681063,0.999999925893,0.000241501198391,-0.00029951373613,1.35432751713e-05,1793196582990304000
+37,0.616666667,BASELINE,764,743,712,673.469986552,659.469986552,633.469986552,877.469986552,785,800.530013448,649,630,651,0.400942117194,-0.0153650603411,0.069813717162,0.999999925274,0.000242760957521,-0.000300564211649,1.34069663927e-05,1793196583006970624
+38,0.633333333,BASELINE,764.059053773,743,712,673.940946227,660,634,877.940946227,784.940946227,800,649,630,651,0.400940526561,-0.0153649568236,0.0698130844383,0.99999992465,0.000243804516849,-0.000301801088297,1.32775287376e-05,1793196583023637504
+39,0.650000000,BASELINE,764.637723693,743,712,673.362276307,660,634,877.362276307,784.362276307,800,649,630,651,0.400942527268,-0.0153649310702,0.0698146059914,0.999999925476,0.000243346612189,-0.000299401004827,1.37785099284e-05,1793196583040304128
+40,0.666666667,BASELINE,765,743,712,673.215322483,660,634,877.215322483,784,800.215322483,649,630,650.784677517,0.400943430175,-0.0153645808111,0.0698152910292,0.999999925955,0.000242670343719,-0.000298340353952,1.39542310023e-05,1793196583056970752
+41,0.683333333,BASELINE,765,743,712,673.791128002,660,634,877.791128002,784,800.791128002,649,630,650.208871998,0.400942495196,-0.0153636872792,0.0698145756113,0.999999925859,0.000241628500588,-0.000299522119918,1.35854164581e-05,1793196583073637120
+42,0.700000000,BASELINE,764.626246192,743,712,674,660,633.626246192,877.626246192,784,801,649,630,650.373753808,0.400941128275,-0.0153642975143,0.0698133622047,0.999999925491,0.000241017620862,-0.000301246727409,1.33979706099e-05,1793196583090304000
+43,0.716666667,BASELINE,764.039738049,743,712,674,660,633.039738049,877.039738049,784,801,649,630,650.960261951,0.400939515477,-0.0153657637487,0.0698118653249,0.999999924965,0.000240652061303,-0.000303280340107,1.33137664684e-05,1793196583106970880
+44,0.733333333,BASELINE,764,743,712,673.460015873,659.460015873,633,877,784,801,649,630,651,0.400939927504,-0.0153631361121,0.0698116589359,0.999999924096,0.000243846870797,-0.000303595668322,1.32737019968e-05,1793196583123637504
+45,0.750000000,BASELINE,764.118747683,743,712.118747683,673.118747683,659.118747683,633.118747683,876.881252317,784.118747683,800.881252317,649,629.881252317,651,0.40094045454,-0.0153613175348,0.0698117140097,0.999999923538,0.000246200315168,-0.000303536454538,1.3264209156e-05,1793196583140303872
+46,0.766666667,BASELINE,764.695715107,743,712.695715107,673.695715107,659.695715107,633.695715107,876.304284893,784.695715107,800.304284893,649,629.304284893,651,0.400940857516,-0.0153637690426,0.0698124160936,0.99999992431,0.000244308631983,-0.000302513857423,1.33603063234e-05,1793196583156970752
+47,0.783333333,BASELINE,764.728635591,743,712.728635591,674,660,634,876.271364409,784.728635591,800.271364409,649,629,650.728635591,0.400941385099,-0.015365106646,0.0698132509445,0.999999924843,0.000243535962273,-0.000301365821864,1.34961320427e-05,1793196583173637376
+48,0.800000000,BASELINE,764.1544571,743,712.1544571,674,660,634,876.8455429,784.1544571,800.8455429,649,629,650.1544571,0.40094205173,-0.0153652012495,0.0698142339495,0.999999925112,0.000244011993432,-0.000300077810091,1.36762906512e-05,1793196583190304000
+49,0.816666667,BASELINE,764,742.568268211,712,673.568268211,659.568268211,634,877,784,801,649,629.431731789,650.431731789,0.400943521924,-0.0153649536763,0.0698150468605,0.999999925621,0.000244303171559,-0.000298139747607,1.369650841e-05,1793196583206970624
+50,0.833333333,BASELINE,764,742.021903001,712,673,659.021903001,634,877,784,800.978096999,648.978096999,630,650.978096999,0.400945149281,-0.0153645447419,0.0698157299381,0.999999926145,0.000244589180174,-0.000296141521663,1.36575233447e-05,1793196583223637248
+51,0.850000000,BASELINE,764,742.600946743,712,673,659.600946743,634,877,784,800.399053257,648.399053257,630,650.399053257,0.400943252449,-0.0153632343165,0.0698147026777,0.999999924922,0.000246474046464,-0.000298697856664,1.36097693346e-05,1793196583240303872
+52,0.866666667,BASELINE,764.178993157,743,712,673.178993157,659.821006843,633.821006843,877,784,800,648.178993157,630,650,0.400941723086,-0.0153626229993,0.0698138486327,0.999999924127,0.000247278452478,-0.000300694863082,1.35233818758e-05,1793196583256970752
+53,0.883333333,BASELINE,764.754828379,743,712,673.754828379,659.245171621,633.245171621,877,784,800,648.754828379,630,650,0.400941008429,-0.0153635616606,0.0698133786197,0.999999924293,0.00024568739203,-0.0003014517934,1.3351340992e-05,1793196583273637632
+54,0.900000000,BASELINE,764.663276498,743,712,673.663276498,659.336723502,633,877,784,800.673447003,649,630,650.336723502,0.400941174372,-0.0153636288744,0.0698131835611,0.999999924324,0.000245350664136,-0.000301627922015,1.32867880077e-05,1793196583290304000
+55,0.916666667,BASELINE,764.076888267,743,712,673.076888267,659.923111733,633,877,784,801.846223466,649,630,650.923111733,0.400941993238,-0.0153630499507,0.0698131923683,0.999999924254,0.000245943965241,-0.000301373413295,1.3301932282e-05,1793196583306970368
+56,0.933333333,BASELINE,764,743,712,673.503447926,660,633,877.503447926,784.503447926,801.496552074,649,629.496552074,651,0.400942135383,-0.0153640208402,0.0698137886453,0.999999924735,0.000244867628828,-0.00030065180644,1.33210367108e-05,1793196583323637248
+57,0.950000000,BASELINE,764.082904747,743,712.082904747,673.917095253,660,633.082904747,877.917095253,785,800.917095253,649,629.082904747,651,0.400942210495,-0.015365109725,0.0698143490889,0.999999925231,0.000243666176089,-0.000299976360862,1.33518102806e-05,1793196583340303872
+58,0.966666667,BASELINE,764.66256468,743,712.66256468,673.33743532,660,633.66256468,877.33743532,785,800.33743532,649,629.66256468,651,0.400942495868,-0.0153655042343,0.0698141636159,0.99999992533,0.000243224778441,-0.000299999872556,1.34489230281e-05,1793196583356970496
+59,0.983333333,BASELINE,764.759994566,743,712.759994566,673.240005434,659.759994566,634,877.240005434,784.759994566,800.240005434,649,630,650.759994566,0.400942185553,-0.0153659717432,0.069813959713,0.999999925411,0.00024259014256,-0.000300239028135,1.36145575215e-05,1793196583373637120
+60,1.000000000,BASELINE,764.185645197,743,712.185645197,673.814354803,659.185645197,634,877.814354803,784.185645197,800.814354803,649,630,650.185645197,0.400941045406,-0.0153665409454,0.069813730136,0.999999925464,0.000241686312581,-0.000300778590357,1.38756474935e-05,1793196583390304000
+61,1.016666667,BASELINE,764.397247046,743,712,673.602752954,659.397247046,634,878,784,801,649,630,650.397247046,0.400941056902,-0.0153655863226,0.0698136433403,0.999999925286,0.000242107134663,-0.000301042182775,1.35923923318e-05,1793196583406970624
+62,1.033333333,BASELINE,764.984219332,743,712,673.015780668,659.984219332,634,878,784,801,649,630,650.984219332,0.400941618422,-0.0153639039207,0.069813624737,0.999999924998,0.000243160610792,-0.000301173971948,1.3049157849e-05,1793196583423637248
+63,1.050000000,BASELINE,764.432725981,743,712,673,660,633.432725981,877.432725981,784.567274019,801,649,630,651,0.400941361371,-0.0153651553427,0.0698131924575,0.999999925244,0.000241657458948,-0.000301558881312,1.32419558455e-05,1793196583440303872
+64,1.066666667,BASELINE,764,743,712,673,660,633,877.147270769,784.852729231,800.852729231,649,630,650.852729231,0.400941003307,-0.0153658433251,0.0698127988345,0.999999925294,0.000240912769309,-0.000301985188708,1.33473338686e-05,1793196583456970752
+65,1.083333333,BASELINE,764,743,712,673,660,633,877.718770556,784.281229444,800.281229444,649,630,650.281229444,0.400940419414,-0.0153646747739,0.0698125494872,0.999999924741,0.000242556377754,-0.000302510603095,1.31423127785e-05,1793196583473637376
+66,1.100000000,BASELINE,764,743,712,673,660,633,877.706163386,784.293836614,800.293836614,649,630,650.293836614,0.400941045056,-0.0153648606683,0.0698131459371,0.999999925152,0.000241991972148,-0.000301592787605,1.32965330051e-05,1793196583490304000
+67,1.116666667,BASELINE,764,743,712,673,660,633,877.127642166,784.872357834,800.872357834,649,630,650.872357834,0.400942842562,-0.015366358822,0.0698145618405,0.999999926492,0.000239288324503,-0.000299276693899,1.37988054178e-05,1793196583506970368
+68,1.133333333,BASELINE,764,743,712,673.460920232,659.539079768,633,877,784.539079768,801,649,630,651,0.400942230161,-0.0153662931675,0.0698144548792,0.999999926079,0.000240320448395,-0.000299833109454,1.37206037701e-05,1793196583523637248
+69,1.150000000,BASELINE,764.051119001,743,712,673.948880999,659.051119001,633,877.051119001,784,800.948880999,649,630,651,0.400941137894,-0.0153657683322,0.0698140375042,0.99999992524,0.000242388116305,-0.000300974787161,1.34979875331e-05,1793196583540304128
+70,1.166666667,BASELINE,764.628889957,743,712,673.371110043,659.628889957,633,877.628889957,784,800.371110043,649,630,651,0.400942130531,-0.015365073789,0.0698148636745,0.999999925155,0.000244228727878,-0.000299768176325,1.34805496563e-05,1793196583556970752
+71,1.183333333,BASELINE,764.794582762,743,712,673,659.794582762,633,877.794582762,784.205417238,800,649,630,651,0.400942009194,-0.0153651475688,0.0698147886613,0.999999925154,0.000244147830447,-0.00029984308233,1.3370295137e-05,1793196583573637376
+72,1.200000000,BASELINE,764.220288708,743,712,673,659.220288708,633,877.220288708,784.779711292,800,649,630,651,0.400939887445,-0.0153666010602,0.0698130953531,0.999999925298,0.000240616394642,-0.000302219264588,1.30933656654e-05,1793196583590304256
+73,1.216666667,BASELINE,764,742.636944018,712,673.363055982,659.363055982,633,877,784.636944018,800,649,630,651,0.400940342562,-0.0153663618776,0.0698133834451,0.999999925519,0.000240334316128,-0.000301709572447,1.3127143328e-05,1793196583606970624
+74,1.233333333,BASELINE,764,742.047967379,712,673.952032621,659.952032621,633,877,784.047967379,800,649,630,651,0.400942401198,-0.0153650693862,0.0698149045129,0.999999925789,0.000242074231608,-0.000299404072695,1.33542662865e-05,1793196583623637248
+75,1.250000000,BASELINE,764,742.531874215,712,673.468125785,660,633.531874215,877,784.531874215,800,649,630,651,0.400941368964,-0.0153647956747,0.0698139493784,0.999999925279,0.000242504973282,-0.000300753022316,1.34205718177e-05,1793196583640304128
+76,1.266666667,BASELINE,764.110571736,743,712,673,659.889428264,633.889428264,877,784.889428264,800,649,630,650.889428264,0.400940444412,-0.0153645109815,0.0698132567932,0.999999924812,0.000243049174379,-0.000301862797335,1.34939792527e-05,1793196583656971008
+77,1.283333333,BASELINE,764.687858879,743,712,673,659.312141121,633.312141121,877,784.312141121,800,649,630,650.312141121,0.400941131109,-0.0153637986684,0.0698145991019,0.999999924823,0.000244562223774,-0.000300595395116,1.36575475017e-05,1793196583673637632
+78,1.300000000,BASELINE,764.736308789,742.736308789,712,673,659,633,876.736308789,784,800.263691211,649,629.736308789,650,0.400941737834,-0.0153638161619,0.0698149625811,0.999999925087,0.000244526743132,-0.000299744242727,1.36309589905e-05,1793196583690304256
+79,1.316666667,BASELINE,764.162189159,742.162189159,712,673,659,633,876.162189159,784,800.837810841,649,629.162189159,650,0.400942250413,-0.0153646928146,0.069814173741,0.999999925651,0.0002426682675,-0.000299383117287,1.33805099078e-05,1793196583706970880
+80,1.333333333,BASELINE,764.423494163,742.423494163,712,673,659,633.423494163,876.423494163,784,801,649,629,650.423494163,0.400942623106,-0.0153652947281,0.0698145502202,0.999999925736,0.000242865893823,-0.000298927907205,1.36621232068e-05,1793196583723637504
+81,1.350000000,BASELINE,765,743,712,673,659.013476479,633.986523521,877,784,800.986523521,649,629.013476479,650.986523521,0.400942919514,-0.0153657600321,0.0698153370384,0.999999925621,0.000243849860893,-0.000298487550111,1.41319005317e-05,1793196583740304384
+82,1.366666667,BASELINE,765,743,712,673,659.592793043,633.407206957,877,784,800.407206957,649,629.592793043,650.407206957,0.400942325502,-0.0153650313685,0.0698140882516,0.999999925104,0.00024385942013,-0.000300226201359,1.37063148906e-05,1793196583756971008
+83,1.383333333,BASELINE,764.829534279,742.829534279,712,673.170465721,659.829534279,633.170465721,877,784,800,649,629.829534279,650.170465721,0.400941333463,-0.0153645934157,0.069812965659,0.999999924542,0.00024392554479,-0.000302057120476,1.33000927604e-05,1793196583773637632
+84,1.400000000,BASELINE,764.255750876,742.255750876,712,673.744249124,659.255750876,633.744249124,877,784,800,649,629.255750876,650.744249124,0.400939399698,-0.0153648432772,0.0698121416388,0.999999923877,0.000244125501846,-0.000304106343438,1.29396841323e-05,1793196583790304256
+85,1.416666667,BASELINE,764,742.326121338,712,673.673878662,659,633.673878662,877,784,800.326121338,648.673878662,629,650.673878662,0.400939334303,-0.0153651326567,0.0698124403923,0.999999924032,0.000243971889272,-0.000303716848487,1.30524107426e-05,1793196583806970880
+86,1.433333333,BASELINE,764,742.914498262,712,673.085501738,659,633.085501738,877,784,800.914498262,648.085501738,629,650.085501738,0.400940771385,-0.0153654538152,0.0698136420419,0.999999924843,0.000243533948126,-0.000301366220179,1.35456164924e-05,1793196583823637504
+87,1.450000000,BASELINE,764,743,712,673,659.495025454,633.495025454,877,784,801,648.495025454,629.495025454,650,0.400940899201,-0.0153650268825,0.0698137106487,0.999999925015,0.000242933897761,-0.000301286590596,1.34078563955e-05,1793196583840304128
+88,1.466666667,BASELINE,764,743,712,673,660,633.926178592,877.073821408,784,800.926178592,649,630,650.073821408,0.400941004123,-0.0153646886945,0.0698136867109,0.999999925124,0.000242488701639,-0.000301288695412,1.32431881837e-05,1793196583856970752
+89,1.483333333,BASELINE,764,743,712,673,660,633.350080953,877.649919047,784,800.350080953,649,630,650.649919047,0.400942467902,-0.0153658197457,0.0698143438603,0.999999925547,0.000243284659245,-0.000299219723247,1.36253683001e-05,1793196583873637376
+90,1.500000000,BASELINE,764,743,712,672.773846463,659.773846463,633.226153537,877.773846463,784,800.226153537,649,630,651,0.400943319741,-0.015366967044,0.0698148104999,0.999999926022,0.000242619915283,-0.00029816100479,1.38158598542e-05,1793196583890304000
+91,1.516666667,BASELINE,764,743,712,672.197400056,659.197400056,633.802599944,877.197400056,784,800.802599944,649,630,651,0.400943223738,-0.0153681395079,0.0698149820559,0.999999926579,0.000239692666965,-0.000298667084833,1.37094418583e-05,1793196583906970880
+92,1.533333333,BASELINE,764.387111343,743,712,672.774222686,659,634,877,784,801,649,630,650.612888657,0.400942182423,-0.015367073381,0.069814303181,0.999999925988,0.000240509039446,-0.000299999883044,1.34278495644e-05,1793196583923637504
+93,1.550000000,BASELINE,764.975822889,743,712,673.951645778,659,634,877,784,801,649,630,650.024177111,0.400940648808,-0.0153648414388,0.0698131814179,0.999999924793,0.000243275017955,-0.00030176322035,1.30550298281e-05,1793196583940304128
+94,1.566666667,BASELINE,765,743,712,674,659.555459157,634,877,784.555459157,800.444540843,649,629.444540843,650,0.400940230505,-0.015364708385,0.0698127860503,0.999999924694,0.000242798849879,-0.000302471451841,1.30959107768e-05,1793196583956970752
+95,1.583333333,BASELINE,764.866039908,743,712,674,660,633.866039908,877,784.866039908,800.133960092,649,629.133960092,650.133960092,0.400940191318,-0.0153649319237,0.0698127968379,0.999999924877,0.0002420226817,-0.000302489495622,1.30923584909e-05,1793196583973637376
+96,1.600000000,BASELINE,764.290002885,743,712,674,660,633.290002885,877,784.290002885,800.709997115,649,629.709997115,650.709997115,0.400941245609,-0.0153660356034,0.0698140453017,0.999999925831,0.000240714708405,-0.000300378994462,1.28837050926e-05,1793196583990304000
+97,1.616666667,BASELINE,764.291038869,743,712.291038869,674,660,633,877.291038869,784,801,649,629.708961131,651,0.400941747831,-0.0153664140862,0.0698144800369,0.999999926116,0.000240322883727,-0.000299740647973,1.29708444745e-05,1793196584006970880
+98,1.633333333,BASELINE,764.877154758,743,712.877154758,674,660,633,877.877154758,784,801,649,629.122845242,651,0.400941690326,-0.0153660573099,0.069814089753,0.999999925725,0.000240859919263,-0.000300594882362,1.33578807605e-05,1793196584023637760
+99,1.650000000,BASELINE,765,743,712.53975124,674,659.53975124,633.46024876,877.53975124,784,800.53975124,649,629.46024876,651,0.400942328617,-0.0153653538512,0.069814295065,0.999999925596,0.00024233940139,-0.000299835060276,1.33277616882e-05,1793196584040304384
+100,1.666666667,BASELINE,765,743,712,674,659.04206038,634,877,784,800.04206038,649,630,651,0.400942959665,-0.0153647328528,0.0698145925894,0.999999925565,0.000243670191548,-0.000298866848725,1.31988631483e-05,1793196584056970752
+101,1.683333333,BASELINE,765,743,712,674,659.61776844,634,877,784,800.61776844,649,630,651,0.400941157887,-0.0153663244537,0.069814056263,0.99999992592,0.000239943681266,-0.000300684961521,1.3220153536e-05,1793196584073637376
+102,1.700000000,BASELINE,764.806732076,743,712,673.806732076,659.806732076,634,877.193267924,784,800.806732076,649,630,650.806732076,0.400940122028,-0.0153672456807,0.0698136184011,0.999999926066,0.000237981469214,-0.000301758984453,1.32130108733e-05,1793196584090304000
+103,1.716666667,BASELINE,764.231644722,743,712,673.231644722,659.231644722,634,877.768355278,784,800.231644722,649,630,650.231644722,0.400940599313,-0.0153668425196,0.0698133750657,0.999999925822,0.000239504798981,-0.000301362985862,1.31496959744e-05,1793196584106970624
+104,1.733333333,BASELINE,764.352794235,743,712.352794235,673,659.352794235,633.647205765,877.647205765,784.352794235,800,649,630,650.352794235,0.400941770756,-0.0153662561522,0.0698143676405,0.999999925942,0.000241025173657,-0.000299751276494,1.31311054254e-05,1793196584123637504
+105,1.750000000,BASELINE,764.943540707,743,712.943540707,673,659.943540707,633.056459293,877.056459293,784.943540707,800,649,630,650.943540707,0.400943410394,-0.015365546216,0.0698161938105,0.9999999263,0.000242543555338,-0.000297319595925,1.31426804965e-05,1793196584140304128
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,743,712,673,660,634,877,784,800,649,629,651,0.400942577107,-0.0153629994836,0.0698165849651,0.999999925683,0.000246253010502,-0.000296331172566,1.34892007317e-05,1793196584171653632
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,712,673.592662881,660,634,877,784.592662881,800.592662881,649,629.592662881,651,0.400942960863,-0.0153640114803,0.0698163243108,0.999999925867,0.000244330045802,-0.000297294340983,1.36082060329e-05,1793196584188320256
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.815610284,743,712.184389716,673.815610284,660,634,876.815610284,785,801,649,630,651,0.400943339673,-0.0153647030404,0.069816155311,0.999999926003,0.000243118575268,-0.000297826907779,1.36725342455e-05,1793196584204986880
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.225940722,743,712.774059278,673.225940722,660,634,876.225940722,785,801,649,630,651,0.40094370761,-0.0153646902963,0.0698161877632,0.999999926041,0.000243470934786,-0.000297413032828,1.36166848341e-05,1793196584221653504
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,743,712.642892422,673,660,633.642892422,876.357107578,784.642892422,800.642892422,649,629.642892422,651,0.400944317968,-0.015365867596,0.0698165351032,0.999999926591,0.000241968219354,-0.000296786545511,1.36688050541e-05,1793196584238320128
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,712.063957148,673,660,633.063957148,876.936042852,784.063957148,800.063957148,649,629.063957148,651,0.400945078913,-0.0153677841259,0.0698170780449,0.999999927453,0.000239313170458,-0.000296027987898,1.37879937358e-05,1793196584254986752
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659.487115281,633.512884719,877.512884719,784,800.512884719,649,629,650.487115281,0.400942602825,-0.0153663243939,0.0698153830692,0.999999926082,0.000240821441903,-0.000299436542033,1.33911856105e-05,1793196584271653376
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,743,712,673.089058068,659.089058068,634,878,784.089058068,801,649,629.089058068,650,0.400940933014,-0.0153649164112,0.0698141615302,0.999999924918,0.000242606835765,-0.000301884349812,1.31031160334e-05,1793196584288320256
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,743,712,673.663007099,659.663007099,634,878,784.663007099,801,649,629.663007099,650,0.400945841973,-0.0153660731921,0.0698170309582,0.999999926468,0.000243085856123,-0.00029628344483,1.37560047636e-05,1793196584304986880
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.244003478,743,712.244003478,674,660.244003478,634,877.755996522,785,800.755996522,649,630,650.244003478,0.400953167879,-0.0153670166001,0.0698208135995,0.999999928461,0.00024253137512,-0.000289918727669,1.42809384847e-05,1793196584321653248
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.835022365,743,712.835022365,674,660.835022365,634,877.164977635,785,800.164977635,649,630,650.835022365,0.400963931105,-0.0153676565546,0.069825894989,0.999999931077,0.000240507075289,-0.000282467737143,1.46238978596e-05,1793196584338320128
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.582330513,743,712.582330513,673.582330513,660.164661026,634,877,784.582330513,800,649,630,650.582330513,0.400989838811,-0.0153689496742,0.0698367974234,0.999999936303,0.000240263392023,-0.000263487211708,1.55588475092e-05,1793196584354986752
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.002925174,743,712.002925174,673.002925174,659.005850348,634,877,784.002925174,800,649,630,650.002925174,0.401021610976,-0.0153704957216,0.0698499539653,0.99999994208,0.000240709223865,-0.000240042056895,1.67230359788e-05,1793196584371653376
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,743,712,673,659.572860059,634,877.572860059,784,800,649,629.427139941,650.572860059,0.40107913438,-0.0153724944072,0.0698692606345,0.999999948659,0.000243318530997,-0.000207728258896,1.80798850371e-05,1793196584388320000
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.151374795,743,712,673,660,634,877.848625205,784,800.151374795,649,629.151374795,651,0.401137165353,-0.0153749072387,0.0698856248203,0.999999953284,0.00024409413757,-0.00018300795437,1.89210929891e-05,1793196584404986880
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.737786795,743,712,673,660,634,877.262213205,784,800.737786795,649,629.737786795,651,0.401196279523,-0.015378503687,0.0698934428982,0.999999954893,0.000239568309593,-0.000180239972346,1.82775867854e-05,1793196584421653504
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,743,712,673,660,633.67982617,877,784,800.67982617,649,629.67982617,651,0.401266209969,-0.0153821847956,0.0698982861883,0.999999956304,0.000237137741706,-0.000175701891132,1.6949590225e-05,1793196584438320128
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,743,712,673,660,633.100694576,877,784,800.100694576,649,629.100694576,651,0.401344888657,-0.0153859343775,0.0699007234586,0.999999957539,0.00023640182811,-0.000169732147383,1.50679753989e-05,1793196584454986752
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,743,712,673,660,633,877,784,800.477286589,649,629.477286589,650.522713411,0.401443308687,-0.0153899527663,0.069902775874,0.999999958371,0.000235190701136,-0.000166672118001,1.27758471751e-05,1793196584471653632
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743,712,673,660,633,877,784,800.945074788,649,630,650.054925212,0.40154873263,-0.0153941819309,0.0699045468472,0.999999959225,0.000233244866177,-0.000164442736544,1.02189360539e-05,1793196584488320512
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,743,712,673,660,633,877,784,800.368390025,649,630,650.631609975,0.401681220882,-0.0153998759217,0.0699044137161,0.999999961114,0.000225269804577,-0.000164286638359,5.96747493107e-06,1793196584504988160
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,743,712,673.211867244,660,633,877,784,800,649,630,651,0.401823261622,-0.0154061582974,0.0699051835183,0.999999963332,0.000217443520869,-0.000161401330431,1.80742469847e-06,1793196584521655296
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,712,673.798442783,660,633,877,784,800,649,630,651,0.401982196876,-0.0154134812895,0.0699075502477,0.999999966163,0.000209880366514,-0.000153689143636,-2.19095583106e-06,1793196584538320896
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.380173128,877,784,800.380173128,649,629.619826872,651,0.402164190326,-0.0154205485007,0.0699095968788,0.999999968547,0.000202057969597,-0.000148414673145,-7.15298082493e-06,1793196584554987264
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.959367067,877,784,800.959367067,649,629.040632933,651,0.402358254766,-0.0154274818112,0.0699114759384,0.999999970655,0.000194099858378,-0.000144416347565,-1.26194745105e-05,1793196584571653888
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.463390792,743,712,673.463390792,660,634,877,784.536609208,801,649,629.536609208,650.463390792,0.40259163819,-0.0154374479875,0.0699165407673,0.99999997408,0.000182313644717,-0.000135182502597,-1.80841119295e-05,1793196584588320512
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742.887065218,712.112934782,673.112934782,660,634,877,784.887065218,801,649,629.887065218,650,0.402837519739,-0.0154482964677,0.0699224084852,0.999999980858,0.000149609838654,-0.000123898865925,-2.34675964414e-05,1793196584604987136
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742.31387472,712.68612528,673.68612528,660,634,877,784.31387472,801,649,629.31387472,650,0.403122246623,-0.0154618081613,0.0699305687522,0.99999999345,3.28352881444e-05,-0.000105871290085,-2.85209217263e-05,1793196584621654784
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.267483634,713,673.732516366,659.732516366,634,877,784,801,649,629.267483634,650.267483634,0.403419564295,-0.0154731897886,0.0699392289328,0.999999995066,-2.80630848975e-05,-8.908212904e-05,-3.38230117852e-05,1793196584638322176
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+136,2.266666667,POSE1_TO_POSE2_PRESS,764,743,712.558281348,673.441718652,659.441718652,633.558281348,877,784,800.558281348,648.558281348,629.558281348,650.558281348,0.404068860733,-0.0154909684356,0.0699518190412,0.999999996466,2.9817266973e-05,-7.36859053513e-05,-2.73848804998e-05,1793196584671654912
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+139,2.316666667,POSE1_TO_POSE2_PRESS,765,743,712.823160981,674,660,634,877,785,800,649,629.176839019,651,0.405221437517,-0.0155128218339,0.0699582148437,0.999999997605,2.54269631076e-05,-6.17513239007e-05,-1.81575295714e-05,1793196584721653760
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743,712.238094464,674,660,634,877,785,800,649,629.761905536,651,0.405646831813,-0.0155155830731,0.0699573788743,0.999999997746,1.17947662444e-05,-6.25843931441e-05,-2.12392119413e-05,1793196584738320640
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.654400467,743,712.345599533,673.308800934,659.654400467,634,877,784.654400467,800,649,629.654400467,651,0.406089627865,-0.01551602775,0.0699477319384,0.999999996439,1.05538887397e-05,-8.01233041085e-05,-2.43145984128e-05,1793196584754987776
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.071648242,743,712.928351758,672.143296485,659.071648242,634,877,784.071648242,800,649,629.071648242,651,0.40654436516,-0.0155148827867,0.0699320388588,0.999999993512,1.78160153609e-05,-0.000109125874475,-2.73856648937e-05,1793196584771654656
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.5034193,743,712.4965807,673.0068386,659,634,877,784,800.5034193,649,629.5034193,650.4965807,0.407049440102,-0.0155196197298,0.0699212385213,0.999999992536,-6.47541557478e-06,-0.000118199468966,-3.02479250954e-05,1793196584788321536
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,743,712,674,659.077323344,633.922676656,877,784,801,649,629.922676656,650.077323344,0.40757231257,-0.015524222518,0.0699145452768,0.999999991834,-3.05016607457e-05,-0.000119697122522,-3.27898346922e-05,1793196584804988160
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,743,712,674,659.650674448,633.349325552,877,784,801,649,629.349325552,650.650674448,0.408164088751,-0.0155226752667,0.0699297990377,0.999999995044,-2.44514897004e-05,-9.05168574022e-05,-3.34644765948e-05,1793196584821654784
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633,877.232302758,784,801,649,629.232302758,651,0.408766456665,-0.0155207240441,0.0699409234722,0.999999997009,-1.88377602493e-05,-6.65980043985e-05,-3.4521771891e-05,1793196584838321408
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633,877.826837771,784,801,649,629.826837771,651,0.409385340348,-0.0155181429047,0.0699456090016,0.999999997954,-1.39045793791e-05,-5.08833312144e-05,-3.61757428379e-05,1793196584854987520
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633,877.59098025,784,801,649,630,651,0.410004825784,-0.0155189998524,0.0699397917947,0.999999997297,-1.77351185451e-05,-6.06540018059e-05,-3.75906508884e-05,1793196584871654144
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633,877.013874736,784,801,649,630,651,0.410624558493,-0.0155212696744,0.0699296585113,0.999999995654,-2.51670892255e-05,-8.08978185178e-05,-3.89073165165e-05,1793196584888320768
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.439333338,743,712,673.439333338,660,633.560666662,877,784.560666662,801,649,630,650.439333338,0.411309344163,-0.0155222014181,0.0699392543888,0.999999996701,-2.65555070344e-05,-6.57115714439e-05,-3.9680323083e-05,1793196584904987904
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,743,712,673.138814841,660,633.861185159,877.138814841,784.861185159,801,649,630,650,0.412014613585,-0.0155236193865,0.0699544974553,0.999999998007,-2.69080231581e-05,-4.11462757273e-05,-3.96049930687e-05,1793196584921654784
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,712,673.728893281,660,633.271106719,877.728893281,784.271106719,801,649,630,650,0.412781262546,-0.0155267251447,0.0699865186344,0.999999998964,-2.43769750018e-05,1.10714234327e-05,-3.68154010264e-05,1793196584938321152
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.313268044,743,712,674,660,633.313268044,877.686731956,784.313268044,801,649,630,650.313268044,0.413538867391,-0.0155291237607,0.0700045238246,0.999999998208,-2.78853305852e-05,3.87504226944e-05,-3.61125369978e-05,1793196584954987520
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.89279509,743,712,674,660,633.89279509,877.10720491,784.89279509,801,649,630,650.89279509,0.414288785369,-0.0155309213488,0.0700106162704,0.999999997603,-3.65268159742e-05,4.5573008307e-05,-3.7183266061e-05,1793196584971653632
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.531041751,743,712,674,660.468958249,633.531041751,877.468958249,785,800.531041751,649,629.531041751,651,0.415000719603,-0.0155285455283,0.0699633918061,0.9999999975,-3.8932165197e-05,-4.02697357289e-05,-4.31523067211e-05,1793196584988320512
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.044188373,743,712,673.955811627,660.955811627,633.044188373,878,785,800.044188373,649,629,650.955811627,0.415712074834,-0.0155254954919,0.0699079639809,0.999999988211,-4.01635363795e-05,-0.000139550803784,-4.99005054221e-05,1793196585004987392
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.617389517,743,712,673.382610483,660.382610483,633.617389517,878,785,800.617389517,649,629,650.382610483,0.416519711407,-0.0155257142234,0.069899204425,0.999999986693,-4.42856580182e-05,-0.000147914682841,-5.26665229146e-05,1793196585021654016
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.802904921,743,712,673.197095079,660,633.802904921,878,784.802904921,800.802904921,649,629.197095079,650.197095079,0.417350250506,-0.0155269601156,0.0699052667046,0.999999988418,-4.77020710067e-05,-0.000134293622492,-5.34172791267e-05,1793196585038320896
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.210141784,743,712,673.789858216,660,633.210141784,878,784.210141784,800.210141784,649,629.789858216,650.789858216,0.418226766342,-0.015530268031,0.0699410837962,0.99999999458,-4.97017746527e-05,-7.6537830296e-05,-5.01224012315e-05,1793196585054987776
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633,878,784,800.372753135,649,629.627246865,651,0.419104010376,-0.0155341718968,0.0699696281713,0.999999996729,-5.50967860021e-05,-3.53232109893e-05,-4.75312062157e-05,1793196585071654400
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633,878,784,800.950228252,649,629.049771748,651,0.419981654319,-0.0155384030681,0.069994178253,0.999999997023,-6.23565545752e-05,-3.19327023911e-06,-4.53264852148e-05,1793196585088321280
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.526384786,743,712,674.526384786,660,633,878,784,800.473615214,649,629,650.473615214,0.420871845318,-0.0155430389229,0.0700119424977,0.999999996632,-6.44056744037e-05,2.41925681814e-05,-4.47572696883e-05,1793196585104987392
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743.104515036,712,674.895484964,660,633.104515036,878,784,800.104515036,649,629,650,0.421748468455,-0.0155464590143,0.0700187522712,0.999999996236,-6.55934858702e-05,3.44757812704e-05,-4.51257528893e-05,1793196585121653760
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743.692347442,712,674.307652558,660,633.692347442,878,784,800.692347442,649,629,650,0.422556875821,-0.0155440804437,0.0699778641052,0.999999996156,-6.50709594913e-05,-3.22608817513e-05,-4.91171691946e-05,1793196585138320640
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743.72403212,712,674,660,633.72403212,878,784.27596788,801,649,629,650.27596788,0.423376235642,-0.0155394691526,0.0699182567675,0.999999988563,-6.46770791201e-05,-0.000124657416401,-5.61409626838e-05,1793196585154987264
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743.145036575,712,674,660,633.145036575,878,784.854963425,801,649,629,650.854963425,0.424207621955,-0.0155324062131,0.0698380947613,0.999999965645,-6.44244585036e-05,-0.000245229886083,-6.64944705107e-05,1793196585171653888
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.567364734,743,712.432635266,674.432635266,660,633,878,785,801,649,629.432635266,651,0.425130643439,-0.015536323477,0.0698557156953,0.999999973319,-6.68814714596e-05,-0.000211025896309,-6.60068276378e-05,1793196585188320768
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.009818189,743,713,674.990181811,660,633.009818189,878,784.990181811,801,649,629.990181811,651,0.426083947569,-0.0155438149641,0.0699060727321,0.99999998775,-7.02730410407e-05,-0.000125436598635,-6.18591998046e-05,1793196585204987904
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.584328002,743,713,674.415671998,660,633.584328002,878,784.415671998,801,649,629.415671998,651,0.427017503862,-0.0155458109332,0.0699596138167,0.99999999384,-7.53297099367e-05,-5.96122937593e-05,-5.56016161701e-05,1793196585221654016
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,712.836831395,674,660,634,878.163168605,784,801,649,629.163168605,651,0.427946427601,-0.0155480106694,0.0700050945189,0.999999995584,-7.91663494753e-05,5.84460250348e-07,-5.06488249244e-05,1793196585238320384
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743,712.246657334,674,660,634,878.753342666,784,801,649,629.753342666,651,0.428863228084,-0.0155507436554,0.0700294815318,0.999999994549,-7.98102232266e-05,4.6054143002e-05,-4.91106219946e-05,1793196585254987008
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.662788661,878.662788661,784,801,649,630,650.662788661,0.42975958378,-0.0155549734348,0.0700247012335,0.999999994239,-8.53460226864e-05,4.14218423229e-05,-5.0215450155e-05,1793196585271653376
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.08344751,878.08344751,784,801,649,630,650.08344751,0.430641259346,-0.0155602779653,0.0699989777605,0.999999994128,-9.43943998697e-05,8.14521999012e-07,-5.32180693041e-05,1793196585288320000
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.507897532,743,712,674.984204936,660,633,878,784,801.492102468,649,629.507897532,650.492102468,0.431414383853,-0.0155538561324,0.0699274179283,0.999999987063,-8.7910544545e-05,-0.000120914028999,-5.93717723279e-05,1793196585304987392
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,712,675.931523485,660,633,878,784,801.931523485,649,629,650.931523485,0.432184020783,-0.0155471612014,0.0698605511618,0.999999967296,-8.12719284299e-05,-0.00023359216837,-6.50954136606e-05,1793196585321654784
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,712,675.344069086,660,633,878,784,801.344069086,649,629,650.344069086,0.433065666695,-0.0155533517952,0.0698877105553,0.999999978455,-9.32695621832e-05,-0.000174219328719,-6.35408968026e-05,1793196585338320896
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.239984554,743.239984554,712.239984554,675,660.239984554,633.239984554,878.239984554,784.239984554,801.239984554,649,629.239984554,650,0.433955742617,-0.0155590332516,0.0699291657884,0.999999988026,-0.000101121353665,-0.000100376663042,-6.03966241692e-05,1793196585354987520
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.819230689,743.819230689,712.819230689,675,660.819230689,633.819230689,878.819230689,784.819230689,801.819230689,649,629.819230689,650,0.434857736012,-0.0155639949508,0.0699908307807,0.999999993153,-0.000103112248577,-6.07827185195e-06,-5.50049437932e-05,1793196585371654400
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743.601934122,713,675,661,633.601934122,879,785,802,649,630,650.398065878,0.435720295902,-0.015568114377,0.0700127871341,0.999999992301,-0.000108319863209,2.97180612132e-05,-5.27339984041e-05,1793196585388321024
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,743.023285393,713,675,661,633.023285393,879,785,802,649,630,650.976714607,0.436564966704,-0.0155718517052,0.0700167296334,0.999999991284,-0.00011498674503,3.89748910479e-05,-5.18787769795e-05,1793196585404987392
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.448944176,743.551055824,712.448944176,674.448944176,660.448944176,633.551055824,879,785,802,649,630,650.448944176,0.437329277149,-0.0155714151013,0.0699916543531,0.999999991751,-0.000115110524705,1.55808958153e-05,-5.48070199567e-05,1793196585421653760
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.128400599,743.871599401,712,674.128400599,660.128400599,634,879,785,801.871599401,649,630,650.128400599,0.438071904766,-0.0155704274505,0.0699615727598,0.999999991489,-0.000115184681729,-1.8774071194e-05,-5.8323188518e-05,1793196585438320384
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.717161668,743.282838332,712,674.717161668,660.717161668,634,879,785,801.282838332,649,630,650.717161668,0.438748872263,-0.0155680915619,0.0699179039666,0.999999987426,-0.000116064530028,-8.75195999582e-05,-6.33785157254e-05,1793196585454987264
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.698426811,743,712.301573189,675,661,634,879,784.698426811,801.301573189,649,629.698426811,651,0.439429290824,-0.0155647447235,0.0698809404738,0.999999980685,-0.000110867666842,-0.00014800826782,-6.65799570919e-05,1793196585471653888
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.118036659,743,712.881963341,675,661,634,879,784.118036659,801.881963341,649,629.118036659,651,0.440112899998,-0.0155604632201,0.0698501763125,0.999999972505,-0.000100052631108,-0.000200863120412,-6.80674036378e-05,1793196585488320512
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,712.541309889,675.458690111,660.541309889,634,878.541309889,784,802,649,629.458690111,651,0.440872048325,-0.0155616595039,0.0698904000629,0.999999983422,-0.000102447866288,-0.000135263261702,-6.60571779293e-05,1793196585504987904
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.034020442,743.034020442,712,675.965979558,660.034020442,633.965979558,878,784,801.965979558,649,629.965979558,651,0.441644267635,-0.0155646134083,0.0699481471248,0.999999991274,-0.000108595504541,-4.11628647299e-05,-6.29591414397e-05,1793196585521655040
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.602110035,743.602110035,712,675.397889965,660.602110035,633.397889965,878,784,801.397889965,649,629.397889965,651,0.442318938734,-0.0155732056919,0.0699964818381,0.999999990774,-0.000120706739201,2.56159451549e-05,-5.68019285256e-05,1793196585538321152
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,743.82006477,712,675,661,633,878.17993523,784,801.17993523,649,629,651,0.442961892957,-0.0155790309809,0.0700240387914,0.999999989104,-0.000124235548652,5.96984650009e-05,-5.28504149645e-05,1793196585554987264
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,743.219479719,712,675,661,633,878.780520281,784,801.780520281,649,629,651,0.443530700091,-0.0155783876341,0.0700030218254,0.999999992589,-0.000107700499401,1.73441127865e-05,-5.40553507544e-05,1793196585571653888
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,743,712.365639486,675,661,633,879,784,802,649,629,651,0.444065871485,-0.015578176326,0.0699655699889,0.999999989297,-0.000125946707202,-4.70536572318e-05,-5.77051304752e-05,1793196585588320512
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,743,712.941851829,675,661,633,879,784,802,649,629,651,0.444581671922,-0.0155782138302,0.0699186532633,0.99999997684,-0.000164223543628,-0.000124146293649,-6.2762902635e-05,1793196585604987136
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,743,712.48139764,675.51860236,661,633,878.48139764,784,801.48139764,649,629,651,0.445088156585,-0.0155812206668,0.0698880967731,0.999999972979,-0.000153661780665,-0.000161742574962,-6.53378424727e-05,1793196585621654528
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.905163755,743,712,676,660.905163755,633,878.094836245,783.905163755,801,649,629,651,0.445586981529,-0.0155845835974,0.0698635337786,0.999999969592,-0.000141595580263,-0.000190315262216,-6.7431863369e-05,1793196585638321664
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,712,676,660.25020661,633,878.74979339,783,801,649,629,651,0.446490835999,-0.015591964782,0.0698548389396,0.999999963974,-0.000155427841455,-0.00020789777745,-6.83636549764e-05,1793196585671655424
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,712,676,660.844245077,633,878.155754923,783,801,649,629,651,0.446892059069,-0.0155964521439,0.0698476459464,0.999999958957,-0.000158278653821,-0.00022935600867,-6.65515413935e-05,1793196585688321280
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,764.452645561,743.452645561,712,675.547354439,660.452645561,633,878.452645561,783.452645561,801,649,629.452645561,650,0.44114683625,-0.0154445665058,0.0698169563647,0.999999958345,8.18760036723e-05,-0.000275756637376,2.37614209327e-05,1793196587687418880
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,744,712,675.037541727,660.962458273,633,878.962458273,784,801,649,630,650.037541727,0.440584973429,-0.0154309238251,0.0698271718608,0.999999960455,0.000126917824388,-0.000250021676879,2.17019201557e-05,1793196587704085248
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,744,712,675.614906557,660.385093443,633,878.385093443,784,801,649,630,650.614906557,0.43995530065,-0.0154102861564,0.0698315431205,0.999999961015,0.000131178449478,-0.00024560231013,2.10113718893e-05,1793196587720751872
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,764.347975012,743.652024988,712,675.652024988,660,633,878.652024988,784,801,649,629.347975012,651,0.437845098856,-0.0153886679325,0.0697336845319,0.999999906407,0.000159230982397,-0.00040197039392,1.58445657537e-05,1793196587770751744
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764.926653108,743.073346892,712,675.073346892,660,633,878.073346892,784,801,649,629.926653108,651,0.437152960591,-0.0153953810194,0.0697067271164,0.99999989377,0.000150287711317,-0.000435538560306,1.33874937653e-05,1793196587787417856
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.901394391,660,633,878,784,801,649,629,650.901394391,0.435841135199,-0.0154083473396,0.0697610311068,0.999999926075,0.000137829042047,-0.000358394283289,2.01635987375e-05,1793196587820751360
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.322220882,660,633,878,784,801,649,629,650.322220882,0.435144682486,-0.0154072955102,0.0697979323941,0.999999942241,0.000149105007959,-0.000304236993214,2.69232463283e-05,1793196587837418240
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.571714056,743,712,674.571714056,660,633,877.428285944,784,802,649,629,650.428285944,0.431405220188,-0.0154005449662,0.0698095373599,0.999999941016,0.000175302670087,-0.000293776587765,3.05272917646e-05,1793196587920751104
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633,878,784,801,649,630,650,0.428964268772,-0.0153917400254,0.0697229405522,0.999999890421,0.000184984263908,-0.000429416103791,2.32710630283e-05,1793196587970750720
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633,878,784,801,649,630,650,0.428198923656,-0.0153883696849,0.0697506093466,0.999999907921,0.00019028300617,-0.000383810613475,2.52814475919e-05,1793196587987417600
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.062630448,660.937369552,633.937369552,878,784.062630448,801,649,630,651,0.426754537131,-0.0153923555705,0.0698561790239,0.999999952658,0.000198889156453,-0.000231717012277,3.78826117862e-05,1793196588020751360
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3335f67fec01349403ab0da9bcb97303bf450374
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/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,0.578251963781,-0.00999879710479,1.06001152158,0.548823199972,-0.00132512635561,1.05966106439
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+389,6.483333333,pose2_to_pose3_retreat,0.578431535211,-0.00999876699639,1.06001164367,0.549002771468,-0.0013250961394,1.05966118368
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+394,6.566666667,pose2_to_pose3_retreat,0.578296484749,-0.00999884645357,1.06001155537,0.548867719668,-0.00132517992545,1.05966110075
+395,6.583333333,pose2_to_pose3_retreat,0.578283971707,-0.00999886242827,1.06001173383,0.548855207908,-0.00132519172843,1.05966127489
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+397,6.616666667,pose2_to_pose3_retreat,0.578266960457,-0.00999864641306,1.06001152123,0.548838194751,-0.00132498216773,1.05966106256
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+400,6.666666667,pose2_to_pose3_retreat,0.578256671793,-0.00999873689468,1.06001163649,0.548827907978,-0.00132506604433,1.05966118234
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+402,6.700000000,pose2_to_pose3_retreat,0.578255566014,-0.00999878870155,1.06001159442,0.548826802357,-0.00132511736155,1.05966113916
+403,6.716666667,pose2_to_pose3_retreat,0.578255227384,-0.00999880694827,1.06001158189,0.548826463758,-0.00132513552913,1.05966112588
+404,6.733333333,pose2_to_pose3_retreat,0.578254704489,-0.00999883512383,1.06001156255,0.548825940913,-0.0013251635825,1.05966110539
+405,6.750000000,pose2_to_pose3_retreat,0.578254265247,-0.00999885879184,1.0600115463,0.548825501712,-0.00132518714786,1.05966108817
+406,6.766666667,pose2_to_pose3_retreat,0.578254007444,-0.00999887268323,1.06001153676,0.548825243934,-0.001325200979,1.05966107806
+407,6.783333333,pose2_to_pose3_retreat,0.578253701141,-0.00999888918802,1.06001152543,0.54882493766,-0.00132521741222,1.05966106605
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+409,6.816666667,pose2_to_pose3_retreat,0.578253408825,-0.00999883731687,1.06001148725,0.548824644567,-0.00132516811432,1.05966102943
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+411,6.850000000,pose2_to_pose3_retreat,0.578253230384,-0.00999880430182,1.06001146339,0.548824465635,-0.00132513672285,1.05966100657
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..36c3c8aa6f7aafa41f2872114fee4ac67e678ac1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bf3063b0b245f1933522f0ea209408c418a12066937e283e661c96fdfdc06ca
+size 27033224
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fb1b877861bbc39c415e04c4c361a89713e535e5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_05/franka_data.csv
@@ -0,0 +1,428 @@
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+23,0.383333333,BASELINE,764,743,712.337965553,673,660,634,877.662034447,784.662034447,801,649,630,650.662034447,0.40094077983,-0.0153680592854,0.0698126027018,0.999999925485,0.000238087729813,-0.000303603624827,1.2972016294e-05,1793196590039173632
+24,0.400000000,BASELINE,764,743,712.926809072,673,660,634,877.073190928,784.073190928,801,649,630,650.073190928,0.400941138735,-0.0153668351534,0.0698121193065,0.999999925257,0.00023846785764,-0.000304068732445,1.2679182798e-05,1793196590055840512
+25,0.416666667,BASELINE,764,743,712.489643927,673,660,633.489643927,877,784.510356073,800.489643927,649,630,650,0.400941212799,-0.0153675613451,0.0698126040119,0.999999925144,0.000239372797413,-0.000303713324971,1.31057376068e-05,1793196590072506880
+26,0.433333333,BASELINE,764.091888473,743,712,673,660,633.091888473,877,785,800.091888473,649,630,650,0.40094128283,-0.0153679140839,0.0698131419987,0.999999924917,0.000240827763474,-0.000303290945809,1.35238659881e-05,1793196590089173504
+27,0.450000000,BASELINE,764.666783152,743,712,673,660,633.666783152,877,785,800.666783152,649,630,650,0.400941544186,-0.0153648486721,0.0698132377659,0.999999924008,0.000244782352445,-0.00030312871266,1.33609725168e-05,1793196590105840128
+28,0.466666667,BASELINE,765,743,712,673.241941781,660,634,877,784.758058219,800.758058219,648.758058219,629.758058219,650,0.400941269152,-0.0153637109451,0.0698128890948,0.99999992366,0.000245887277915,-0.000303390178598,1.31650897393e-05,1793196590122506752
+29,0.483333333,BASELINE,765,743,712,673.817464301,660,634,877,784.182535699,800.182535699,648.182535699,629.182535699,650,0.400940254561,-0.0153652310415,0.0698119276479,0.999999924097,0.000243063188274,-0.000304235825811,1.29237224872e-05,1793196590139173376
+30,0.500000000,BASELINE,765,743,712,673.598852261,660,633.598852261,877,784,800,648.401147739,629.401147739,650,0.400940433511,-0.0153654332118,0.0698119425523,0.999999924379,0.000241822806055,-0.000304305702411,1.27314303239e-05,1793196590155840000
+31,0.516666667,BASELINE,765,743,712,673.011378232,660,633.011378232,877,784,800,648.988621768,629.988621768,650,0.400941166841,-0.015365023228,0.0698124109552,0.999999924591,0.000241318029033,-0.000304015246753,1.25619327098e-05,1793196590172506624
+32,0.533333333,BASELINE,765,742.429270414,712,673,659.429270414,633.570729586,877,784,800.570729586,649,629.429270414,650.570729586,0.400940516488,-0.0153663325708,0.0698119576591,0.999999924272,0.000241501165925,-0.000304909183113,1.27679747041e-05,1793196590189173248
+33,0.550000000,BASELINE,764.849599703,742.150400297,712,673,659.150400297,633.849599703,877,784,801,649,629,650.849599703,0.400940071358,-0.0153670723823,0.069811617327,0.999999924085,0.000241695106124,-0.000305362394,1.29053038233e-05,1793196590205840128
+34,0.566666667,BASELINE,764.27648099,742.72351901,712,673,659.72351901,633.27648099,877,784,801,649,629,650.27648099,0.400940279845,-0.0153661160142,0.0698116456591,0.999999924301,0.000241881223205,-0.000304511144609,1.2828660225e-05,1793196590222507008
+35,0.583333333,BASELINE,764,743,712,673,659.702244514,633.297755486,877,784,800.702244514,648.702244514,629,650.297755486,0.400940331323,-0.0153659162296,0.0698118074135,0.999999924272,0.000242354805656,-0.000304229160189,1.2858722446e-05,1793196590239173632
+36,0.600000000,BASELINE,764,743,712,673,659.126966162,633.873033838,877,784,800.126966162,648.126966162,629,650.873033838,0.400940236463,-0.0153664216183,0.0698120935242,0.999999924014,0.000243096320097,-0.000304477758829,1.29882397691e-05,1793196590255840256
+37,0.616666667,BASELINE,764,743,712,673,659.459774006,634,877,784,800.459774006,648.459774006,629.459774006,651,0.400940924405,-0.0153672199313,0.0698126980819,0.99999992476,0.000241495614789,-0.000303289017293,1.3223808489e-05,1793196590272506880
+38,0.633333333,BASELINE,764,743,712,673,660,633.950975202,877,784,800.950975202,649,630,651,0.400941700394,-0.0153679737567,0.0698132841624,0.999999925691,0.000239382198753,-0.0003018846671,1.34434126229e-05,1793196590289173504
+39,0.650000000,BASELINE,764,743,712,673,660,633.369708667,877,784,800.369708667,649,630,651,0.400941025389,-0.0153673439481,0.0698126905207,0.999999925605,0.000238904081849,-0.000302558910295,1.31636215182e-05,1793196590305840128
+40,0.666666667,BASELINE,764,743,712.208644862,673,660,633.208644862,877.208644862,784,800,649,630,650.791355138,0.400940698391,-0.0153676555296,0.0698124855234,0.999999925705,0.000238281470321,-0.000302722303349,1.30834583551e-05,1793196590322506752
+41,0.683333333,BASELINE,764,743,712.78190772,673,660,633.78190772,877.78190772,784,800,649,630,650.21809228,0.400940979555,-0.0153696122405,0.0698129597032,0.99999992613,0.000237406346776,-0.000301992958565,1.33521556584e-05,1793196590339173632
+42,0.700000000,BASELINE,764,743,712.636258138,673.363741862,660,633.636258138,877.636258138,784,800.727483724,649,629.636258138,650,0.400942217754,-0.0153685625025,0.0698138396215,0.99999992621,0.000238607013755,-0.000300786243916,1.32285054252e-05,1793196590355840256
+43,0.716666667,BASELINE,764,743,712.049160827,673.950839173,660,633.049160827,877.049160827,784,801.901678346,649,629.049160827,650,0.400944043621,-0.0153656666566,0.0698149686832,0.999999926071,0.000241082318558,-0.000299286400644,1.28639344372e-05,1793196590372506880
+44,0.733333333,BASELINE,764,743,712,673.469293051,660,633,877,784,800.938586102,649,629.530706949,650.530706949,0.400943138056,-0.0153653186173,0.069814243102,0.999999925313,0.000243125845726,-0.000300155557224,1.30376799609e-05,1793196590389173760
+45,0.750000000,BASELINE,764.109900948,743,712,673.109900948,660,633,877,784,800.109900948,649,630,650.890099052,0.400942129633,-0.0153653223271,0.0698134133399,0.999999924664,0.000244541797349,-0.000301163243542,1.31529446547e-05,1793196590405840384
+46,0.766666667,BASELINE,764.689038917,743,712,673.689038917,660,633,877,784,800.689038917,649,630,650.310961083,0.400941747826,-0.0153658337426,0.0698128624312,0.999999924732,0.000243446705861,-0.00030183803491,1.28084703331e-05,1793196590422506752
+47,0.783333333,BASELINE,765,743,712.265991523,674,660,633.265991523,877,784,801,649,630,650.265991523,0.400941538665,-0.015366533916,0.069812650095,0.999999924873,0.00024238983634,-0.000302221435687,1.28104573145e-05,1793196590439173376
+48,0.800000000,BASELINE,765,743,712.840410194,674,660,633.840410194,877,784,801,649,630,650.840410194,0.400941529694,-0.0153674529611,0.0698128303463,0.999999925099,0.000241377286483,-0.000302266958225,1.32141791296e-05,1793196590455840000
+49,0.816666667,BASELINE,764.575073379,743,712.575073379,673.575073379,660,634,876.575073379,784,801.424926621,648.575073379,629.575073379,650.575073379,0.400941558743,-0.0153682804603,0.0698133845833,0.999999925377,0.000240892136157,-0.000301730408916,1.32304572872e-05,1793196590472506624
+50,0.833333333,BASELINE,764.013064224,743,712.013064224,673,660,633.986935776,876.013064224,784.013064224,801.986935776,648.013064224,629.013064224,650.013064224,0.400941597493,-0.015369046415,0.0698140664291,0.999999925672,0.000240589314873,-0.000300999217468,1.30999767188e-05,1793196590489173504
+51,0.850000000,BASELINE,764.589831283,743,712.589831283,673,660,633.410168717,876.589831283,784.589831283,801.410168717,648.589831283,629.589831283,650.589831283,0.400941423612,-0.0153686764558,0.0698140463359,0.999999925798,0.000239399008563,-0.000301531764885,1.30685498998e-05,1793196590505840128
+52,0.866666667,BASELINE,764.834160154,743,712.834160154,673,660,633,877,784.834160154,801,649,630,650.834160154,0.400941304837,-0.0153680830284,0.0698139470811,0.999999925786,0.000239024068212,-0.000301869890066,1.30490092228e-05,1793196590522506752
+53,0.883333333,BASELINE,764.260019061,743,712.260019061,673,660,633,877,784.260019061,801,649,630,650.260019061,0.400941321732,-0.0153669394173,0.0698136529284,0.999999925437,0.000240656576352,-0.00030172934351,1.30587324838e-05,1793196590539173376
+54,0.900000000,BASELINE,764.31710949,743,712,673,660,633,877,784,801,649,629.68289051,650,0.400941319524,-0.0153662113346,0.0698135098995,0.999999925218,0.000241739639027,-0.000301591531185,1.29654407507e-05,1793196590555840256
+55,0.916666667,BASELINE,764.896710923,743,712,673,660,633,877,784,801,649,629.103289077,650,0.400941301505,-0.0153658272118,0.0698134919653,0.999999925109,0.00024236789023,-0.000301455982166,1.27868768735e-05,1793196590572506880
+56,0.933333333,BASELINE,765,743,712,673,660,633.488053988,877,784.488053988,801,649,629.488053988,650.488053988,0.400941335813,-0.0153677658951,0.0698135333316,0.999999925759,0.000239798166912,-0.000301354228373,1.28410870719e-05,1793196590589173248
+57,0.950000000,BASELINE,765,743,712,673.07948466,660,633.92051534,877,784.92051534,801,649,629.92051534,651,0.400941380146,-0.0153695843214,0.0698135766932,0.99999992637,0.000237331307335,-0.000301276251638,1.29223919813e-05,1793196590605840128
+58,0.966666667,BASELINE,765,743,712,673.655554894,660,633.344445106,877,784.344445106,801,649,629.344445106,651,0.400941416222,-0.0153675045092,0.0698135521812,0.999999925765,0.000239839694463,-0.000301301038105,1.2857611844e-05,1793196590622506752
+59,0.983333333,BASELINE,765,743,712,673.769733164,660,633.230266836,877,784,801,649,629.230266836,651,0.400941813237,-0.01536662627,0.0698137424886,0.999999925442,0.00024114451928,-0.000301330810781,1.2834460512e-05,1793196590639173376
+60,1.000000000,BASELINE,765,743,712,673.197041026,660,633.802958974,877,784,801,649,629.802958974,651,0.400942746998,-0.0153675348661,0.0698142522496,0.999999925547,0.000240659550533,-0.000301367998358,1.28732145513e-05,1793196590655840000
+61,1.016666667,BASELINE,764.611108174,743,712,673,660,633.611108174,876.611108174,784.388891826,801,649,630,650.611108174,0.400943246329,-0.0153675703727,0.0698147878885,0.999999925521,0.000241423125425,-0.000300834994983,1.30761531188e-05,1793196590672506624
+62,1.033333333,BASELINE,764.018230181,743,712,673,660,633.018230181,876.018230181,784.981769819,801,649,630,650.018230181,0.400943517787,-0.0153671479159,0.0698153371012,0.999999925424,0.000242841601313,-0.000300002908261,1.33652117064e-05,1793196590689173248
+63,1.050000000,BASELINE,764.560685549,743,712,673,660,633.560685549,876.560685549,784.439314451,801,649,630,650.560685549,0.4009437309,-0.0153670631432,0.0698149970334,0.999999926173,0.000240635476662,-0.000299301547716,1.29124336046e-05,1793196590705839872
+64,1.066666667,BASELINE,764.861429511,743.138570489,712,673,660,633.861429511,877,784.138570489,800.861429511,649,629.861429511,651,0.400943701976,-0.0153669833555,0.069814631381,0.999999926623,0.000239176573912,-0.000298983256971,1.25660723276e-05,1793196590722506752
+65,1.083333333,BASELINE,764.285400406,743.714599594,712,673,660,633.285400406,877,784.714599594,800.285400406,649,629.285400406,651,0.400942914803,-0.0153668854858,0.0698142740223,0.999999926056,0.000240439612952,-0.000299861202,1.26299582421e-05,1793196590739173376
+66,1.100000000,BASELINE,764.296020411,743.703979589,712,673,660,633.296020411,877.296020411,784.703979589,800.296020411,649,629.296020411,651,0.400942536783,-0.0153667332733,0.0698144900996,0.999999925961,0.00024076425059,-0.000299916662496,1.26785142827e-05,1793196590755840000
+67,1.116666667,BASELINE,764.88273591,743.11726409,712,673,660,633.88273591,877.88273591,784.11726409,800.88273591,649,629.88273591,651,0.400942560555,-0.0153665276957,0.0698152692971,0.999999926329,0.000240167368329,-0.000299164434672,1.27120162255e-05,1793196590772506624
+68,1.133333333,BASELINE,764.536572476,743,712,673,660,634,877.536572476,784,801,649,629.536572476,651,0.400942576181,-0.0153668007545,0.069814796545,0.999999926376,0.000240201958866,-0.000298972211338,1.28745397001e-05,1793196590789173248
+69,1.150000000,BASELINE,764.042493329,743,712,673,660,633.957506671,876.957506671,784,800.957506671,649,629.042493329,650.957506671,0.400942480545,-0.015367175732,0.0698140444653,0.999999926315,0.000240380940361,-0.000299027325517,1.30455745064e-05,1793196590805839872
+70,1.166666667,BASELINE,764.620033702,743,712,673,660,633.379966298,876.379966298,784,800.379966298,649,629.620033702,650.379966298,0.40094100962,-0.0153673286024,0.069813712891,0.999999925892,0.000240391898167,-0.000300435429853,1.29179819837e-05,1793196590822506496
+71,1.183333333,BASELINE,764.803624749,743,712,673.196375251,659.803624749,633.196375251,876,784,800,649,630,650,0.400940348045,-0.0153677509401,0.0698135303375,0.99999992568,0.000240252348429,-0.000301256570988,1.28119172216e-05,1793196590839173376
+72,1.200000000,BASELINE,764.229588625,743,712,673.770411375,659.229588625,633.770411375,876,784,800,649,630,650,0.400941242977,-0.0153686915063,0.0698136343746,0.999999925876,0.000239823348728,-0.000300948888691,1.27472537481e-05,1793196590855840000
+73,1.216666667,BASELINE,764.35374042,743,712,673.64625958,659,634,876.35374042,784.35374042,800.35374042,649,630,650.35374042,0.400942278417,-0.0153677991894,0.0698139857852,0.999999925653,0.000241430762317,-0.000300399290292,1.28385433476e-05,1793196590872506624
+74,1.233333333,BASELINE,764.943263549,743,712,673.056736451,659,634,876.943263549,784.943263549,800.943263549,649,630,650.943263549,0.400943407511,-0.0153656851796,0.0698145020805,0.999999925144,0.00024439553012,-0.000299688444762,1.3033782163e-05,1793196590889173504
+75,1.250000000,BASELINE,764.476374599,743,712.523625401,673,659.523625401,634,877,785,801,649,630,651,0.40094226994,-0.0153663445086,0.0698136721575,0.999999924936,0.000243919937072,-0.000300776560701,1.28545582529e-05,1793196590905839872
+76,1.266666667,BASELINE,764.102452566,743,713,673.102452566,660,634,877,785,801,649,629.897547434,651,0.400941134855,-0.0153671989357,0.0698129683858,0.999999924968,0.000242580459612,-0.000301755860983,1.27016129576e-05,1793196590922506496
+77,1.283333333,BASELINE,764.678694154,743,713,673.678694154,660,634,877,785,801,649,629.321305846,651,0.40094112751,-0.01536758983,0.0698135109562,0.999999925966,0.000238940213025,-0.000301346029698,1.28546003014e-05,1793196590939173120
+78,1.300000000,BASELINE,765,743,712.745033924,673.745033924,660,633.745033924,877.254966076,784.745033924,800.745033924,649,629.254966076,650.745033924,0.40094171821,-0.0153677537954,0.0698141425119,0.999999926629,0.000237306845539,-0.000300433212109,1.29234262395e-05,1793196590955840000
+79,1.316666667,BASELINE,765,743,712.168723817,673.168723817,660,633.168723817,877.831276183,784.168723817,800.168723817,649,629.831276183,650.168723817,0.400943062653,-0.015367631753,0.0698148862193,0.99999992688,0.000238202829028,-0.000298886460621,1.28861801513e-05,1793196590972506880
+80,1.333333333,BASELINE,764.583901981,743,712,673,660,633.416098019,877.583901981,784,800,649,629.583901981,650.416098019,0.400943169221,-0.0153679236466,0.0698147367462,0.999999927028,0.000237546307262,-0.000298918774402,1.27523966325e-05,1793196590989173760
+81,1.350000000,BASELINE,764,743,712,673.004376481,659.995623519,633.995623519,877,784.004376481,800,649,629,650.995623519,0.400942760978,-0.0153683802991,0.0698142188325,0.999999927127,0.00023627252835,-0.000299606205854,1.25797936918e-05,1793196591005840384
+82,1.366666667,BASELINE,764,743,712,673.583860206,659.416139794,633.416139794,877,784.583860206,800,649,629,650.416139794,0.400942039904,-0.0153679705166,0.0698138716304,0.999999926373,0.000238338596193,-0.000300484191759,1.25574019456e-05,1793196591022507008
+83,1.383333333,BASELINE,764,743,712,673.837802973,659,633.162197027,877,784.837802973,800.162197027,649,629.162197027,650,0.40094184724,-0.0153673089387,0.0698138539642,0.99999992579,0.000240213405458,-0.000300932868846,1.25402305017e-05,1793196591039173632
+84,1.400000000,BASELINE,764,743,712,673.262387915,659,633.737612085,877,784.262387915,800.737612085,649,629.737612085,650,0.400943000769,-0.0153660058791,0.0698146758339,0.99999992565,0.00024160095905,-0.000300287826045,1.2536358452e-05,1793196591055840512
+85,1.416666667,BASELINE,764,743,712,673.319227168,659.319227168,634,877,784,800.680772832,649,630,650.319227168,0.400942933847,-0.0153667728578,0.0698146186045,0.999999925904,0.000240687185529,-0.000300165792729,1.2720434268e-05,1793196591072507136
+86,1.433333333,BASELINE,764,743,712,673.906039247,659.906039247,634,877,784,800.093960753,649,630,650.906039247,0.40094184391,-0.0153692749992,0.0698138244903,0.999999926485,0.000237844376839,-0.000300482160249,1.30620531057e-05,1793196591089173760
+87,1.450000000,BASELINE,764.486452557,743,712,673.513547443,660,634,877,784,800,649,629.513547443,651,0.400941270373,-0.0153688099735,0.0698139671943,0.999999926407,0.000237911732512,-0.000300695952299,1.29052494314e-05,1793196591105840384
+88,1.466666667,BASELINE,765,743,712,673,659.93446473,634,876.93446473,784,800,649,629,650.93446473,0.400940837837,-0.015367962263,0.0698142717482,0.999999926208,0.000238577109363,-0.000300837744693,1.2724934238e-05,1793196591122507008
+89,1.483333333,BASELINE,765,743,712,673,659.356247916,634,876.356247916,784,800,649,629,650.356247916,0.400940738173,-0.0153685461389,0.0698144452521,0.999999926044,0.000239580488763,-0.000300569268986,1.3104051496e-05,1793196591139173632
+90,1.500000000,BASELINE,764.778900233,743,712,673,659,634,876.221099767,784.221099767,800.221099767,649,629.221099767,650.221099767,0.400941493482,-0.0153689517065,0.0698147509071,0.999999926269,0.000239602338632,-0.000299797024115,1.31725334144e-05,1793196591155840256
+91,1.516666667,BASELINE,764.202947512,743,712,673,659,634,876.797052488,784.797052488,800.797052488,649,629.797052488,650.797052488,0.400943620978,-0.0153690710993,0.0698152686573,0.999999927119,0.000238048887543,-0.000298216257497,1.27424626777e-05,1793196591172506880
+92,1.533333333,BASELINE,764,743,712.382654067,673.382654067,659.382654067,633.617345933,877.382654067,784.617345933,800.617345933,649,630,651,0.400943804556,-0.0153680475947,0.0698149998695,0.999999926956,0.000238568836199,-0.000298355871653,1.25286567353e-05,1793196591189173760
+93,1.550000000,BASELINE,764,743,712.973505524,673.973505524,659.973505524,633.026494476,877.973505524,784.026494476,800.026494476,649,630,651,0.400942930473,-0.0153664022538,0.0698143031359,0.999999926241,0.000240216896113,-0.000299431523765,1.24325177783e-05,1793196591205840384
+94,1.566666667,BASELINE,764,743,712.447965699,674,660,633.552034301,877.447965699,784,800,649,630,651,0.400942679595,-0.0153669385694,0.0698147600476,0.999999926036,0.00024111983817,-0.000299374906998,1.27749171065e-05,1793196591222507008
+95,1.583333333,BASELINE,764,743,712.128884211,673.871115789,659.871115789,634,877,784,800.257768421,649,630,651,0.400942858308,-0.0153678454331,0.0698154844431,0.999999926205,0.000241068698393,-0.000298839017922,1.31189485701e-05,1793196591239173376
+96,1.600000000,BASELINE,764,743,712.701942092,673.298057908,659.298057908,634,877,784,801.403884184,649,630,651,0.400944416691,-0.0153696763442,0.0698169440185,0.999999927569,0.00023785005992,-0.000296834603582,1.33976533841e-05,1793196591255840000
+97,1.616666667,BASELINE,764,743,712.716651418,673.283348582,659.283348582,633.716651418,877,784,801.433302836,649,629.716651418,651,0.400943909634,-0.015369666452,0.0698164919937,0.999999927521,0.000237232150958,-0.000297490723894,1.33670442174e-05,1793196591272506624
+98,1.633333333,BASELINE,764,743,712.126196349,673.873803651,659.873803651,633.126196349,877,784,800.252392698,649,629.126196349,651,0.400941163957,-0.0153676614106,0.0698139680867,0.999999925942,0.000239433034856,-0.000301030456614,1.3001186029e-05,1793196591289173504
+99,1.650000000,BASELINE,764,743,712,673.544779702,659.544779702,633.455220298,877,784.455220298,800.455220298,649,629.455220298,650.544779702,0.400941283692,-0.0153676225911,0.0698139035252,0.999999926059,0.000239046587757,-0.000300957662572,1.28121272599e-05,1793196591305840384
+100,1.666666667,BASELINE,764,743,712,673,659.034059935,633.965940065,877,784.965940065,801,649,630,650.034059935,0.400942124852,-0.0153680531681,0.0698144705421,0.999999926581,0.000238101777714,-0.000299973203218,1.26885177777e-05,1793196591322507008
+101,1.683333333,BASELINE,764,743,712,673,659.610984565,633.389015435,877,784.389015435,801,649,630,650.610984565,0.40094205017,-0.0153674466524,0.0698144489661,0.999999926213,0.000239466999324,-0.000300109280449,1.28420962172e-05,1793196591339173632
+102,1.700000000,BASELINE,764.190678946,743,712,673.190678946,659.809321054,633,877,784,801,649,630,651,0.40094217435,-0.0153667043608,0.0698144829618,0.999999925969,0.000240768247891,-0.000299875112962,1.29273211908e-05,1793196591355840256
+103,1.716666667,BASELINE,764.776107281,743,712,673.776107281,659.223892719,633,877,784,801,649,630,651,0.400942710224,-0.0153656809816,0.0698146320035,0.999999925987,0.000241937057341,-0.000298874453513,1.28710387089e-05,1793196591372506880
+104,1.733333333,BASELINE,764.642144776,742.642144776,712,673.642144776,659.357855224,633.357855224,877,784.357855224,801,649,630,650.642144776,0.400943333735,-0.0153654080106,0.0698153809309,0.999999926172,0.000242081590825,-0.000298136427483,1.29351747264e-05,1793196591389173760
+105,1.750000000,BASELINE,764.062675981,742.062675981,712,673.062675981,659.937324019,633.937324019,877,784.937324019,801,649,630,650.062675981,0.400944011519,-0.0153655997543,0.0698165013572,0.99999992646,0.000241591807973,-0.000297561045704,1.30738838395e-05,1793196591405840384
+106,1.766666667,BASELINE,764.516128873,742.516128873,712.516128873,673,659.483871127,634,876.483871127,785,801,648.483871127,630,650.516128873,0.400942259388,-0.0153663930604,0.0698150832682,0.99999992571,0.00024217871081,-0.000299605063007,1.28923691384e-05,1793196591422506752
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,713,673,661,633,878,784,801,649,630,650,0.400942549695,-0.015364523796,0.0698149096935,0.999999925645,0.000242872968283,-0.000299291353102,1.21106752821e-05,1793196591465486848
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.4113969,743,712.4113969,673.5886031,660.4113969,633.5886031,877.4113969,784,800.4113969,649,630,650.5886031,0.400942842092,-0.015367634831,0.0698151221534,0.999999926516,0.000240434850171,-0.000298320259935,1.27711196217e-05,1793196591482153472
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,743,712,673.825623525,660,634,877,784,800,649,630,651,0.400942886281,-0.0153692246926,0.0698151928004,0.999999926961,0.000239043413294,-0.000297932743815,1.31616015025e-05,1793196591498819840
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,743,712,673.246419442,660,634,877,784,800,649,630,651,0.400942354237,-0.0153672830409,0.0698149342188,0.999999926426,0.000240081922174,-0.000298900043855,1.29253461278e-05,1793196591515486720
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,712,673.330914039,660,634,877,784,800.330914039,649,630,650.669085961,0.400942313796,-0.0153672827238,0.0698147639876,0.999999926447,0.000239338429081,-0.000299433241625,1.27923089783e-05,1793196591532153344
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,712,673.906862347,660,634,877,784,800.906862347,649,630,650.093137653,0.400942637378,-0.0153687199206,0.069814659178,0.999999926876,0.00023727540427,-0.000299644996545,1.27357025752e-05,1793196591548819968
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,743,712,673.030900681,659.51545034,633.51545034,877,784.48454966,801,649,630,650.48454966,0.400944110849,-0.0153690074728,0.0698154227759,0.99999992697,0.000238058850652,-0.000298700453399,1.29143943198e-05,1793196591565486592
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,743,712,672.127148761,659.06357438,633.06357438,877,784.93642562,800.93642562,649,629.93642562,650.93642562,0.400946208751,-0.0153690848075,0.0698165925494,0.999999927099,0.000239338434293,-0.000297230554169,1.31642882421e-05,1793196591582153472
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,743,712,673.301705548,659.650852774,633.650852774,877,784.349147226,800.349147226,649,629.349147226,650.349147226,0.400951623207,-0.0153692573473,0.0698197282688,0.99999992806,0.000240181689542,-0.000293270428461,1.3626808243e-05,1793196591598820096
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.2348491,743,712,673.7651509,659.7651509,634,877,784,800,649,629,650,0.400964606942,-0.015369429884,0.0698259502041,0.999999930806,0.000240780623031,-0.000283212702354,1.42225415399e-05,1793196591615486720
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.814033216,743,712,673.185966784,659.185966784,634,877,784,800,649,629,650,0.400988688729,-0.0153696024163,0.0698366971393,0.999999935937,0.000241021332588,-0.000264214693868,1.50135917114e-05,1793196591632153344
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,743,712,673.390577773,659.390577773,634,877,784.390577773,800.390577773,649,629,650.390577773,0.40102890043,-0.0153709706262,0.0698523930679,0.999999942833,0.000241341058761,-0.000236282795221,1.61150991302e-05,1793196591648819968
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,743,712,673.965874036,659.965874036,634,877,784.965874036,800.965874036,649,629,650.965874036,0.401076740558,-0.0153729043156,0.069870429557,0.999999949807,0.000241698154616,-0.000204125731835,1.73634331756e-05,1793196591665486592
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.456675726,743,712,674,660,634,877,785,801,649,629.543324274,651,0.401139356173,-0.0153772896299,0.069884689386,0.99999995385,0.000237883455376,-0.000188129679036,1.78274910562e-05,1793196591682153472
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.123211303,743,712,673.876788697,660,633.876788697,877,784.876788697,801,649,630,651,0.401203587206,-0.0153812423421,0.0698960829582,0.999999956847,0.000234761993078,-0.000175716115334,1.77729616684e-05,1793196591698820096
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.711789189,743,712,673.288210811,660,633.288210811,877,784.288210811,801,649,630,651,0.401270400512,-0.0153829772106,0.0698975502454,0.999999957239,0.000235252487602,-0.000172984392087,1.59465335927e-05,1793196591715486720
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,743.295416964,712,673.295416964,660,633.295416964,877,784,801,649,630,651,0.401350626957,-0.0153870787683,0.0698997313288,0.999999958089,0.000233683107912,-0.000170342072461,1.4063823571e-05,1793196591732153600
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,743.874294931,712,673.874294931,660,633.874294931,877,784,801,649,630,651,0.401443723688,-0.0153934512316,0.0699025973197,0.999999959369,0.000230137220124,-0.000167785538321,1.21271095263e-05,1793196591748820224
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743.550450791,712,673.550450791,660,634,877,784.449549209,801,649,629.550450791,651,0.40155657453,-0.0153982466955,0.0699040619739,0.999999960444,0.000226317162985,-0.000166766368086,9.07352284549e-06,1793196591765487104
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,743,712.024377568,673.024377568,660,633.975622432,877,784.975622432,801,649,629,651,0.401676353811,-0.0154026469086,0.0699052079817,0.999999961526,0.000222266954884,-0.000165870759825,5.67578377936e-06,1793196591782153728
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,743,712.612604126,673.612604126,660,633.387395874,877,784.387395874,801,649,629,651,0.401829645259,-0.0154080229988,0.0699079746667,0.999999964484,0.000214652451342,-0.000157969461708,1.48366195616e-06,1793196591798820608
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,712.801761537,673.801761537,660.198238463,633.198238463,877,784,800.801761537,649,629,650.801761537,0.40199325068,-0.015414821773,0.0699108831588,0.999999967392,0.00020617653123,-0.000150665139779,-2.77657331657e-06,1793196591815487232
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,712.221127576,673.221127576,660.778872424,633.778872424,877,784,800.221127576,649,629,650.221127576,0.4021767514,-0.0154243648573,0.069914065192,0.999999970317,0.000196038967701,-0.000144512366279,-7.16819671481e-06,1793196591832153600
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.641873605,743,712.358126395,673.358126395,660.283747211,634,877.358126395,784.358126395,800.358126395,649,629,650.358126395,0.402379799797,-0.0154330044336,0.0699163153817,0.999999972783,0.000187037172595,-0.000138919962748,-1.23586238496e-05,1793196591848820224
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+132,2.200000000,POSE1_TO_POSE2_PRESS,764.508683316,743,712.491316684,674,659,634,877.491316684,784.491316684,801,649,629.508683316,651,0.402846201493,-0.0154521629962,0.0699211680745,0.999999984148,0.000124667201856,-0.000124880749598,-2.37933600766e-05,1793196591882153472
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+136,2.266666667,POSE1_TO_POSE2_PRESS,765,743,712.160415675,674,660,634,877,784,800,649,630,650.839584325,0.404079502099,-0.0154984559879,0.0699503716099,0.99999999514,-3.93438451649e-05,-7.84469943903e-05,-4.49336604949e-05,1793196591948819968
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+140,2.333333333,POSE1_TO_POSE2_PRESS,764,743,712,673.16701408,660,633,877,784.16701408,801,649,629.83298592,651,0.405655008249,-0.0155142230252,0.0699536342872,0.999999997057,1.22135519319e-05,-7.23979167601e-05,-2.22761437344e-05,1793196592015486720
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,743,712,673.746326677,660,633,877,784.746326677,801,649,629.253673323,651,0.406106442522,-0.0155088276822,0.0699486426438,0.999999996355,2.01991409635e-05,-7.94507449712e-05,-2.38502835595e-05,1793196592032153344
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.322241248,742.677758752,712,674,660,633.322241248,877,785,800.677758752,649,629.322241248,651,0.406574680055,-0.0155121143706,0.0699362361749,0.999999994956,8.36934234412e-06,-9.64212570206e-05,-2.68360940941e-05,1793196592048819968
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.895508814,742.104491186,712,674,660,633.895508814,877,785,800.104491186,649,629.895508814,651,0.407056007396,-0.0155221643713,0.0699180535477,0.999999992009,-1.88966661322e-05,-0.00012111765731,-3.09215979428e-05,1793196592065486848
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.518345244,742.481654756,712.481654756,674,660.481654756,633.518345244,877.481654756,784.518345244,800.481654756,649,629.518345244,651,0.407595178736,-0.0155250422253,0.0699193132259,0.999999992806,-2.4947270385e-05,-0.00011268028795,-3.26873370909e-05,1793196592082153472
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.069494973,743,713,674,660.930505027,633,877.930505027,784.069494973,801,649,629.069494973,651,0.408157004698,-0.0155258044516,0.0699261671428,0.999999994609,-2.58781278681e-05,-9.4705346744e-05,-3.38250924793e-05,1793196592098820096
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.64870751,743,713,674,660.35129249,633,877.35129249,784.64870751,801,649,629.64870751,651,0.408790424522,-0.0155227751169,0.069942266396,0.999999997273,-2.39426913238e-05,-6.09464284193e-05,-3.41494153242e-05,1793196592115486720
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.772643723,743.227356277,713,673.772643723,660,633.227356277,877,784.772643723,801,649,630,651,0.409412901891,-0.0155202214215,0.0699482817487,0.999999998116,-1.9671338691e-05,-4.64281073298e-05,-3.50099383788e-05,1793196592132153344
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.194863928,743.805136072,713,673.194863928,660,633.805136072,877,784.194863928,801,649,630,651,0.41001851365,-0.0155184008276,0.0699387548162,0.999999997362,-1.17996460624e-05,-6.15652605082e-05,-3.66969051569e-05,1793196592148820224
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.380993516,743.238012968,713,673.380993516,660,634,877.380993516,784.380993516,801,649,629.619006484,650.619006484,0.410655459876,-0.0155187091648,0.0699337284293,0.999999996394,-1.19071753126e-05,-7.46976472474e-05,-3.86020238838e-05,1793196592165487616
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.955872668,742.088254664,713,673.955872668,660,634,877.955872668,784.955872668,801,649,629.044127332,650.044127332,0.411308352033,-0.0155201009042,0.0699309923472,0.999999995278,-1.60752896786e-05,-8.68098182156e-05,-4.06181589597e-05,1793196592182155520
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.457072382,742.542927618,713,674.542927618,660,633.457072382,878,785,801,649,629.542927618,650.542927618,0.412032694607,-0.0155238697686,0.0699561419151,0.999999998321,-2.28584640735e-05,-3.76208717107e-05,-3.7688327062e-05,1793196592198822656
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.129139826,743,712.870860174,674.870860174,660.129139826,633,878,784.870860174,800.870860174,649,629.870860174,650.870860174,0.412774530463,-0.0155276291251,0.0699828014372,0.999999998902,-2.88214372318e-05,1.13995209372e-05,-3.51371146871e-05,1793196592215489280
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.708879181,743,712.291120819,674.291120819,660.708879181,633,878,784.291120819,800.291120819,649,629.291120819,650.291120819,0.413556676653,-0.015530665703,0.0700066399335,0.999999998006,-3.11639048973e-05,4.20483638601e-05,-3.53418185071e-05,1793196592232155392
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660.713131971,633,878,784,800.286868029,649,629.286868029,650,0.414300687914,-0.0155301699167,0.0699983163096,0.999999998457,-3.49602994575e-05,2.0228788511e-05,-3.81367494736e-05,1793196592248821248
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660.136908736,633,878,784,800.863091264,649,629.863091264,650,0.415006233707,-0.0155261111407,0.0699575517193,0.999999996757,-4.02232267708e-05,-5.4514108129e-05,-4.35443650167e-05,1793196592265487360
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.560849781,743,712,674,660,633.439150219,878,784,800.560849781,649,629.560849781,650.439150219,0.415761526367,-0.0155242936806,0.0699183115682,0.999999991266,-4.09095283452e-05,-0.000115702322052,-4.90706507423e-05,1793196592282153984
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.015505124,743,712,674,660,634,878,784.015505124,800,649,629.015505124,651,0.416534216971,-0.0155233177359,0.0698813613705,0.999999983267,-4.04334725423e-05,-0.000169904999211,-5.44452724365e-05,1793196592298820608
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.60470588,743,712,674,660,634,878,784.60470588,800,649,629.60470588,651,0.417377015558,-0.0155276338672,0.0699115621512,0.999999989933,-4.97221996627e-05,-0.000121937461067,-5.28399117852e-05,1793196592315486976
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,712,673.809387864,660,634,878,785,800.190612136,649,629.809387864,650.809387864,0.418236292491,-0.0155320853097,0.0699413696955,0.999999994102,-5.75335312827e-05,-7.68891713374e-05,-5.07372754847e-05,1793196592332153600
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743,712,673.230197744,660,634,878,785,800.769802256,649,629.230197744,650.230197744,0.419129161792,-0.0155368125946,0.0699703755945,0.999999996209,-6.23330743891e-05,-3.77920046975e-05,-4.7620903524e-05,1793196592348820736
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.653218361,743,712,673.346781639,660,633.653218361,878,784.653218361,801,649,629.346781639,650.346781639,0.420021627206,-0.0155406297209,0.0699937522941,0.999999996901,-6.39600281827e-05,-2.08191536293e-06,-4.58467847594e-05,1793196592365487360
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.077697217,743,712,673.922302783,660,633.077697217,878,784.077697217,801,649,629.922302783,650.922302783,0.420913826176,-0.0155438465002,0.0700134159348,0.999999996481,-6.3494320503e-05,3.13940334167e-05,-4.49580253557e-05,1793196592382153472
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.50772467,743,712,674,660,633,878,784,801,649,629.49227533,650.49227533,0.421763238327,-0.0155461816302,0.070008583615,0.99999999673,-6.41099386803e-05,1.89583815389e-05,-4.55012459198e-05,1793196592398820608
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.906571526,743,712,674,660,633,878,784.093428474,801,649,629.093428474,650.093428474,0.42259745088,-0.0155465880383,0.0699871795933,0.999999996623,-6.39423079466e-05,-1.98358317397e-05,-4.76733061777e-05,1793196592415487488
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.32743561,743,712,674,660,633,878,784.67256439,801,649,629.67256439,650.67256439,0.423387361278,-0.015537682936,0.069899499694,0.99999998409,-5.8825425168e-05,-0.000158408694576,-5.71513468429e-05,1793196592432154368
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633.25085241,878.25085241,785,801,649,629.74914759,651,0.424245634778,-0.0155340390069,0.0698527439448,0.999999970675,-5.94078848628e-05,-0.000226048713487,-6.34319825939e-05,1793196592448820736
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633.828037487,878.828037487,785,801,649,629.171962513,651,0.425192841611,-0.0155372393107,0.0698592262093,0.999999975296,-6.74045915759e-05,-0.000201412566945,-6.55531324397e-05,1793196592465487360
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,712.403467837,674.403467837,660.403467837,634,879.403467837,784.596532163,801.403467837,649,629.403467837,651,0.426141160716,-0.0155420124075,0.0699069573886,0.999999987166,-7.17082972374e-05,-0.000129657200494,-6.09460502415e-05,1793196592482153984
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,712.978153507,674.978153507,660.978153507,634,879.978153507,784.021846493,801.978153507,649,629.978153507,651,0.427089951773,-0.0155474529433,0.069972193184,0.99999999508,-7.44448196594e-05,-3.79060630469e-05,-5.34837378977e-05,1793196592498820608
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.566896651,743,713,674.433103349,661,634,878.866206698,784.566896651,802,649,629.433103349,651,0.42800474338,-0.0155495643203,0.070005186367,0.999999995849,-7.50374695947e-05,7.59166888522e-06,-5.11255634239e-05,1793196592515487488
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.846060638,743,712.846060638,674,660.846060638,634,878,785.153939362,801.846060638,649,629.153939362,651,0.428918395955,-0.0155521747098,0.0700283674564,0.999999994791,-7.86433260264e-05,4.1870809091e-05,-4.98050413401e-05,1793196592532154112
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.265273302,743,712.265273302,674,660.265273302,634,878,785.734726698,801.265273302,649,629.734726698,651,0.429832615583,-0.0155565335656,0.0700278742011,0.999999993328,-9.08392099151e-05,5.01108362636e-05,-5.08024757812e-05,1793196592548820992
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.312310459,743,712,674.312310459,660,634,878.312310459,785.375379083,801,649,629.687689541,650.687689541,0.430681525575,-0.0155555650064,0.0699865809339,0.999999994012,-9.27012903311e-05,-1.91557624414e-05,-5.49052744923e-05,1793196592565487360
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.887200735,743,712,674.887200735,660,634,878.887200735,784.22559853,801,649,629.112799265,650.112799265,0.43147552544,-0.0155501173408,0.0699109844298,0.99999998262,-8.58750647453e-05,-0.000153587248496,-6.16189551423e-05,1793196592582153728
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743.462003488,712,674.537996512,660.462003488,633.537996512,878.537996512,784.462003488,801,649,629.462003488,650,0.432317312987,-0.0155502393466,0.0698818848446,0.999999975157,-9.11453262776e-05,-0.000192660852937,-6.52719715934e-05,1793196592598820352
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743.962011638,712.037988362,674,661,633,878,785,801.075976725,649,630,650.037988362,0.433174949447,-0.0155520559747,0.0698698808483,0.9999999729,-9.88594619981e-05,-0.000199662627117,-6.75341970561e-05,1793196592615486976
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743.36842584,712.63157416,674,661,633,878,785,802.26314832,649,630,650.63157416,0.434093772747,-0.0155587725883,0.0699419060784,0.999999990218,-9.9129912788e-05,-7.80424337009e-05,-6.0382531918e-05,1793196592632153600
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743.21837976,712.78162024,674.21837976,661,633.21837976,878.436759519,784.78162024,802.563240481,649,630,651,0.434986471617,-0.0155642450974,0.0699945439258,0.999999993413,-0.000100424380586,8.21768078684e-06,-5.49706285942e-05,1793196592648820480
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743.794091115,712.205908885,674.794091115,661,633.794091115,879.58818223,784.205908885,801.41181777,649,630,651,0.435836423612,-0.0155676818977,0.0700154584949,0.999999992611,-0.000103394434322,3.66186349131e-05,-5.24054720117e-05,1793196592665487104
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,743.631327944,712,675,661,633.631327944,879.262655889,784.368672056,801,649,630,651,0.436664102198,-0.0155689604329,0.0700123203436,0.999999992254,-0.000105826061794,3.85043441197e-05,-5.30204978179e-05,1793196592682153984
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,743.057376463,712,675,661,633.057376463,878.114752925,784.942623537,801,649,630,651,0.437479378728,-0.0155690372294,0.069995789452,0.999999992309,-0.000107957889234,2.5626160024e-05,-5.54062737161e-05,1793196592698820608
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,743,712.532578834,675,661,633,878.532578834,785,801,649.532578834,630,650.467421166,0.438204120291,-0.0155688891961,0.0699554392212,0.999999991263,-0.000114001273538,-2.83035505828e-05,-6.06271844883e-05,1793196592715487232
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,743,713,675,661,633.121674972,878.878325028,785,801,649.878325028,629.878325028,650.121674972,0.438909524556,-0.0155683436145,0.0699121188481,0.99999998698,-0.000115940515688,-9.15299229471e-05,-6.49545672483e-05,1793196592732153600
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,743,713,675,661,633.700856839,878.299143161,785,801,649.299143161,629.299143161,650.700856839,0.43958002969,-0.015566397119,0.0698675783084,0.999999977933,-0.000100814277652,-0.000172567880178,-6.47381675827e-05,1793196592748820224
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.72163362,743,713,675,661,634,878.27836638,785,801.27836638,649,629.27836638,651,0.440294779288,-0.0155638697189,0.0698601299511,0.999999975645,-9.87526150812e-05,-0.000186321197458,-6.51347077428e-05,1793196592765486848
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.145910531,743,713,675,661,634,878.854089469,785,801.854089469,649,629.854089469,651,0.441056791694,-0.0155607217847,0.0698923042309,0.999999983471,-0.000110646802779,-0.000128199669695,-6.61860030687e-05,1793196592782153472
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.428223417,743,713,675,661,633.571776583,879,785,802,649,629.571776583,651,0.441816450959,-0.015566971961,0.0699535566779,0.999999990684,-0.000117135448207,-3.44011832103e-05,-6.10545036456e-05,1793196592798820352
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,743.001876676,712.998123324,675,660.998123324,633,879,785,802.001876676,649,629,651,0.442574812887,-0.0155763934456,0.0700244391658,0.999999988611,-0.000121747585293,7.11069586519e-05,-5.38436800835e-05,1793196592815486976
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,743.59400381,712.40599619,675,660.40599619,633,879,785,802.59400381,649,629,651,0.44317636654,-0.0155798031497,0.0700194376846,0.999999990924,-0.000113319042506,5.02470485382e-05,-5.27911391357e-05,1793196592832154112
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+191,3.183333333,POSE1_TO_POSE2_PRESS,765,743.239988955,712,675.760011045,660,633,879,784.239988955,801.479977909,649,629.760011045,651,0.444296734374,-0.0155820586234,0.0699541010653,0.999999983872,-0.000156348931422,-6.58534964507e-05,-5.89368761277e-05,1793196592865487616
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.663605699,743,712,676,660.336394301,633.336394301,878.663605699,784,801.336394301,649,630,651,0.444818490379,-0.0155825734771,0.0699132524415,0.999999976787,-0.0001618857357,-0.000127339191188,-6.32815853027e-05,1793196592882153984
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.088542765,743,712,676,660.911457235,633.911457235,878.088542765,784,801.911457235,649,630,651,0.44532829394,-0.0155834981024,0.0698768400703,0.99999997149,-0.000145003448094,-0.000177497303478,-6.70017480013e-05,1793196592898820608
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,764.046453442,743,712,675.046453442,660.953546558,633,878.046453442,784,801,649,629,650.046453442,0.441097251297,-0.0154093769128,0.0698147336976,0.999999954811,0.000107130011363,-0.000280372574266,1.71014191144e-05,1793196594998885120
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,764.590373685,743,712,675,660,633,878,784,801,649,629,650.409626315,0.431957396405,-0.0154009892933,0.0698200369843,0.999999946086,0.000170770996327,-0.000278881310381,2.98524658467e-05,1793196595215550464
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b4989e14574ea97ca2843a40e48f689724808c70
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_07/depth_05/simulation_data.csv
@@ -0,0 +1,428 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..200e2fa7b36d3204419c192da7a593294200e978
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a93f40cfd8a8f11c3dcdd74f29241b5ffac2611be5aa33c42058567257e2228
+size 26763851
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7c5366c91447136494ec34e2ee8991060dde4073
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_01/franka_data.csv
@@ -0,0 +1,423 @@
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+17,0.283333333,BASELINE,763.848333854,743,712.151666146,673.151666146,659,634,877,784.848333854,801,649,629.848333854,651,0.401024433568,-0.015513572807,0.0798656485416,0.999999983662,9.92376956388e-05,-0.000147505543806,3.27013779368e-05,1793196598439892992
+18,0.300000000,BASELINE,764,743,712,673.4364379,659,633.5635621,877,784.5635621,801,649,630,651,0.401024066102,-0.0155131824952,0.079865498295,0.999999983568,9.90326461701e-05,-0.000148298604092,3.261285242e-05,1793196598456559360
+19,0.316666667,BASELINE,764,743,712,673.970856763,659,633,877,784,800.970856763,649,629.970856763,651,0.401023419646,-0.015512775047,0.0798651957311,0.999999983379,9.92573770551e-05,-0.000149429176808,3.25776374299e-05,1793196598473225984
+20,0.333333333,BASELINE,764,743,712,673.392686104,659,633,877,784,800.392686104,649,629.392686104,651,0.401023848394,-0.0155119973042,0.0798653903571,0.999999982956,0.000104010791937,-0.000148963585853,3.28688217033e-05,1793196598489892864
+21,0.350000000,BASELINE,764,743,712,673,659,633.184134169,877.184134169,784,800.184134169,649,629.184134169,650.815865831,0.401024148411,-0.0155115499435,0.0798655259157,0.99999998275,0.000106405239995,-0.00014861902086,3.30320865344e-05,1793196598506559488
+22,0.366666667,BASELINE,764,743,712,673,659,633.758095489,877.758095489,784,800.758095489,649,629.758095489,650.241904511,0.401024175893,-0.0155118020293,0.0798655364237,0.99999998304,0.000103805561041,-0.000148530677833,3.29245353697e-05,1793196598523226368
+23,0.383333333,BASELINE,764,743,712,672.65899993,659,633.65899993,877.65899993,784.34100007,801,649,630,650,0.401024208166,-0.0155113593336,0.079865544533,0.999999983081,0.000103486612757,-0.000148493330643,3.28403956373e-05,1793196598539893248
+24,0.400000000,BASELINE,764,743,712,672.069580091,659,633.069580091,877.069580091,784.930419909,801,649,630,650,0.40102424393,-0.0155104104872,0.079865550895,0.999999982943,0.000104829184636,-0.000148493134095,3.2773311206e-05,1793196598556559872
+25,0.416666667,BASELINE,764,743,712.510996732,672.510996732,659,633,877.510996732,784.489003268,800.489003268,649,630,650,0.401023896804,-0.0155125334599,0.0798654374773,0.999999983156,0.000101902617445,-0.000149119880823,3.26586629449e-05,1793196598573226240
+26,0.433333333,BASELINE,764,743,713,673.089921187,659,633.089921187,877.910078813,784,800.089921187,649,630,650.089921187,0.401023656864,-0.0155142174711,0.0798654594677,0.999999983339,9.94725587651e-05,-0.000149546935918,3.26084894596e-05,1793196598589893120
+27,0.450000000,BASELINE,764,743,713,673.66631002,659,633.66631002,877.33368998,784,800.66631002,649,630,650.66631002,0.401024274046,-0.0155113023808,0.0798663007413,0.999999983154,0.000102819923727,-0.000148439693906,3.29415618582e-05,1793196598606559488
+28,0.466666667,BASELINE,764.242221584,743,712.757778416,673.757778416,659,634,877,784,801,649,630,651,0.401024269378,-0.0155102797591,0.0798665044769,0.999999983107,0.000103564507358,-0.000148231467948,3.29737318632e-05,1793196598623225856
+29,0.483333333,BASELINE,764.817476909,743,712.182523091,673.182523091,659,634,877,784,801,649,630,651,0.401023409721,-0.0155118591183,0.0798658316528,0.999999983256,0.000100730491444,-0.00014925931142,3.25921870671e-05,1793196598639892736
+30,0.500000000,BASELINE,764.597429341,743,712,673.402570659,659.402570659,634,877,784,801,648.597429341,630,651,0.401023729394,-0.0155115939137,0.0798660920284,0.999999983299,0.000100749678409,-0.000148949771655,3.26280422426e-05,1793196598656559360
+31,0.516666667,BASELINE,764.007763179,743,712,673.992236821,659.992236821,634,877,784,801,648.007763179,630,651,0.401024597164,-0.0155104714443,0.0798667861104,0.999999983294,0.000102094897085,-0.000148018680381,3.2857884884e-05,1793196598673226240
+32,0.533333333,BASELINE,764,743,712.570525117,673.429474883,659.429474883,634,877,784.570525117,801,648.570525117,629.429474883,651,0.401024447812,-0.0155115566862,0.079866455305,0.999999983259,0.000102241940672,-0.000148174073817,3.27559699074e-05,1793196598689893120
+33,0.550000000,BASELINE,764,743,713,673,659,634,877.148046827,784.851953173,800.851953173,649,629.148046827,651,0.401024304406,-0.0155122677513,0.079866192086,0.999999983257,0.000102038731504,-0.000148359290051,3.26142805716e-05,1793196598706560000
+34,0.566666667,BASELINE,764,743,713,673,659,634,877.72379233,784.27620767,800.27620767,649,629.72379233,651,0.40102421738,-0.0155118127529,0.0798661636209,0.999999983349,0.000100869841845,-0.000148588787913,3.23704718563e-05,1793196598723226624
+35,0.583333333,BASELINE,763.694314828,743,712.694314828,673,659.305685172,633.694314828,877.694314828,784.305685172,800.305685172,649,630,651,0.401024153548,-0.0155113883399,0.0798659607265,0.999999983421,0.000100278103242,-0.000148544692627,3.22125893771e-05,1793196598739893248
+36,0.600000000,BASELINE,763.106753379,743,712.106753379,673,659.893246621,633.106753379,877.106753379,784.893246621,800.893246621,649,630,651,0.401024111105,-0.0155109921301,0.0798655969885,0.999999983473,0.000100218563011,-0.000148248313561,3.21339405709e-05,1793196598756559872
+37,0.616666667,BASELINE,763.474093339,743,712,673,660,633.474093339,877,784.525906661,801,649,630,650.525906661,0.401023986846,-0.015511638691,0.0798660280641,0.999999983397,0.000101608515207,-0.000147723609547,3.25516049264e-05,1793196598773226240
+38,0.633333333,BASELINE,764,743,712,673,660,634,877.053310451,784.053310451,801,649,629.946689549,650.053310451,0.401023852884,-0.0155123653318,0.0798665185211,0.999999983277,0.000103139594077,-0.000147368132188,3.30182745555e-05,1793196598789892864
+39,0.650000000,BASELINE,764,743,712,673,660,634,877.631162817,784.631162817,801,649,629.368837183,650.631162817,0.401023802185,-0.0155116018433,0.0798658568819,0.999999983039,0.000102892669948,-0.000149176545606,3.2882865951e-05,1793196598806559488
+40,0.666666667,BASELINE,764,743,712.208268757,673,659.791731243,634,878,784.791731243,800.791731243,649,629.208268757,651,0.401023870359,-0.0155110497665,0.0798659286111,0.999999982988,0.000102622811578,-0.000149701488595,3.29041383556e-05,1793196598823225856
+41,0.683333333,BASELINE,764,743,712.784057487,673,659.215942513,634,878,784.215942513,800.215942513,649,629.784057487,651,0.401024148303,-0.0155108707557,0.0798672944739,0.999999983269,0.00010231248248,-0.000147961564557,3.32018967907e-05,1793196598839892992
+42,0.700000000,BASELINE,764.367551114,743,712.632448886,673,659,633.632448886,878,784,800.367551114,649,630,651,0.401024232152,-0.0155109797789,0.0798674550008,0.999999983337,0.000102617123993,-0.000147279499802,3.32273353098e-05,1793196598856559872
+43,0.716666667,BASELINE,764.955668402,743,712.044331598,673,659,633.044331598,878,784,800.955668402,649,630,651,0.401024199525,-0.0155112616503,0.0798668922098,0.999999983279,0.000103290807291,-0.000147232252868,3.30893555621e-05,1793196598873226496
+44,0.733333333,BASELINE,764.464396864,743,712.535603136,673,659,633.535603136,877.464396864,784,801,649,630,651,0.401025813091,-0.0155115234877,0.0798679782889,0.999999983605,0.000102290838363,-0.000145725174299,3.30226555473e-05,1793196598889893120
+45,0.750000000,BASELINE,764.113730819,743,713,673.113730819,659,634,877,784.113730819,801,649,630,651,0.401026918984,-0.0155115409145,0.0798686918526,0.999999983808,0.000101636058951,-0.000144805553371,3.2942796633e-05,1793196598906559744
+46,0.766666667,BASELINE,764.687249685,743,713,673.687249685,659,634,877,784.687249685,801,649,630,651,0.401025429914,-0.0155105768474,0.0798673559804,0.999999983399,0.000102928410918,-0.000146742027636,3.27862466667e-05,1793196598923226368
+47,0.783333333,BASELINE,765,743,713,673.738277849,659.261722151,634,877,785,801,649,630,650.738277849,0.401023998671,-0.0155104630404,0.0798664777516,0.999999983151,0.000103064134985,-0.00014833235864,3.27464980722e-05,1793196598939892992
+48,0.800000000,BASELINE,765,743,713,673.162661615,659.837338385,634,877,785,801,649,630,650.162661615,0.401022636782,-0.0155113689848,0.079866148393,0.999999983101,0.000101812668064,-0.000149507546123,3.2846834121e-05,1793196598956559616
+49,0.816666667,BASELINE,764.575895607,743,712.575895607,673,659.575895607,634,877.424104393,784.575895607,801,649,630,650,0.401023459696,-0.0155115265962,0.0798666308064,0.999999983282,0.000101412435315,-0.000148554922515,3.29018099807e-05,1793196598973226496
+50,0.833333333,BASELINE,764,743,712.01496099,673,659,633.98503901,878,784.01496099,801,649,630,650.01496099,0.401025093658,-0.0155114048462,0.0798674084205,0.999999983545,0.00010134070157,-0.000146820657388,3.29336723912e-05,1793196598989893376
+51,0.850000000,BASELINE,764,743,712.59445084,673,659,633.40554916,878,784.59445084,801,649,630,650.59445084,0.401024858315,-0.0155118643668,0.079867259535,0.999999983525,0.000101012394045,-0.0001472182129,3.27675778561e-05,1793196599006559744
+52,0.866666667,BASELINE,764.172816177,743,713,673.172816177,659.172816177,633.172816177,877.827183823,784.827183823,801,649,630,651,0.401024320863,-0.0155119684893,0.0798668088975,0.999999983442,0.00010077349525,-0.000147992195686,3.25470295063e-05,1793196599023226624
+53,0.883333333,BASELINE,764.748559637,743,713,673.748559637,659.748559637,633.748559637,877.251440363,784.251440363,801,649,630,651,0.401023079034,-0.015511243988,0.0798656547145,0.99999998321,0.000100743056222,-0.000149643832508,3.21995200916e-05,1793196599039892992
+54,0.900000000,BASELINE,764.668903157,743,713,673.668903157,659.668903157,634,877,784.331096843,801,649,630,651,0.401022915713,-0.0155105493847,0.0798656668747,0.999999983137,0.000101505154617,-0.000149614706735,3.22116240191e-05,1793196599056559616
+55,0.916666667,BASELINE,764.081098615,743,713,673.081098615,659.081098615,634,877,784.918901385,801,649,630,651,0.401023588585,-0.015509877962,0.07986658333,0.999999983186,0.000102881727185,-0.000148282443426,3.25025452201e-05,1793196599073226240
+56,0.933333333,BASELINE,764,743,713,673.499605367,659.499605367,634,877,784.500394633,801,649,630,651,0.401024072848,-0.0155111411436,0.0798669508578,0.999999983426,0.000101167115817,-0.00014782486309,3.25690735618e-05,1793196599089892864
+57,0.950000000,BASELINE,764,743,712.921431656,673.921431656,659.921431656,634,877,784.078568344,800.921431656,649,630,651,0.40102432344,-0.0155125064198,0.0798670032656,0.999999983581,9.96009824587e-05,-0.000147833165498,3.25928577279e-05,1793196599106559488
+58,0.966666667,BASELINE,764,743,712.346289885,673.346289885,659.346289885,634,877,784.653710115,800.346289885,649,630,651,0.401023287957,-0.0155125599848,0.0798656193044,0.999999983022,0.000102100201838,-0.000149901176691,3.25734747184e-05,1793196599123226624
+59,0.983333333,BASELINE,764.233845319,743,712.233845319,673.233845319,659.233845319,633.766154681,877,784.766154681,800.233845319,649,630,651,0.401022838488,-0.0155119364839,0.0798649707377,0.999999982697,0.000103896104757,-0.000150845460506,3.25094303118e-05,1793196599139893504
+60,1.000000000,BASELINE,764.821536485,743,712.821536485,673.821536485,659.821536485,633.178463515,877,784.178463515,800.821536485,649,630,651,0.401023275753,-0.0155102884727,0.0798654349419,0.999999982739,0.000104627776323,-0.000150089363091,3.23778059745e-05,1793196599156559872
+61,1.016666667,BASELINE,764.596694348,743.403305652,713,674,659.596694348,633.403305652,877.403305652,784,801.403305652,649,630,651,0.40102343363,-0.0155096714832,0.0798657056292,0.999999982819,0.000104245332948,-0.000149829136672,3.23559910998e-05,1793196599173226240
+62,1.033333333,BASELINE,764.017507791,743.982492209,713,674,659.017507791,633.982492209,877.982492209,784,801.982492209,649,630,651,0.401023469666,-0.0155095041206,0.079865891924,0.999999982914,0.000103377025909,-0.000149785158792,3.23820639521e-05,1793196599189892864
+63,1.050000000,BASELINE,764.560387627,743.439612373,713,674,659,634,877.439612373,784,801.439612373,649,630,651,0.401023707427,-0.0155101765127,0.0798661291088,0.99999998301,0.000103159704983,-0.000149299392844,3.23569641154e-05,1793196599206559232
+64,1.066666667,BASELINE,764.861875322,743,713,673.861875322,659,634,877.138124678,784,801,649,630,651,0.401023831479,-0.0155106925011,0.0798663532516,0.99999998312,0.00010272395602,-0.000148868935348,3.23267690913e-05,1793196599223226112
+65,1.083333333,BASELINE,764.284513927,743,713,673.284513927,659,634,877.715486073,784,801,649,630,651,0.401023573941,-0.0155106278871,0.0798665308762,0.999999983275,0.000101529078385,-0.000148658149835,3.22854437105e-05,1793196599239892736
+66,1.100000000,BASELINE,764,743,713,673,659.594752244,633.702623878,878,784,801,649,630,651,0.401022660645,-0.0155105857612,0.0798660871864,0.99999998307,0.000101803811463,-0.000149848194504,3.22841307615e-05,1793196599256559616
+67,1.116666667,BASELINE,764,743,713,673,660.767331837,633.116334081,878,784,801,649,630,651,0.401021110253,-0.0155105654834,0.0798650398632,0.999999982508,0.000103506334532,-0.000152399205867,3.23216916107e-05,1793196599273227008
+68,1.133333333,BASELINE,764,743,712.535625388,673,660.071250776,633.464374612,878,784.464374612,801.464374612,649,630,651,0.401021018461,-0.0155098479088,0.0798652870474,0.999999982411,0.000104555971849,-0.000152322635126,3.23073571375e-05,1793196599289894144
+69,1.150000000,BASELINE,764,743,712.043458902,673,659.043458902,634,877.956541098,784.956541098,801.913082196,649.043458902,630,651,0.401021462689,-0.0155091069316,0.0798658965252,0.999999982479,0.00010521832915,-0.000151413761047,3.23108594179e-05,1793196599306561024
+70,1.166666667,BASELINE,764,743,712.619566293,673,659.619566293,634,877.380433707,784.380433707,800.760867413,649.619566293,630,651,0.401024051235,-0.015510194706,0.0798670189037,0.999999983156,0.00010311487648,-0.000148275886046,3.26904247203e-05,1793196599323226880
+71,1.183333333,BASELINE,764,743,713,673,659.804174725,634,877,784,800,649.804174725,630,650.804174725,0.401025138872,-0.0155108432012,0.0798672696821,0.9999999834,0.000102531426975,-0.000146997474209,3.28344473914e-05,1793196599339893248
+72,1.200000000,BASELINE,764,743,713,673,659.227620914,634,877,784,800,649.227620914,630,650.227620914,0.401023308407,-0.0155106376385,0.0798658258736,0.999999982819,0.000104903206331,-0.00014933427791,3.25205220904e-05,1793196599356559360
+73,1.216666667,BASELINE,764.356084106,743,713,673,659.356084106,634,877,784,800.356084106,649,630,650.356084106,0.401023171529,-0.0155107976009,0.0798657186272,0.999999982754,0.000105112018774,-0.000149645721094,3.24129325752e-05,1793196599373225728
+74,1.233333333,BASELINE,764.944454072,743,713,673,659.944454072,634,877,784,800.944454072,649,630,650.944454072,0.401024139435,-0.0155111960077,0.0798664832662,0.999999983029,0.00010390985367,-0.0001486359521,3.24399429794e-05,1793196599389892608
+75,1.250000000,BASELINE,764.475794761,743,713,673,659.475794761,634,877.524205239,784,800.475794761,649,630,651,0.401024268202,-0.015511276802,0.0798668250883,0.99999998316,0.000103217153753,-0.000148219238977,3.25156839162e-05,1793196599406559488
+76,1.266666667,BASELINE,764.102608797,743.102608797,712.897391203,673,659.102608797,634,877.897391203,784.102608797,800,649,630,651,0.401024307582,-0.0155114345879,0.0798670760866,0.999999983258,0.000102698518174,-0.000147905243286,3.25852622884e-05,1793196599423226368
+77,1.283333333,BASELINE,764.678938879,743.678938879,712.321061121,673,659.678938879,634,877.321061121,784.678938879,800,649,630,651,0.401024338153,-0.0155121006901,0.0798671112699,0.999999983271,0.000102738297316,-0.000147780038641,3.26029359993e-05,1793196599439892992
+78,1.300000000,BASELINE,764.745099334,743.745099334,712.254900666,673,659.745099334,634,877,785,800.254900666,649,629.745099334,651,0.401024159604,-0.015512170573,0.0798670713968,0.999999983338,0.000102069287287,-0.000147836085242,3.24175510516e-05,1793196599456559616
+79,1.316666667,BASELINE,764.169600806,743.169600806,712.830399194,673,659.169600806,634,877,785,800.830399194,649,629.169600806,651,0.401023718035,-0.0155114905689,0.0798669371226,0.999999983468,0.000100508807274,-0.000148120098148,3.19767718239e-05,1793196599473225984
+80,1.333333333,BASELINE,764.416112049,743,712.583887951,673,659,633.583887951,877,784.583887951,801,649,629,651,0.401023008914,-0.0155113532335,0.0798665009406,0.999999983355,0.000100529509857,-0.000148836358386,3.21096384583e-05,1793196599489892608
+81,1.350000000,BASELINE,764.994017388,743,712.005982612,673.005982612,659.005982612,633.005982612,877.005982612,784.005982612,801,649,629.005982612,651,0.401022208834,-0.0155114459227,0.0798659552061,0.999999983145,0.00010120495574,-0.000149711187128,3.24783004485e-05,1793196599506559232
+82,1.366666667,BASELINE,764.414717839,743,712.585282161,673.585282161,659.585282161,633.585282161,877.585282161,784.585282161,801,649,629.585282161,651,0.401023405374,-0.0155118524829,0.0798669999819,0.999999983319,0.000101311163668,-0.000148473687306,3.24734560865e-05,1793196599523225856
+83,1.383333333,BASELINE,764,743,713,673.837504325,659.837504325,633.837504325,878,785,801,649,630,651,0.401024122308,-0.0155117488456,0.0798674801259,0.9999999834,0.000101671399324,-0.000147690980838,3.24189399218e-05,1793196599539892736
+84,1.400000000,BASELINE,764,743,713,673.265547143,659.265547143,633.265547143,878,785,801,649,630,651,0.401023630715,-0.0155103595975,0.0798665374938,0.99999998325,0.00010267174174,-0.000148054276131,3.22392592477e-05,1793196599556559616
+85,1.416666667,BASELINE,764,743,713,673,659,633.316675211,878,785,800.683324789,649,629.683324789,651,0.40102287334,-0.0155099277805,0.0798660706491,0.99999998315,0.000102772116676,-0.000148653343137,3.22635725672e-05,1793196599573226496
+86,1.433333333,BASELINE,764,743,713,673,659,633.907793735,878,785,800.092206265,649,629.092206265,651,0.401021885629,-0.0155103257114,0.0798660161407,0.999999983093,0.000102092543993,-0.00014945673925,3.24646751935e-05,1793196599589893120
+87,1.450000000,BASELINE,764,743,712.511378227,673,659,633.511378227,877.511378227,785,800.488621773,648.511378227,629.488621773,651,0.40102236428,-0.0155101993242,0.0798659623759,0.999999983021,0.000102777202983,-0.00014950540854,3.23006459563e-05,1793196599606559744
+88,1.466666667,BASELINE,764,743,712,673,659.067381675,633.067381675,877,784.932618325,801,648.067381675,630,650.932618325,0.401023231511,-0.0155099855786,0.0798660818429,0.999999982989,0.000103620529218,-0.00014917742773,3.21212811879e-05,1793196599623226112
+89,1.483333333,BASELINE,764,743,712,673,659.64488257,633.64488257,877,784.35511743,801,648.64488257,630,650.35511743,0.401024988854,-0.01550984408,0.0798675117373,0.999999983282,0.000103756287642,-0.000147053962986,3.23366937885e-05,1793196599639892736
+90,1.500000000,BASELINE,764,743,712.22108102,673.22108102,660,634,877,784.22108102,801,649,630,650,0.401025674094,-0.0155091788802,0.0798680063991,0.999999983341,0.00010427240563,-0.000146294799663,3.2295319009e-05,1793196599656559360
+91,1.516666667,BASELINE,764,743,712.795199581,673.795199581,660,634,877,784.795199581,801,649,630,650,0.401024647323,-0.0155076773979,0.0798670076159,0.999999983029,0.000105395908199,-0.000147714247894,3.18438882698e-05,1793196599673226240
+92,1.533333333,BASELINE,764,743,713,673.620684092,659.620684092,633.620684092,877,784.620684092,801,649,630,650.379315908,0.401024424484,-0.0155081331307,0.0798668593753,0.999999983057,0.000104921157004,-0.000147840843658,3.19438907693e-05,1793196599689892864
+93,1.550000000,BASELINE,764,743,713,673.031023584,659.031023584,633.031023584,877,784.031023584,801,649,630,650.968976416,0.401024647454,-0.015509674211,0.0798671827917,0.999999983273,0.00010356011551,-0.000147250505384,3.23496832076e-05,1793196599706560000
+94,1.566666667,BASELINE,764.550821071,743,713,673.550821071,659,633.550821071,877,784.550821071,801,649,630,651,0.401024841927,-0.0155086689937,0.0798677607722,0.999999982982,0.000106195478977,-0.000147387910653,3.21883058525e-05,1793196599723226624
+95,1.583333333,BASELINE,764.869379332,743,713,674,659.130620668,634,877,784.869379332,801,649,630,651,0.401024806999,-0.0155081579644,0.0798681217445,0.999999982805,0.000107642922592,-0.000147575445951,3.20188235295e-05,1793196599739893248
+96,1.600000000,BASELINE,764.29505203,743,713,674,659.70494797,634,877,784.29505203,801,649,630,651,0.401023998191,-0.0155098059943,0.0798676975374,0.999999983129,0.000104301206706,-0.000147795982974,3.19288033133e-05,1793196599756559616
+97,1.616666667,BASELINE,764,743,713,674,659.713369517,633.713369517,877,784.286630483,801,649,629.713369517,651,0.401023512669,-0.0155109010585,0.0798672526889,0.999999983251,0.000102619298341,-0.000148151982203,3.19232704544e-05,1793196599773226240
+98,1.633333333,BASELINE,764,743,713,674,659.123916318,633.123916318,877,784.876083682,801,649,629.123916318,651,0.401023368697,-0.0155114119191,0.0798667860329,0.999999983166,0.000102690962989,-0.00014865109611,3.20069977897e-05,1793196599789892864
+99,1.650000000,BASELINE,764,743,713,673.543638828,659.456361172,633,877,784.543638828,801,649,629.456361172,650.543638828,0.401021829716,-0.015509818359,0.0798657473639,0.999999982803,0.000103892634284,-0.000150320938585,3.16895550582e-05,1793196599806559488
+100,1.666666667,BASELINE,764,743,713,673,659.965906674,633.034093326,877,784,801,649,629.965906674,650.034093326,0.401020088343,-0.0155078752996,0.079864647169,0.999999982396,0.000105256184685,-0.000152142064673,3.13229711037e-05,1793196599823225856
+101,1.683333333,BASELINE,764,743,713,673,659.389811107,633.610188893,877,784,801,649,629.389811107,650.610188893,0.40102103258,-0.0155092811366,0.0798649893967,0.999999982578,0.000104411472749,-0.000151414166081,3.18727564833e-05,1793196599839892736
+102,1.700000000,BASELINE,764,743,712.810258183,673,659.189741817,633.810258183,877,784.189741817,801,649,629,651,0.401021937496,-0.0155103135843,0.0798655025877,0.999999982745,0.000103787035973,-0.000150655952903,3.22611372505e-05,1793196599856560128
+103,1.716666667,BASELINE,764,743,712.223470613,673,659.776529387,633.223470613,877,784.776529387,801,649,629,651,0.401022760131,-0.0155105646929,0.0798663735291,0.999999982884,0.000103623537844,-0.000149834304786,3.2311769441e-05,1793196599873227264
+104,1.733333333,BASELINE,764,743,712,673,659.641069031,633,877,784.641069031,800.641069031,649,629,650.641069031,0.40102265059,-0.0155104406789,0.0798666833927,0.999999982925,0.000103725137513,-0.000149484237087,3.23276171561e-05,1793196599889893632
+105,1.750000000,BASELINE,764,743,712,673,659.061365145,633,877,784.061365145,800.061365145,649,629,650.061365145,0.401021967681,-0.0155100859328,0.0798666481462,0.999999982907,0.000103989794743,-0.000149424231165,3.23220694809e-05,1793196599906559744
+106,1.766666667,BASELINE,764,743,712.516613593,673,659,633.516613593,877,784,800.516613593,649,629.516613593,650.516613593,0.401021845914,-0.0155098521132,0.0798660763966,0.999999982813,0.000104015946421,-0.000150109452241,3.19771836203e-05,1793196599923226368
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,633,877,785,801,649,629,651,0.401022410956,-0.0155095928568,0.0798661939709,0.999999982497,0.000105417676612,-0.000151097336996,3.26113675993e-05,1793196599966202880
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659.410849438,633.589150562,877.589150562,784.410849438,801,649,629.589150562,650.410849438,0.401022660574,-0.0155103969706,0.079866108387,0.999999982694,0.000104850249676,-0.000150248568944,3.23027527732e-05,1793196599982869760
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659,634,877.824657706,784.175342294,801,649,629.824657706,650.175342294,0.401022467519,-0.0155107177867,0.07986582885,0.999999982732,0.000104524502966,-0.0001502713872,3.20746224605e-05,1793196599999536640
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,743,712,673,659,634,877.245283728,784.754716272,801,649,629.245283728,650.754716272,0.401021254437,-0.0155099249663,0.0798651023976,0.999999982402,0.000104755646714,-0.000152302554086,3.20319481615e-05,1793196600016203264
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,712,673.33255047,659,634,877.33255047,784.66744953,800.66744953,649,629,651,0.401021810972,-0.0155095309716,0.0798656609893,0.999999982399,0.000105427632562,-0.000151824429628,3.2178649322e-05,1793196600032869888
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,712,673.90925415,659,634,877.90925415,784.09074585,800.09074585,649,629,651,0.401023666731,-0.0155094297882,0.0798671630399,0.999999982634,0.00010642327758,-0.000149504023669,3.24643869041e-05,1793196600049536256
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,743,712.482905538,673.517094462,659.482905538,634,878,784,800.482905538,649,629.482905538,651,0.401024880003,-0.0155115678281,0.0798679481322,0.999999983082,0.000104262140857,-0.000147949221782,3.2809709193e-05,1793196600066202368
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,743,713,673,660,634,877.942151023,784.057848977,801,649,630,651,0.401026118942,-0.0155137456307,0.079868649837,0.999999983493,0.00010184381775,-0.000146786435471,3.30977459344e-05,1793196600082868992
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,743,713,673,660,634,877.350009934,784.649990066,801,649,630,651,0.401028703038,-0.0155124287132,0.0798698179085,0.99999998327,0.000102494598386,-0.000147923867546,3.27539292094e-05,1793196600099535616
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,743,713,673,660,634,877.472416636,785,801,649,630,651,0.401035857237,-0.0155113016027,0.0798728164631,0.999999983315,0.000102873040946,-0.000147395058434,3.25994714939e-05,1793196600116202240
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,743,713,673,660,634,878.627729661,785,801,649,630,651,0.401049617696,-0.0155104488659,0.0798784610512,0.999999983741,0.000102857808305,-0.000144457633604,3.27187395278e-05,1793196600132868864
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,743,713,673.390846124,660,634,878.609153876,785,801.390846124,649,630,651,0.401080391198,-0.0155116250349,0.0798884989534,0.999999984991,0.00010473538595,-0.000134009874735,3.30204603154e-05,1793196600149536000
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,743,713,673.967506459,660,634,878.032493541,785,801.967506459,649,630,651,0.401119252962,-0.0155137657768,0.0799006255045,0.999999986463,0.000107512834468,-0.000119991588178,3.34089219313e-05,1793196600166203136
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,743,713,673.460490059,660,633.460490059,878,784.460490059,801.460490059,649,630,651,0.401175479454,-0.0155163484419,0.0799121520898,0.999999988183,0.000104103361198,-0.000108180661525,3.30687971523e-05,1793196600182869504
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,743,712.884313481,673,659.884313481,633,877.884313481,784.115686519,801,649,629.884313481,651,0.401237668825,-0.0155192174928,0.0799231113452,0.999999989825,0.000100759146538,-9.56743001739e-05,3.23231513028e-05,1793196600199536128
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,743,712.289709859,673,659.289709859,633,877.289709859,784.710290141,801,649,629.289709859,651,0.401320250737,-0.0155231628772,0.0799318702908,0.999999991446,9.92144736287e-05,-7.97433343991e-05,3.00788401598e-05,1793196600216202496
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,743,712.296789284,673,659,633.296789284,877,785,800.703210716,649,629.296789284,651,0.401409705926,-0.0155257767097,0.0799367523488,0.999999992117,9.92073580414e-05,-7.20449900122e-05,2.70675009016e-05,1793196600232869120
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,743,712.875587522,673,659,633.875587522,877,785,800.124412478,649,629.875587522,651,0.401505692094,-0.0155271253023,0.0799379505906,0.999999992057,0.000100661228366,-7.21692771976e-05,2.33273322497e-05,1793196600249535744
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,743,712.565417921,673,659.434582079,634,877,784.565417921,800.434582079,649,629.565417921,651,0.401624492445,-0.0155296208473,0.0799422980061,0.999999992869,9.77612028777e-05,-6.58696784941e-05,1.91390122535e-05,1793196600266202368
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,743,712.011845693,673,659.988154307,634,877,784.011845693,800.988154307,649,629.011845693,651,0.4017495394,-0.015532430432,0.0799475076767,0.999999993832,9.36690648996e-05,-5.78111965387e-05,1.48279868545e-05,1793196600282869248
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659.401803017,634,877.598196983,784,801,649,629,651,0.401900391515,-0.015535181221,0.0799509220887,0.999999994826,8.5678416165e-05,-5.41535421284e-05,8.5853630157e-06,1793196600299535872
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.199611875,743,712.199611875,673,659,634,877.800388125,784,801,649,629.399223751,650.800388125,0.402060738264,-0.0155375184475,0.0799527974481,0.999999996163,6.99673001309e-05,-5.26890901706e-05,1.82382626476e-06,1793196600316203008
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.782108778,743,712.782108778,673,659,634,877.217891222,784,801,649,630.564217556,650.217891222,0.40223821475,-0.015539064866,0.0799517959761,0.999999997672,3.96107059742e-05,-5.52469393658e-05,-5.85204370577e-06,1793196600332870144
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.640193008,743,713,673,659.359806992,634,877,784.359806992,801,649,630.640193008,650.359806992,0.402429963131,-0.0155404553045,0.0799484123337,0.999999997724,7.93551868126e-06,-6.54183043993e-05,-1.44392578874e-05,1793196600349536512
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.065362473,743,713,673,659.934637527,634,877,784.934637527,801,649,630.065362473,650.934637527,0.402630240526,-0.0155417525283,0.0799436050871,0.99999999621,-2.45276733514e-05,-8.01395677299e-05,-2.35710994e-05,1793196600366202880
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,743,712.490527879,673,660,634,877,784.490527879,801,649,629.490527879,650.490527879,0.402872392224,-0.0155424331971,0.0799422981895,0.999999995992,-2.33773880527e-05,-8.18216246426e-05,-2.78338253563e-05,1793196600382869248
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,743,712.086778424,673,660,634,877.086778424,784.086778424,800.913221576,649,629.086778424,650.086778424,0.403127734529,-0.0155415743443,0.079941822011,0.999999996025,-1.79323288443e-05,-8.16744564208e-05,-3.09536191429e-05,1793196600399535872
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,743,712.678463168,673,660,634,877.678463168,784.678463168,800.321536832,649,629.678463168,650.678463168,0.403428566583,-0.01553221827,0.0799435663428,0.999999996189,-1.25901637157e-05,-8.06175716333e-05,-3.10580807832e-05,1793196600416202496
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743,712.736151657,673,660,634,878.263848343,785,800.263848343,649,630,651,0.403746730537,-0.0155258968791,0.0799453956906,0.999999996413,-6.0130840081e-06,-7.8230175343e-05,-3.19172126073e-05,1793196600432869120
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,743,712.158264423,673,660,634,878.841735577,785,800.841735577,649,630,651,0.404085523334,-0.0155231874449,0.0799473262267,0.999999996674,2.03382157192e-06,-7.42591710728e-05,-3.36745717366e-05,1793196600449536000
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,743,712.41684412,673.41684412,659.58315588,634,878.166311759,785,801.41684412,649.41684412,630,651,0.404455435821,-0.0155268331987,0.0799453389404,0.999999996733,-1.81807084357e-06,-7.27143855639e-05,-3.52528923685e-05,1793196600466202880
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,743,712.990904643,673.990904643,659.009095357,634,877.018190715,785,801.990904643,649.990904643,630,651,0.404837085363,-0.0155328758672,0.0799418740132,0.999999996675,-1.01576990718e-05,-7.20846697468e-05,-3.67636870254e-05,1793196600482869504
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,743,712.419895518,674,659,633.419895518,877.580104482,784.419895518,801.419895518,649.419895518,629.419895518,651,0.405244859325,-0.0155455732692,0.0799378929862,0.999999995976,-2.3952540004e-05,-7.82621811882e-05,-3.67210079316e-05,1793196600499535872
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.166330381,743,712.166330381,673.833669619,659.166330381,633.166330381,877.833669619,784.166330381,801,649,629.166330381,651,0.405672296483,-0.0155586738039,0.0799337472384,0.999999994859,-4.00251274032e-05,-8.55002754805e-05,-3.70165227259e-05,1793196600516202496
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.744587453,743,712.744587453,673.255412547,659.744587453,633.744587453,877.255412547,784.744587453,801,649,629.744587453,651,0.406147389025,-0.0155725073936,0.0799292141277,0.999999992856,-6.15211825102e-05,-9.50935585659e-05,-3.82115310464e-05,1793196600532869120
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.678409048,743,713,673.321590952,660,633.678409048,877.321590952,784.678409048,801,649,629.678409048,650.678409048,0.406631311332,-0.015575246593,0.0799244069912,0.999999991268,-7.01967611978e-05,-0.000104514940541,-4.01603386662e-05,1793196600549535488
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.102397228,743,713,673.897602772,660,633.102397228,877.897602772,784.102397228,801,649,629.102397228,650.102397228,0.4071222192,-0.0155692086676,0.0799193830638,0.999999990251,-6.87296540895e-05,-0.000113800327115,-4.27055011103e-05,1793196600566202112
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,743,713,674,660,633.482344747,877.517655253,784.482344747,801,649,629,650.482344747,0.407628291455,-0.0155606187204,0.0799112704917,0.99999998882,-5.76899515384e-05,-0.00013063214735,-4.43439494812e-05,1793196600582869760
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743,712.931935271,674,660,634,877.068064729,784.931935271,801,649,629,651,0.40814885839,-0.0155528222947,0.0799043648911,0.999999987262,-4.65136981984e-05,-0.000145673208229,-4.57349827852e-05,1793196600599537408
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,712.353040721,674,660,634,877.646959279,784.353040721,801,649,629,651,0.408753602945,-0.0155551222561,0.0799115293796,0.999999988549,-4.98453163588e-05,-0.000135029518084,-4.67404060568e-05,1793196600616204032
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,712.225367914,674,660,634,878,784,801,649,629.225367914,651,0.409395525295,-0.0155596787492,0.0799306177755,0.999999991766,-5.84950920776e-05,-0.000104110012407,-4.69820568678e-05,1793196600632870656
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,712.803016964,674,660,634,878,784,801,649,629.803016964,651,0.41009556163,-0.0155677625124,0.0799683448829,0.999999995233,-7.54578812636e-05,-4.14966106378e-05,-4.6029825782e-05,1793196600649537024
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,743,713,674,660.379002475,633.620997525,878,784,801,649,630,651,0.410771698973,-0.0155705772893,0.079984413303,0.999999995504,-8.11594789312e-05,-1.72708508516e-05,-4.59054843004e-05,1793196600666203392
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,743,713,674,660.954127138,633.045872862,878,784,801,649,630,651,0.411435469298,-0.0155706655269,0.0799892740138,0.999999995566,-8.10337540486e-05,-1.29095235206e-05,-4.62095504604e-05,1793196600682869504
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,743,713,674,660.458021517,633.541978483,878,784.541978483,801,649,629.458021517,651,0.41207998484,-0.0155676019331,0.0799526428723,0.999999992559,-8.71885045606e-05,-6.76460678368e-05,-5.19994806695e-05,1793196600699536128
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,712.871174945,674,660,634,878,785,801.128825055,649,629,651,0.412744778844,-0.0155639190775,0.0799182002604,0.999999987373,-9.13294927017e-05,-0.000116496865481,-5.78111553871e-05,1793196600716203008
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,743,712.29170208,674,660,634,878,785,801.70829792,649,629,651,0.413486347621,-0.0155590255978,0.0799039938016,0.999999986289,-8.65218162595e-05,-0.000126839971407,-6.20355758519e-05,1793196600732870144
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,743,712.286769959,674,660,634,878,785,802,649,629.286769959,651,0.414263814852,-0.0155569292174,0.0799110619856,0.999999988466,-8.46327156863e-05,-0.000109145314404,-6.31928667956e-05,1793196600749536768
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,712.864227569,674,660,634,878,785,802,649,629.864227569,651,0.415077671054,-0.0155576681482,0.0799396954528,0.999999992466,-8.57020622373e-05,-6.30298592129e-05,-6.12411272151e-05,1793196600766203392
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,712.560974561,674,660,634,878,785,801.560974561,649,629.560974561,651,0.415856210135,-0.0155573176015,0.0799475326226,0.999999992363,-8.74159402593e-05,-6.38486724523e-05,-5.96273513485e-05,1793196600782869760
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660,634,878,785,801.013374092,649,629,651,0.416624921888,-0.0155566606908,0.0799488728046,0.999999991248,-8.9300481019e-05,-7.83892851691e-05,-5.81806530399e-05,1793196600799536384
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,634,878,785,801.603613483,649,629,651,0.417438020738,-0.0155572346857,0.0799457150389,0.999999992229,-9.00004240076e-05,-6.24941687569e-05,-5.945947244e-05,1793196600816202752
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.189944582,743.189944582,712,674,660,634,878,785,801.810055418,649,629,651,0.418273177774,-0.0155576988149,0.0799507011538,0.999999993225,-9.1579884582e-05,-3.9458288954e-05,-6.00585774395e-05,1793196600832868864
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.76828405,743.76828405,712,674,660,634,878,785,801.23171595,649,629,651,0.419153438901,-0.0155579382926,0.0799723397128,0.999999993734,-9.49577650436e-05,-1.82111985963e-06,-5.92678159136e-05,1793196600849535744
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.654975111,743.654975111,712.345024889,674,660,633.654975111,878,785,801,649,629,651,0.420015027749,-0.015556342504,0.0799683889894,0.9999999941,-9.06069431538e-05,-6.76464984575e-06,-5.95336242228e-05,1793196600866202624
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.079302969,743.079302969,712.920697031,674,660,633.079302969,878,785,801,649,629,651,0.420864134245,-0.0155535198499,0.0799473319695,0.999999994075,-8.10895258133e-05,-4.01731459966e-05,-6.05057437071e-05,1793196600882869248
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712.503068357,674.496931643,660.496931643,633.496931643,878,785,801,649,629,651,0.421745300365,-0.0155553470409,0.0799583965941,0.999999994101,-8.74407054903e-05,-2.4765406386e-05,-5.9495236165e-05,1793196600899535872
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.075091818,743,712,675,660.924908182,634,878,785,801,649.075091818,629.075091818,651,0.422629805008,-0.0155579141305,0.0799752605927,0.999999993827,-9.47418273519e-05,-9.25114070597e-07,-5.80407348913e-05,1793196600916202496
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.665857932,743,712,675,660.334142068,634,878,785,801,649.665857932,629.665857932,651,0.42350206136,-0.0155604606918,0.0799967079503,0.999999993922,-9.11561442849e-05,2.72646969526e-05,-5.57124651792e-05,1793196600932869376
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.749416309,743,712.250583691,675,660,634,878.250583691,784.749416309,801,649.749416309,629.749416309,651,0.424349624185,-0.0155588298528,0.0799874040857,0.999999994336,-9.02473456421e-05,8.56746654989e-07,-5.64071182538e-05,1793196600949535744
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.172555424,743,712.827444576,675,660,634,878.827444576,784.172555424,801,649.172555424,629.172555424,651,0.42516503446,-0.0155517597515,0.0799380600182,0.999999989159,-9.28240335343e-05,-9.66412389854e-05,-6.10378239829e-05,1793196600966202368
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,712.596871692,675,660,633.596871692,878.596871692,784,800.596871692,649,629,651,0.426051995468,-0.0155499543382,0.0799111293361,0.999999985491,-9.58680003033e-05,-0.000124620717569,-6.55589549314e-05,1793196600982868992
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,712.021690398,675,660,633.021690398,878.021690398,784,800.021690398,649,629,651,0.426969493893,-0.0155503958658,0.0798937645689,0.99999998508,-9.91113992666e-05,-0.000122930066941,-7.00333198416e-05,1793196600999535616
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.567206921,743,712.567206921,675,660,633,878,784,801.134413843,649,629,651,0.427818980911,-0.0155487382964,0.0798980972232,0.999999984495,-9.57457189738e-05,-0.000130331913145,-6.96909929291e-05,1793196601016202496
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.846092755,743,712.846092755,674.846092755,660,633,878,784,801.846092755,649,629.153907245,651,0.428677942858,-0.0155483989869,0.0799084293821,0.999999985364,-9.37097643419e-05,-0.000125764588056,-6.83713823502e-05,1793196601032869376
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.266947758,743,712.266947758,674.266947758,660,633,878,784,801.266947758,649,629.733052242,651,0.429570447458,-0.0155519292417,0.079932988565,0.999999989485,-9.60633737093e-05,-8.71425678519e-05,-6.48731167768e-05,1793196601049536000
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.31075422,743,712.31075422,674.621508441,660,633.31075422,878,784,801,649.31075422,630,651,0.430471987113,-0.0155565337405,0.0799684288552,0.999999992811,-9.79750550161e-05,-3.23187450287e-05,-6.11066560238e-05,1793196601066202624
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.8872223,743,712.8872223,675.774444601,660,633.8872223,878,784,801,649.8872223,630,651,0.431381252245,-0.0155620567836,0.080013173156,0.999999992757,-9.95088604239e-05,3.63586078011e-05,-5.7110872008e-05,1793196601082868992
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.538464568,743.461535432,712.538464568,675.538464568,660.461535432,633.538464568,878.923070864,784,801,650,630,650.538464568,0.432207066014,-0.015561246494,0.0799967548916,0.999999993679,-9.63283379625e-05,4.01286322929e-06,-5.78443261622e-05,1793196601099535616
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743.963555545,712,675.036444455,661,633.036444455,879.927111091,784,801.036444455,649.963555545,629.963555545,650.036444455,0.433009859688,-0.0155588498333,0.0799638199336,0.999999992483,-9.24468027254e-05,-5.37918184304e-05,-5.9945395645e-05,1793196601116202240
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743.371574392,712,675.628425608,661,633.628425608,878.743148783,784,801.628425608,649.371574392,629.371574392,650.628425608,0.433771140938,-0.0155557520939,0.0799058725089,0.999999985488,-9.53576513654e-05,-0.00012513764183,-6.5360085852e-05,1793196601132868864
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.215683748,743,712.215683748,675.784316252,660.784316252,633.784316252,878.215683748,784,802,649,629,651,0.434557907655,-0.0155548162288,0.0798817026731,0.999999981264,-0.000101851299632,-0.000149997959757,-6.78130818491e-05,1793196601149535744
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.794979653,743,712.794979653,675.205020347,660.205020347,633.205020347,878.794979653,784,802,649,629,651,0.43538763937,-0.0155575249762,0.0799144770441,0.999999986673,-0.000114385039991,-9.64903318524e-05,-6.52730833771e-05,1793196601166202624
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.629138839,743,712.629138839,675,660.370861161,633,878.629138839,784,802,649,629.370861161,651,0.436187544027,-0.0155602589637,0.0799460850386,0.999999989867,-0.0001144297873,-5.71678858999e-05,-6.24818663322e-05,1793196601182869248
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.055127699,743,712.055127699,675,660.944872301,633,878.055127699,784,802,649,629.944872301,651,0.436971109995,-0.015563006777,0.0799770541145,0.999999992106,-0.000107633325027,-2.56157888164e-05,-5.95530371838e-05,1793196601199536128
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.531844814,743.531844814,712,675,661,633,878.531844814,784,802,649,630,651,0.437734489342,-0.0155656026318,0.0799932486703,0.999999992006,-0.000112020653263,1.37399276056e-06,-5.86259586416e-05,1793196601216202752
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,743.881675642,712,675,661,633.118324358,879,784,801.881675642,649,630,651,0.438483580431,-0.0155682128898,0.0800035698716,0.999999991263,-0.000116877000506,2.07373178448e-05,-5.81763366021e-05,1793196601232869120
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4091e9f1ed2f5b788febfdfd820d2d1226a3c6c7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_01/simulation_data.csv
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+367,6.116666667,pose2_to_pose3_retreat,0.581188284258,-0.00999880708315,1.07001170386,0.551759520232,-0.00132513737806,1.06966123812
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+377,6.283333333,pose2_to_pose3_retreat,0.579149666504,-0.0099986182952,1.07001145253,0.549720899761,-0.0013249575607,1.06966099322
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+379,6.316666667,pose2_to_pose3_retreat,0.578925760544,-0.00999876046384,1.07001163138,0.549496997691,-0.00132508660789,1.06966117025
+380,6.333333333,pose2_to_pose3_retreat,0.578828649091,-0.00999879278316,1.07001166972,0.549399884567,-0.00132512489527,1.06966120122
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+382,6.366666667,pose2_to_pose3_retreat,0.578659940854,-0.00999871895328,1.07001174755,0.54923117487,-0.00132505566798,1.06966128884
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+385,6.416666667,pose2_to_pose3_retreat,0.578473043655,-0.00999873644411,1.07001164269,0.549044278259,-0.00132507144669,1.06966117643
+386,6.433333333,pose2_to_pose3_retreat,0.578427187964,-0.00999874758055,1.07001153221,0.548998422736,-0.00132508189021,1.06966106897
+387,6.450000000,pose2_to_pose3_retreat,0.578388571239,-0.0099987316376,1.07001157756,0.548959805658,-0.00132506712101,1.06966111477
+388,6.466666667,pose2_to_pose3_retreat,0.578357462894,-0.00999871171444,1.07001189807,0.548928694667,-0.00132505675624,1.06966142089
+389,6.483333333,pose2_to_pose3_retreat,0.578331755525,-0.00999872306354,1.07001156943,0.548902988658,-0.00132506295349,1.06966110553
+390,6.500000000,pose2_to_pose3_retreat,0.578310670818,-0.00999872386763,1.07001149353,0.548881904827,-0.00132506061346,1.0696610339
+391,6.516666667,pose2_to_pose3_retreat,0.578293829999,-0.00999871634084,1.07001164573,0.548865063885,-0.00132505365663,1.06966118234
+392,6.533333333,pose2_to_pose3_retreat,0.578281008083,-0.00999872127633,1.0700116299,0.548852241544,-0.00132505985515,1.06966117093
+393,6.550000000,pose2_to_pose3_retreat,0.578271748916,-0.00999870504267,1.07001166978,0.548842982793,-0.00132504259375,1.06966120144
+394,6.566666667,pose2_to_pose3_retreat,0.578265434449,-0.00999871228751,1.07001172351,0.548836669102,-0.00132504733611,1.06966125197
+395,6.583333333,pose2_to_pose3_retreat,0.578261644006,-0.00999873625321,1.07001177508,0.54883287951,-0.00132506831185,1.06966130606
+396,6.600000000,pose2_to_pose3_retreat,0.578259234251,-0.00999872889621,1.07001166198,0.54883046935,-0.00132506216349,1.0696611971
+397,6.616666667,pose2_to_pose3_retreat,0.578257837208,-0.00999870917606,1.07001149661,0.548829071425,-0.00132504527114,1.06966103588
+398,6.633333333,pose2_to_pose3_retreat,0.578256696505,-0.00999869307431,1.07001136159,0.548827930002,-0.00132503147832,1.06966090423
+399,6.650000000,pose2_to_pose3_retreat,0.578255809688,-0.00999868051173,1.07001125726,0.548827042622,-0.0013250207182,1.06966080251
+400,6.666666667,pose2_to_pose3_retreat,0.578255287297,-0.00999866425948,1.0700113229,0.548826519518,-0.00132500700249,1.06966086527
+401,6.683333333,pose2_to_pose3_retreat,0.578255106002,-0.00999865861915,1.07001134568,0.548826337976,-0.00132500224246,1.06966088705
+402,6.700000000,pose2_to_pose3_retreat,0.578254876034,-0.00999865146452,1.07001137458,0.548826107693,-0.00132499620448,1.06966091467
+403,6.716666667,pose2_to_pose3_retreat,0.578254605605,-0.00999864305112,1.07001140856,0.548825836895,-0.00132498910419,1.06966094716
+404,6.733333333,pose2_to_pose3_retreat,0.57825443377,-0.00999863770512,1.07001143015,0.548825664826,-0.00132498459256,1.06966096781
+405,6.750000000,pose2_to_pose3_retreat,0.578254392317,-0.00999863641544,1.07001143536,0.548825623315,-0.00132498350416,1.06966097279
+406,6.766666667,pose2_to_pose3_retreat,0.578254344014,-0.00999863491267,1.07001144143,0.548825574946,-0.00132498223593,1.06966097859
+407,6.783333333,pose2_to_pose3_retreat,0.578254319373,-0.00999863414606,1.07001144453,0.548825550272,-0.00132498158897,1.06966098155
+408,6.800000000,pose2_to_pose3_retreat,0.57825429943,-0.00999863352562,1.07001144703,0.548825530302,-0.00132498106537,1.06966098394
+409,6.816666667,pose2_to_pose3_retreat,0.578254031644,-0.00999862519444,1.07001148068,0.54882526215,-0.00132497403445,1.06966101611
+410,6.833333333,pose2_to_pose3_retreat,0.578253914976,-0.00999862156474,1.07001149534,0.548825145323,-0.00132497097126,1.06966103013
+411,6.850000000,pose2_to_pose3_retreat,0.578253845966,-0.00999861941775,1.07001150401,0.548825076218,-0.00132496915935,1.06966103842
+412,6.866666667,pose2_to_pose3_retreat,0.578253806889,-0.00999861820201,1.07001150892,0.548825037088,-0.00132496813336,1.06966104312
+413,6.883333333,pose2_to_pose3_retreat,0.578253750867,-0.00999861645908,1.07001151596,0.548824980989,-0.00132496666246,1.06966104985
+414,6.900000000,pose2_to_pose3_retreat,0.578253550091,-0.00999861021267,1.07001154119,0.548824779939,-0.00132496139094,1.06966107397
+415,6.916666667,pose2_to_pose3_retreat,0.578253494025,-0.0099986084684,1.07001154824,0.548824723796,-0.0013249599189,1.0696610807
+416,6.933333333,pose2_to_pose3_retreat,0.578253200496,-0.00999866861622,1.07001159359,0.54882443197,-0.00132501435292,1.06966112452
+417,6.950000000,pose2_to_pose3_retreat,0.57825278615,-0.00999876482074,1.070011659,0.548824020369,-0.00132510132742,1.06966118778
+418,6.966666667,pose2_to_pose3_retreat,0.578252362012,-0.0099987754083,1.07001171351,0.548823596908,-0.00132510937965,1.06966124825
+419,6.983333333,pose2_to_pose3_retreat,0.578252116154,-0.00999870539382,1.07001173073,0.548823349593,-0.0013250438832,1.06966127601
+420,7.000000000,pose2_to_pose3_retreat,0.578252116132,-0.00999870778036,1.07001152593,0.548823349652,-0.00132504597692,1.06966107162
+421,7.016666667,pose2_to_pose3_retreat,0.578252116129,-0.009998708101,1.07001149842,0.548823349661,-0.00132504625826,1.06966104416
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ebfec59ca844c2bded9a69a0977b50af74fc15d0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16f9ad207f482dff100b3a306781662936d52191d14709fc034610c17ee24f15
+size 26880151
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ac3d863b1ff2e51aa36791961b4939bb86d8aa0d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_02/franka_data.csv
@@ -0,0 +1,425 @@
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+23,0.383333333,BASELINE,764,743,712.348416699,673,659.651583301,633.348416699,878,784,801,649,630,651,0.400971572907,-0.0153734102999,0.0798405785151,0.999999924546,0.000272869824417,-0.000275007027563,2.86545522002e-05,1793196605748309248
+24,0.400000000,BASELINE,764,743,712.930260349,673,659.069739651,633.930260349,878,784,801,649,630,651,0.400969732978,-0.0153743304627,0.0798394355039,0.999999924449,0.000270529982527,-0.000277675406955,2.84825936649e-05,1793196605764975616
+25,0.416666667,BASELINE,764.505672117,743,712.494327883,673.505672117,659.505672117,633.494327883,877.494327883,784,800.494327883,649,629.494327883,651,0.400970184197,-0.015374314311,0.0798398114333,0.999999924914,0.000270016216996,-0.00027651433073,2.83281004613e-05,1793196605781641984
+26,0.433333333,BASELINE,765,743,712.0801179,673.9198821,660,633.0801179,877,784.0801179,800,649,629.0801179,651,0.400970983746,-0.0153743163618,0.0798403931325,0.99999992541,0.000269769709054,-0.000274968009697,2.82321881692e-05,1793196605798308352
+27,0.450000000,BASELINE,765,743,712.654008803,673.345991197,660,633.654008803,877,784.654008803,800,649,629.654008803,651,0.400972007112,-0.0153752164494,0.0798409681546,0.999999925632,0.000269637697311,-0.000274261471558,2.84826559114e-05,1793196605814975232
+28,0.466666667,BASELINE,764.764178219,743,713,673,660,633.764178219,877,785,800,649,630,651,0.400972337237,-0.01537507849,0.0798412874484,0.9999999253,0.000271170545597,-0.000273933025496,2.8771071549e-05,1793196605831642112
+29,0.483333333,BASELINE,764.170338196,743,713,673,660,633.170338196,877,785,800,649,630,651,0.400971614902,-0.0153733645958,0.0798412185021,0.999999924113,0.000275230939311,-0.000274178588625,2.91170986388e-05,1793196605848308736
+30,0.500000000,BASELINE,764.408407646,743,713,673,659.591592354,633.408407646,877.408407646,785,800,649,630,651,0.400972261135,-0.0153725800502,0.0798410976156,0.999999924259,0.000274922901998,-0.000273995390865,2.87412315082e-05,1793196605864975616
+31,0.516666667,BASELINE,764.981082389,743,713,673,659.018917611,633.981082389,877.981082389,785,800,649,630,651,0.400973457823,-0.0153721693012,0.079840955838,0.999999924941,0.000272857822359,-0.000273639739652,2.80750087192e-05,1793196605881642240
+32,0.533333333,BASELINE,765,743,713,673,659.559288118,634,878.559288118,785,801.118576236,649,630,651,0.400974719826,-0.0153722673067,0.0798428420824,0.999999925814,0.000272117796447,-0.000271132377338,2.84962835829e-05,1793196605898308864
+33,0.550000000,BASELINE,764.863288528,743,713,673,660,633.863288528,878.726577056,784.863288528,801.863288528,649,630,651,0.400975269763,-0.0153725846898,0.0798439908848,0.999999926306,0.000271742078165,-0.000269651037811,2.88479738403e-05,1793196605914975488
+34,0.566666667,BASELINE,764.288974427,743,713,673,660,633.288974427,877.577948854,784.288974427,801.288974427,649,630,651,0.40097353329,-0.0153735486503,0.0798425574272,0.999999925579,0.000272387584316,-0.000271689208058,2.88580104482e-05,1793196605931642112
+35,0.583333333,BASELINE,764,743,712.703958634,673.296041366,660,633.296041366,877,784,801,649,630,651,0.40097340179,-0.0153732224561,0.0798421845639,0.999999925227,0.000273450892969,-0.000271933983586,2.86872122675e-05,1793196605948308736
+36,0.600000000,BASELINE,764,743,712.108104754,673.891895246,660,633.891895246,877,784,801,649,630,651,0.400974895706,-0.0153715896727,0.0798428858051,0.999999925255,0.000274937326415,-0.000270362519337,2.83332757206e-05,1793196605964975104
+37,0.616666667,BASELINE,764.46953891,743,712.46953891,673.53046109,660,633.53046109,877,784,801,649,630,650.53046109,0.40097394636,-0.0153720827019,0.0798424269888,0.999999925245,0.00027388892176,-0.000271432632567,2.86181298265e-05,1793196605981641728
+38,0.633333333,BASELINE,765,743,713,673,660,633,877.043399591,784.043399591,801,649,629.956600409,650.043399591,0.400972607049,-0.0153729737154,0.0798418058737,0.999999925238,0.000272396512981,-0.000272917320908,2.89872514381e-05,1793196605998308864
+39,0.650000000,BASELINE,765,743,713,673,660,633,877.620372828,784.620372828,801,649,629.379627172,650.620372828,0.400973131081,-0.0153729650111,0.0798423504729,0.999999925428,0.000272352604169,-0.000272300837663,2.86517286077e-05,1793196606014975744
+40,0.666666667,BASELINE,764.797871274,743,712.797871274,673,660.202128726,633.202128726,877.797871274,784.797871274,801,649,629,651,0.400973373101,-0.0153734090824,0.0798424548099,0.999999925586,0.000271956332617,-0.000272133152876,2.84931261343e-05,1793196606031642624
+41,0.683333333,BASELINE,764.206915186,743,712.206915186,673,660.793084814,633.793084814,877.206915186,784.206915186,801,649,629,651,0.400973072627,-0.0153747241412,0.079841712231,0.999999925683,0.000270882234227,-0.000272828804695,2.86748586609e-05,1793196606048308992
+42,0.700000000,BASELINE,764,743,712,673,660.624323028,633.624323028,877,784.375676972,801,649,629.375676972,651,0.400972866999,-0.0153745687593,0.079841818554,0.999999925763,0.000270648765005,-0.000272759782818,2.87302790158e-05,1793196606064975360
+43,0.716666667,BASELINE,764,743,712,673,660.046237243,633.046237243,877,784.953762757,801,649,629.953762757,651,0.400972712474,-0.015373621127,0.0798423822521,0.999999925835,0.000270868213526,-0.000272278766817,2.87176443634e-05,1793196606081641984
+44,0.733333333,BASELINE,764,743,712.528774237,673,660.528774237,633.528774237,877,784.471225763,801,649,629.471225763,651,0.400971712227,-0.0153718378388,0.0798413225395,0.999999924752,0.000273288797567,-0.000273885416341,2.820565468e-05,1793196606098308608
+45,0.750000000,BASELINE,764,743,712.896344502,673.103655498,660.792689004,633.896344502,877,784.103655498,801,649,629.103655498,651,0.400971137396,-0.0153706012491,0.0798405991052,0.999999924007,0.000274964282094,-0.000274965447921,2.78294941273e-05,1793196606114975232
+46,0.766666667,BASELINE,764,743,712.320839535,673.679160465,659.64167907,633.320839535,877,784.679160465,801,649,629.679160465,651,0.400972833789,-0.0153721839889,0.0798420488975,0.99999992529,0.000272376915893,-0.000272822082606,2.82692576712e-05,1793196606131641856
+47,0.783333333,BASELINE,764,743,712.261880447,674,659.261880447,633,877,785,801,649,630,651,0.400973388422,-0.0153726479693,0.0798425440426,0.999999925651,0.000271687594081,-0.000272165907272,2.84662781684e-05,1793196606148308480
+48,0.800000000,BASELINE,764,743,712.853690326,674,659.853690326,633,877,785,801,649,630,651,0.400972504611,-0.0153717024838,0.0798418364781,0.999999924858,0.000273389518439,-0.000273383364261,2.83574794991e-05,1793196606164975360
+49,0.816666667,BASELINE,764.434883408,743,712.565116592,673.565116592,660,633.434883408,877,784.565116592,801,649,630,651,0.400972926835,-0.0153723427121,0.0798422313908,0.999999925293,0.000272443091328,-0.000272738996643,2.83067139231e-05,1793196606181642240
+50,0.833333333,BASELINE,764.987510526,743,712.012489474,673,660,633.987510526,877,784.012489474,801,649,630,651,0.400973764453,-0.0153734842322,0.0798429600748,0.99999992611,0.000270665034262,-0.000271517023399,2.82777070764e-05,1793196606198308864
+51,0.850000000,BASELINE,764.414404327,743,712.585595673,673,660,633.414404327,877,784.585595673,801,649,630,651,0.400973994757,-0.0153737512224,0.0798424184329,0.999999926044,0.000270598639748,-0.000271814410142,2.83698818001e-05,1793196606214975488
+52,0.866666667,BASELINE,764,743,713,673,659.836483807,633.163516193,877.163516193,785,801,649,630,650.836483807,0.400974207546,-0.0153738236895,0.0798422288978,0.99999992598,0.000270915588897,-0.00027172427677,2.84716429207e-05,1793196606231641856
+53,0.883333333,BASELINE,764,743,713,673,659.245992108,633.754007892,877.754007892,785,801,649,630,650.245992108,0.400974374596,-0.0153733882153,0.0798429587885,0.999999925917,0.000272233529768,-0.000270622246054,2.85984361543e-05,1793196606248308480
+54,0.900000000,BASELINE,764,743,712.662995913,673.337004087,659,634,878,785,800.662995913,649,630,650.337004087,0.400973884575,-0.0153736737493,0.07984290622,0.999999925917,0.000271942797398,-0.000270918188209,2.85572687341e-05,1793196606264975360
+55,0.916666667,BASELINE,764,743,712.085351953,673.914648047,659,634,878,785,800.085351953,649,630,650.914648047,0.400972925367,-0.0153744741237,0.0798422949317,0.999999925961,0.0002705033818,-0.000272212361667,2.83961679554e-05,1793196606281641984
+56,0.933333333,BASELINE,764,743,712,673.507839424,659,634,877.507839424,785,800,649,630,651,0.400972914692,-0.0153731428249,0.0798419836972,0.999999925058,0.000273198889532,-0.000272832212296,2.84258486612e-05,1793196606298309120
+57,0.950000000,BASELINE,764,743,712.069202311,673,659,634,877,784.930797689,800.069202311,649,629.930797689,651,0.400973094262,-0.015371628533,0.0798418315119,0.999999924189,0.000276104817064,-0.000273090808334,2.84619088724e-05,1793196606314976000
+58,0.966666667,BASELINE,764,743,712.6429772,673,659,634,877,784.3570228,800.6429772,649,629.3570228,651,0.400973461879,-0.0153714747148,0.0798424596878,0.999999924825,0.000275317865383,-0.000271567835823,2.83033100321e-05,1793196606331642624
+59,0.983333333,BASELINE,764.223623358,743,712.776376642,673.223623358,659.223623358,634,877,784,801,649,629.223623358,651,0.400973336544,-0.0153718937024,0.0798424681115,0.999999925162,0.000274347001621,-0.000271318228179,2.82110213988e-05,1793196606348309248
+60,1.000000000,BASELINE,764.815587607,743,712.184412393,673.815587607,659.815587607,634,877,784,801,649,629.815587607,651,0.400972399244,-0.0153732561863,0.0798414557114,0.999999925007,0.000273073207215,-0.000273166041392,2.82279555017e-05,1793196606364975616
+61,1.016666667,BASELINE,765,743,712,673.601499191,659.601499191,634,877,784,801,649,629.601499191,651,0.400973373157,-0.0153738600664,0.0798422008573,0.999999925683,0.000271590415017,-0.000272172431124,2.81851819433e-05,1793196606381641984
+62,1.033333333,BASELINE,765,743,712,673.022681516,659.022681516,634,877,784,801,649,629.022681516,651,0.400975211872,-0.0153741206871,0.0798437412718,0.99999992673,0.000270013053884,-0.000269893110483,2.81153913787e-05,1793196606398308864
+63,1.050000000,BASELINE,764.446075956,743,712.553924044,673.553924044,659,634,877.553924044,784,801,649,629.553924044,651,0.400973698098,-0.0153734972791,0.0798427619531,0.999999925678,0.000271976809531,-0.000271770143603,2.85078687695e-05,1793196606414975488
+64,1.066666667,BASELINE,764.132419121,743,713,673.867580879,659,634,878,784,801,649,630,651,0.400972582128,-0.0153730369812,0.0798420185308,0.999999924915,0.000273366282411,-0.000273159580485,2.87242623104e-05,1793196606431642112
+65,1.083333333,BASELINE,764.717684459,743,713,673.282315541,659,634,878,784,801,649,630,651,0.400973294143,-0.0153732577852,0.079842433261,0.999999925453,0.000272297934842,-0.000272301837949,2.82740111777e-05,1793196606448308992
+66,1.100000000,BASELINE,764.698558312,743,713,673.301441688,659,634,877.698558312,784.301441688,800.698558312,649,629.698558312,651,0.400973321574,-0.0153730671326,0.0798425202082,0.999999925687,0.0002716801088,-0.000272093164063,2.79664353282e-05,1793196606464975616
+67,1.116666667,BASELINE,764.116206507,743,713,673.883793493,659,634,877.116206507,784.883793493,800.116206507,649,629.116206507,651,0.400972711047,-0.0153724930484,0.079842301698,0.999999925637,0.000271482118764,-0.000272489349999,2.77918169953e-05,1793196606481642240
+68,1.133333333,BASELINE,764,743,713,673.539600007,659.460399993,634,877.460399993,784.539600007,800,648.539600007,629,651,0.400972918102,-0.0153727612301,0.0798425368879,0.999999925686,0.000271703475571,-0.00027206013813,2.80683741659e-05,1793196606498308608
+69,1.150000000,BASELINE,764.036315665,743,713,673.036315665,660,634,877.963684335,784.036315665,800.036315665,648.036315665,629.036315665,651,0.400973229491,-0.0153732151048,0.0798428299009,0.999999925737,0.000271979981711,-0.000271559333231,2.84160133677e-05,1793196606514975232
+70,1.166666667,BASELINE,764.623476929,743,713,673.623476929,660,634,877.376523071,784.623476929,800.623476929,648.623476929,629.623476929,651,0.40097203191,-0.0153733007314,0.0798422843995,0.999999925456,0.000271507316719,-0.000273093691702,2.81357979577e-05,1793196606531641856
+71,1.183333333,BASELINE,764.792274636,743,712.792274636,673.792274636,659.792274636,633.792274636,877,784.792274636,800.792274636,648.792274636,629.792274636,651,0.400971419722,-0.0153734159678,0.0798420126772,0.999999925318,0.000271302939022,-0.000273823281665,2.79287679894e-05,1793196606548308736
+72,1.200000000,BASELINE,764.213232885,743,712.213232885,673.213232885,659.213232885,633.213232885,877,784.213232885,800.213232885,648.213232885,629.213232885,651,0.400971853943,-0.015373584133,0.0798422303447,0.999999925439,0.000271578134213,-0.000273114319904,2.78525595225e-05,1793196606564975360
+73,1.216666667,BASELINE,764.365056373,743,712,673,659.365056373,633.365056373,877.365056373,784.365056373,800.365056373,648.365056373,629.365056373,651,0.400972282877,-0.0153736721933,0.0798422722464,0.999999925938,0.000270193458981,-0.000272658176484,2.78776032731e-05,1793196606581641984
+74,1.233333333,BASELINE,764.942906961,743,712,673,659.942906961,633.942906961,877.942906961,784.942906961,800.942906961,648.942906961,629.942906961,651,0.400972708727,-0.0153737135599,0.0798422116928,0.999999926653,0.000267841232275,-0.000272349402896,2.79616677379e-05,1793196606598308608
+75,1.250000000,BASELINE,764.484407614,743,712,673.515592386,659.484407614,634,877.484407614,784.484407614,801,649,629.484407614,651,0.400972769192,-0.0153738313458,0.0798422054641,0.999999926079,0.000270106753813,-0.000272181738696,2.83205430563e-05,1793196606614975232
+76,1.266666667,BASELINE,764,743,712,673.909309015,659.090690985,633.909309015,877,784,800.909309015,649,629.090690985,651,0.400972744496,-0.0153739309536,0.0798421881657,0.999999925434,0.00027247169979,-0.000272164005943,2.85970437722e-05,1793196606631641600
+77,1.283333333,BASELINE,764,743,712,673.317755687,659.682244313,633.317755687,877,784,800.317755687,649,629.682244313,651,0.400972470707,-0.0153738838991,0.0798420768392,0.999999925214,0.000272589773262,-0.000272888865633,2.82522180632e-05,1793196606648308480
+78,1.300000000,BASELINE,764,743,712,673,660,633.267802687,877.267802687,784,800.267802687,649,629.732197313,651,0.40097317018,-0.0153740254287,0.0798424213092,0.999999925672,0.000271656670498,-0.000272158843845,2.80827122321e-05,1793196606664975104
+79,1.316666667,BASELINE,764,743,712,673,660,633.84640358,877.84640358,784,800.84640358,649,629.15359642,651,0.400974999171,-0.0153743858196,0.0798432947535,0.999999926909,0.000269503625936,-0.000269740360404,2.81166737769e-05,1793196606681641728
+80,1.333333333,BASELINE,764,743,712,673.425521089,660,634,877.574478911,784,801,649,629.425521089,651,0.400974173627,-0.015373993058,0.0798428529816,0.999999926429,0.000270432747941,-0.000270575512323,2.82142938533e-05,1793196606698308608
+81,1.350000000,BASELINE,764,743,712,673.995225529,660,633.995225529,877,784.004774471,801,649,630,651,0.400972400365,-0.0153733335585,0.0798419410634,0.999999925333,0.000272457915359,-0.000272575970631,2.83342143096e-05,1793196606714975232
+82,1.366666667,BASELINE,764,743,712,673.422029492,660,633.422029492,877,784.577970508,801,649,630,651,0.400972011582,-0.0153733230354,0.0798416449257,0.999999925156,0.000272358162069,-0.00027331968057,2.8370106959e-05,1793196606731642112
+83,1.383333333,BASELINE,764.155400184,743,712,673,660,633.155400184,877.155400184,784.844599816,801,649,630,651,0.400971517274,-0.0153736463295,0.0798412533705,0.999999925075,0.000271892461023,-0.000274079000234,2.83889883699e-05,1793196606748308992
+84,1.400000000,BASELINE,764.744649539,743,712,673,660,633.744649539,877.744649539,784.255350461,801,649,630,651,0.400970728363,-0.0153749015811,0.0798405954266,0.999999925258,0.000270405100087,-0.000274881899592,2.83603774917e-05,1793196606764975616
+85,1.416666667,BASELINE,764.671797982,743,712.328202018,673.328202018,660,634,878,784,800.671797982,649,630,651,0.400971642685,-0.0153753475392,0.0798413300962,0.999999925779,0.000270221882583,-0.00027316179939,2.83726216722e-05,1793196606781641984
+86,1.433333333,BASELINE,764.092602246,743,712.907397754,673.907397754,660,634,878,784,800.092602246,649,630,651,0.400973859563,-0.0153751745872,0.0798431297722,0.999999926548,0.000271036013721,-0.000269512225812,2.84161099129e-05,1793196606798308864
+87,1.450000000,BASELINE,764.484140797,743,712.515859203,674,660,633.515859203,878,784.484140797,800.484140797,649,630,650.515859203,0.400973412149,-0.0153755177026,0.0798430668927,0.999999926725,0.000269495417956,-0.000270411909478,2.8291951339e-05,1793196606814975488
+88,1.466666667,BASELINE,764.939713848,743,712.060286152,673.939713848,660,633.060286152,877.939713848,784.939713848,801,649,630,650.060286152,0.400972558098,-0.0153757208197,0.0798426909918,0.999999926702,0.000267980916171,-0.000272011996408,2.81456487151e-05,1793196606831641856
+89,1.483333333,BASELINE,764.36468633,743,712.63531367,673.36468633,660,633.63531367,877.36468633,784.36468633,801,649,630,650.63531367,0.400972561254,-0.0153738900303,0.0798426688863,0.99999992597,0.000270515409195,-0.000272200248178,2.80826828722e-05,1793196606848308480
+90,1.500000000,BASELINE,764,743,712.784173308,673,660,634,877,784.215826692,801,649,630,651,0.400972416644,-0.0153735029104,0.0798423600141,0.99999992564,0.000271422665307,-0.000272497978375,2.81852100951e-05,1793196606864975360
+91,1.516666667,BASELINE,764,743,712.194149661,673,660,634,877,784.805850339,801,649,630,651,0.400972015838,-0.0153756188025,0.0798415539502,0.999999926014,0.000269508643171,-0.000272985520547,2.85746666219e-05,1793196606881642240
+92,1.533333333,BASELINE,764,743,712,673,660,634,877,785,801,649,630,651,0.400971719477,-0.015376069474,0.0798416480059,0.999999926362,0.000268064306558,-0.000273148918293,2.84196404556e-05,1793196606898308864
+93,1.550000000,BASELINE,764,743,712,673,660,634,877,785,801,649,630,651,0.400971474341,-0.0153757034663,0.0798421835101,0.999999926697,0.000266850319109,-0.000273153344922,2.7997581979e-05,1793196606914975744
+94,1.566666667,BASELINE,764.541886789,743,712.541886789,673,660,634,877.541886789,785,801,649,630,650.458113211,0.400973102387,-0.0153749471077,0.079842966174,0.999999926645,0.000269219730717,-0.000270987027557,2.82162213234e-05,1793196606931642368
+95,1.583333333,BASELINE,764.881262377,743,713,673.118737623,660,633.881262377,877.881262377,785,801,649,630,650.118737623,0.400973969355,-0.0153742517424,0.0798432220979,0.999999926328,0.000271518276179,-0.000269842039467,2.84060771489e-05,1793196606948308736
+96,1.600000000,BASELINE,764.292846282,743,713,673.707153718,660,633.292846282,877.292846282,785,801,649,630,650.707153718,0.400971387697,-0.0153738889389,0.0798413366425,0.999999925085,0.000272698404533,-0.000273244722526,2.83322279959e-05,1793196606964975360
+97,1.616666667,BASELINE,764,743,712.707581289,673.707581289,660,633,877.292418711,785,801,648.707581289,630,651,0.400970896235,-0.0153739593418,0.0798411046638,0.999999925204,0.000271596193149,-0.00027392828898,2.81307590706e-05,1793196606981641728
+98,1.633333333,BASELINE,764,743,712.125438397,673.125438397,660,633,877.874561603,785,801,648.125438397,630,651,0.400972475709,-0.0153744589591,0.0798425109258,0.999999926669,0.000268232672869,-0.000271917794277,2.78028463461e-05,1793196606998308608
+99,1.650000000,BASELINE,764.448978824,742.551021176,712.448978824,673,660,633.448978824,877.551021176,784.551021176,801,648.448978824,630,651,0.400971733572,-0.0153745473583,0.079841599355,0.999999926082,0.000269042316224,-0.000273260340002,2.79403882333e-05,1793196607014975488
+100,1.666666667,BASELINE,765,742.021298128,712.978701872,673.021298128,660,634,877,784,800.978701872,649,629.978701872,651,0.400970468354,-0.0153745082597,0.0798401705248,0.999999924991,0.000270955187303,-0.000275328860017,2.82020661518e-05,1793196607031642112
+101,1.683333333,BASELINE,765,742.594239648,712.405760352,673.594239648,660,634,877,784,800.405760352,649,629.405760352,651,0.400972170708,-0.0153740922327,0.0798418331441,0.999999925586,0.000271755017971,-0.000272347422368,2.83677634578e-05,1793196607048308736
+102,1.700000000,BASELINE,764.825983397,743,712.174016603,673.825983397,660,633.825983397,877,784,800.174016603,649,629.174016603,651,0.400972966019,-0.0153741682267,0.0798428157541,0.999999926115,0.000271482033815,-0.00027066376987,2.84262407102e-05,1793196607064975360
+103,1.716666667,BASELINE,764.229616453,743,712.770383547,673.229616453,660,633.229616453,877,784,800.770383547,649,629.770383547,651,0.400971559873,-0.0153754383895,0.0798421479338,0.9999999265,0.000268605253703,-0.000272129932207,2.82244874462e-05,1793196607081641984
+104,1.733333333,BASELINE,764,743,712.646156018,673,660.353843982,633,877,784.353843982,801,649,630,651,0.400971266165,-0.0153751732877,0.0798417207101,0.99999992629,0.000268946396424,-0.00027256820351,2.81932673295e-05,1793196607098308608
+105,1.750000000,BASELINE,764,743,712.070776081,673,660.929223919,633,877,784.929223919,801,649,630,651,0.400971668934,-0.0153739469818,0.07984144412,0.999999925707,0.00027130222795,-0.000272362929117,2.82688152196e-05,1793196607114975232
+106,1.766666667,BASELINE,764.504561825,743,712,673,659.990876351,633,877.504561825,784.495438175,801,649,630,651,0.400971599538,-0.0153734182588,0.079841450792,0.999999925741,0.000271333338271,-0.000272235824535,2.79816065762e-05,1793196607131641856
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,742,713,673,660,634,878,785,801,649,630,651,0.400972754089,-0.0153743462959,0.0798432959984,0.999999925597,0.000273620329603,-0.000270402603044,2.86528824483e-05,1793196607174223360
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.419785511,742.580214489,712.419785511,673,659.419785511,634,878,784.419785511,801,649,630,651,0.400973265809,-0.0153741990403,0.0798438391541,0.999999926101,0.000272730588184,-0.00026944702851,2.85511693823e-05,1793196607190889984
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.158119068,743,712,673,659.158119068,634,877.841880932,784.158119068,801,649,630,651,0.400973407969,-0.0153742565859,0.079844111609,0.99999992637,0.00027218088797,-0.00026900990918,2.84649161499e-05,1793196607207556608
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.729979559,743,712,673,659.729979559,634,877.270020441,784.729979559,801,649,630,651,0.400972583118,-0.0153748500234,0.0798436757364,0.999999926031,0.000272520954582,-0.000269929402708,2.84191157876e-05,1793196607224222720
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.688374333,743,712,673,660,634,877,784.688374333,800.688374333,649,630,651,0.400971921059,-0.0153750367009,0.0798430256274,0.999999925632,0.000272768139548,-0.000271151003511,2.84569239498e-05,1793196607240889344
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.097974232,743,712,673,660,634,877,784.097974232,800.097974232,649,630,651,0.400971404631,-0.0153748594984,0.0798421838665,0.999999925179,0.000272932234327,-0.00027264286372,2.85695267212e-05,1793196607257556224
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.483137182,743,712.483137182,673,660,634,877,784.483137182,800.483137182,649,630,651,0.400972295848,-0.0153755636406,0.0798423102633,0.999999925847,0.000271568114577,-0.000271558429289,2.85103912875e-05,1793196607274222592
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.937944158,743,712.937944158,673,660,633.937944158,877.062055842,784.937944158,801,649,630,651,0.400973744908,-0.01537631756,0.0798428479055,0.999999926744,0.000270001660747,-0.000269820257207,2.84137882054e-05,1793196607290889216
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.361880251,743,712.361880251,673,660,633.361880251,877.638119749,784.361880251,801,649,630,651,0.400977494788,-0.015376031324,0.0798451963629,0.999999927723,0.000269277778938,-0.000266912925053,2.82898661305e-05,1793196607307556352
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.214669109,743,712,673.214669109,660,633,877.785330891,784,801,649,630,650.785330891,0.400986237658,-0.0153757513325,0.0798494796125,0.999999929513,0.000269041544137,-0.000260342086807,2.84917274276e-05,1793196607324222976
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.79203862,743,712,673.79203862,660,633,877.20796138,784,801,649,630,650.20796138,0.401003416576,-0.0153754818914,0.079857031846,0.999999932574,0.000269629227487,-0.000247581466163,2.9244025452e-05,1793196607340889344
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.623399914,743,712,674,660,633.376600086,877,784,801,649,630,650.376600086,0.401036905324,-0.0153764571559,0.0798691395552,0.999999937889,0.000269894044246,-0.000224704763647,2.97678880881e-05,1793196607357555712
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.034789622,743,712,674,660,633.965210378,877,784,801,649,630,650.965210378,0.40107957583,-0.0153781331379,0.0798838118089,0.999999943867,0.000269977100418,-0.000196133125859,3.01631511407e-05,1793196607374222080
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,743,712,673.456188191,659.456188191,633.456188191,877,784.543811809,801.543811809,649,630,651,0.401145067999,-0.0153806784549,0.0799012631264,0.999999950168,0.000269749862037,-0.000161189989928,3.02636098269e-05,1793196607390888704
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.121753674,743,712,673.121753674,659.121753674,633,877.121753674,784.878246326,801.878246326,649,629.878246326,650.878246326,0.401213253969,-0.0153836978958,0.0799167674939,0.999999954675,0.000268890462814,-0.000132081455912,3.0049695796e-05,1793196607407555584
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.699580196,743,712,673.699580196,659.699580196,633,877.699580196,784.300419804,801.300419804,649,629.300419804,650.300419804,0.401286160502,-0.0153882887818,0.0799243249243,0.9999999563,0.000265736089407,-0.000126327795348,2.87275532773e-05,1793196607424222464
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.723659842,743,712,673.723659842,659.723659842,633,877.723659842,784,800.723659842,649,629,650,0.401369427668,-0.015391835358,0.0799302650401,0.999999957887,0.000263792397358,-0.000118122750334,2.61865997391e-05,1793196607440889088
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.148054954,743,712,673.148054954,659.148054954,633,877.148054954,784,800.148054954,649,629,650,0.401463914959,-0.0153942509904,0.0799344536722,0.999999959372,0.000263159822302,-0.000107262959752,2.23257253819e-05,1793196607457555712
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,743,712,673.437477172,659,633,877,784,800.437477172,649,629.437477172,650.437477172,0.401576174782,-0.015398425136,0.0799369857409,0.999999961377,0.000258498728906,-0.000100475972646,1.81292102317e-05,1793196607474222336
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,743,712.026002336,673.973997664,659.026002336,633,877,784.026002336,801,649,630,651,0.401695855334,-0.0154032113119,0.0799389970063,0.999999963557,0.000252266485712,-9.51772611737e-05,1.37310330515e-05,1793196607490888704
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,743,712.605070427,673.394929573,659.605070427,633,877,784.605070427,801,649,630,651,0.401842470651,-0.0154080630039,0.0799421322333,0.999999966431,0.000242288055203,-9.15358310227e-05,7.51568572879e-06,1793196607507555328
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.182894645,743,712.817105355,673,659.817105355,633,877.182894645,784.817105355,801,649,629.817105355,651,0.401997035177,-0.0154130822397,0.0799445371651,0.99999996914,0.000232057628126,-8.86988396935e-05,9.16171838966e-07,1793196607524222464
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.758051004,743,712.241948996,673,659.241948996,633,877.758051004,784.241948996,801,649,629.241948996,651,0.402168648682,-0.015418460813,0.0799453758021,0.999999971659,0.000221286734909,-8.7587162071e-05,-6.50727918007e-06,1793196607540890112
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+138,2.300000000,POSE1_TO_POSE2_PRESS,764,743,712.989703277,673.010296723,659,633.989703277,878.979406555,784.010296723,801,649,630,650.010296723,0.404683175205,-0.0154863890044,0.0799424807044,0.999999994342,5.77192428071e-05,-8.20110223339e-05,-3.54674640387e-05,1793196607690889472
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+141,2.350000000,POSE1_TO_POSE2_PRESS,764,743,712.725062381,674,659.725062381,633.274937619,878,784,801,649,629.274937619,651,0.405986223395,-0.0155091969739,0.0799265462116,0.999999993375,1.59810857802e-05,-0.000105643563644,-4.28289946292e-05,1793196607740889088
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,743,713,674,660,633,878,784.304977415,801,649,629.304977415,651,0.406446453002,-0.015518479067,0.0799213091879,0.999999992436,1.98749023812e-06,-0.000115330847688,-4.26862536977e-05,1793196607757555712
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,743,713,674,660,633,878,784.889307827,801,649,629.889307827,651,0.406919411508,-0.0155295635021,0.0799189350546,0.99999999195,-1.32393168192e-05,-0.000119612808025,-4.02260925688e-05,1793196607774222336
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.473400299,743,713,673.526599701,660,633.473400299,877.526599701,784.526599701,801,649,630,650.526599701,0.407436673105,-0.0155265345297,0.0799129052953,0.999999990242,-9.06111487408e-06,-0.000133190687449,-4.11531547221e-05,1793196607790888960
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,743,712.943397578,673,659.943397578,633.943397578,877.056602422,784.056602422,801,649,630,650,0.407970952771,-0.0155214234437,0.0799067291321,0.99999998822,-2.03377763363e-06,-0.00014735422181,-4.29251348851e-05,1793196607807555840
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,743,712.367848233,673,659.367848233,633.367848233,877.632151767,784.632151767,801,649,630,650,0.408566331691,-0.0155274635205,0.0799070435433,0.999999988124,-1.04635596807e-05,-0.00014696900014,-4.51858136815e-05,1793196607824222208
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.792283508,743,712.207716492,673.207716492,659.207716492,633.207716492,878,785,801,649,629.792283508,650.207716492,0.409188240591,-0.015534583916,0.0799197555422,0.99999999069,-2.29408390279e-05,-0.00012631876445,-4.62286452965e-05,1793196607840888832
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.216691582,743,712.783308418,673.783308418,659.783308418,633.783308418,878,785,801,649,629.216691582,650.783308418,0.409857135265,-0.0155436176053,0.0799544242376,0.999999995641,-4.25864212206e-05,-6.97782590038e-05,-4.51146134426e-05,1793196607857555712
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,743,713,674,660,634,877.634117711,784.634117711,801,649,629.365882289,651,0.410519323559,-0.0155444010516,0.0799776220637,0.999999997318,-4.74502813637e-05,-3.38789230204e-05,-4.43237120827e-05,1793196607874222336
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,743,713,674,660,634,877.047328406,784.047328406,801,649,629.952671594,651,0.411177462747,-0.0155402032877,0.0799938941762,0.999999998048,-4.33894505571e-05,-1.04420102366e-05,-4.37279057767e-05,1793196607890888960
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,743,713,674,660,634,877.535467306,784,801.535467306,649,630,651,0.411844914704,-0.0155363744588,0.0799643050713,0.999999995986,-4.80257343224e-05,-5.72694491334e-05,-4.94177660804e-05,1793196607907556608
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,712.883896264,674,660,634,878,784.116103736,801.883896264,649,630,651,0.412525673694,-0.0155328440029,0.0799321150001,0.999999991593,-5.17777555101e-05,-0.000105180822219,-5.54108524091e-05,1793196607924224000
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,743,712.310386437,674,660,634,878,784.689613563,801.310386437,649,630,651,0.413255638519,-0.0155303615107,0.0799055293247,0.999999988117,-4.90400790685e-05,-0.000133076669078,-6.04259907109e-05,1793196607940890624
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,743,712.262691464,673.737308536,660,633.737308536,877.737308536,784.737308536,801,649,629.737308536,650.737308536,0.414009924801,-0.0155302487177,0.0799026724577,0.99999998844,-5.12389233172e-05,-0.000128725177833,-6.26524642231e-05,1793196607957556736
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,712.835259929,673.164740071,660,633.164740071,877.164740071,784.164740071,801,649,629.164740071,650.164740071,0.414792901337,-0.0155329312772,0.0799278066452,0.999999992621,-5.9261002577e-05,-8.63339750129e-05,-6.1589364066e-05,1793196607974222592
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,712.577859665,673.422140335,660,633.422140335,877.422140335,784,801.422140335,649,629,650,0.415561347884,-0.0155354577851,0.0799405849311,0.99999999383,-5.80261891873e-05,-7.46136137132e-05,-5.83623865049e-05,1793196607990889216
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633.985508814,878,784.014491186,801.985508814,649,629,650.014491186,0.416325326895,-0.0155378500385,0.0799479160659,0.999999994242,-5.3487131567e-05,-7.54174598169e-05,-5.44707066795e-05,1793196608007555840
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633.405289497,878,784.594710503,801.405289497,649,629,650.594710503,0.417144032302,-0.0155374619724,0.0799374432061,0.99999999278,-6.59312981938e-05,-8.14872253224e-05,-5.87532664737e-05,1793196608024222464
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,712.173157516,674.173157516,660,633,878,785,801,649,629.173157516,651,0.417989066592,-0.0155373878454,0.0799390795858,0.999999993045,-7.38087588106e-05,-6.87980979867e-05,-6.1069485234e-05,1793196608040889088
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,712.747498301,674.747498301,660,633,878,785,801,649,629.747498301,651,0.418895101403,-0.0155380410742,0.0799687714871,0.999999995662,-7.11057593042e-05,-1.26470742178e-05,-5.88299491942e-05,1793196608057555712
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743,712.672024645,674.672024645,660,633,878,785,801,649,629.672024645,651,0.419748311745,-0.0155380106903,0.0799738714796,0.999999996047,-6.7338397722e-05,-7.01730376021e-07,-5.8060480355e-05,1793196608074222592
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,712.086733355,674.086733355,660,633,878,785,801,649,629.086733355,651,0.420560078145,-0.0155374439719,0.0799596776733,0.99999999605,-6.2735981778e-05,-2.34383424184e-05,-5.84443657946e-05,1793196608090889216
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712.494766944,674,660,633,878,784.505233056,801.494766944,649,629,651,0.421423186966,-0.0155400950202,0.0799576957876,0.999999995493,-6.88315310073e-05,-2.91261703632e-05,-5.85413896853e-05,1793196608107555840
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743.075195133,712.924804867,674,660,633,878.075195133,784,801.924804867,649,629.075195133,651,0.422300638779,-0.0155431996112,0.0799620070557,0.999999995133,-7.55562542946e-05,-2.54985738197e-05,-5.80958137656e-05,1793196608124222464
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743.652865961,712.347134039,674,660,633,878.652865961,784,801.347134039,649,629.652865961,651,0.423214248248,-0.0155455942265,0.0799941745514,0.99999999557,-7.4048830427e-05,2.05580504236e-05,-5.4357907152e-05,1793196608140889088
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743.770307111,712,674.229692889,660,633,878.770307111,784,801,649.229692889,630,651,0.424093245077,-0.0155441590901,0.0799935174522,0.999999995686,-7.51191264525e-05,7.06732893403e-06,-5.41835790943e-05,1793196608157555712
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743.194750809,712,674.805249191,660,633,878.194750809,784,801,649.805249191,630,651,0.424920123556,-0.0155369572499,0.0799434342462,0.999999990415,-8.00708611566e-05,-9.60876688048e-05,-5.93751605223e-05,1793196608174222336
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,712.38940672,674.61059328,660.38940672,633,878,784.38940672,801,649.61059328,629.61059328,651,0.425781429872,-0.015533592257,0.079911524931,0.999999985989,-7.77631655737e-05,-0.000133529502642,-6.43846601811e-05,1793196608190889216
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,712.977963038,674.022036962,660.977963038,633,878,784.977963038,801,649.022036962,629.022036962,651,0.426660343153,-0.0155321894972,0.0798889100732,0.999999985591,-7.1742866835e-05,-0.000137364437417,-6.93010398588e-05,1793196608207556352
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,712.439665879,674.560334121,661,633.560334121,878,785,801.560334121,649,629,651,0.427538383591,-0.0155340567544,0.0798899855016,0.999999984333,-7.59952790593e-05,-0.000144229256333,-6.8971674436e-05,1793196608224222976
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.140322117,743,712,674.859677883,661,634,878.140322117,784.859677883,801.859677883,649,629,651,0.428420305516,-0.0155363913893,0.0798976780736,0.999999984507,-7.88748758506e-05,-0.00014210074129,-6.76203637275e-05,1793196608240889600
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.71369806,743,712,674.28630194,661,634,878.71369806,784.28630194,801.28630194,649,629,651,0.429314310995,-0.0155397758606,0.0799229481266,0.999999988803,-7.6284558339e-05,-0.000111853800189,-6.37449238616e-05,1793196608257555968
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.712175488,743,712.287824512,674.287824512,661,633.712175488,879,784,801.287824512,649,629.287824512,651,0.430231620126,-0.0155440679373,0.0799583053268,0.999999993243,-7.98929969533e-05,-5.91971227013e-05,-6.02274269908e-05,1793196608274222592
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.137300579,743,712.862699421,674.862699421,661,633.137300579,879,784,801.862699421,649,629.862699421,651,0.431172170178,-0.0155492651782,0.0800037225431,0.999999994225,-8.96835197762e-05,1.58090177762e-05,-5.70669104273e-05,1793196608290889472
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,713,675,660.547809528,633.452190472,879,784.452190472,802,649,629.547809528,651,0.432008880391,-0.0155503812537,0.0800021460251,0.999999994627,-8.62843351273e-05,7.69174183322e-06,-5.69338562981e-05,1793196608307556096
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.044809931,743.044809931,713,675,660.044809931,633.955190069,879,785,801.955190069,649,629.044809931,651,0.432809627101,-0.0155499106473,0.0799818503464,0.999999994694,-7.92217436356e-05,-3.09189248558e-05,-5.81405187043e-05,1793196608324222720
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.620168575,743.620168575,713,675,660.620168575,633.379831425,879,785,801.379831425,649,629.620168575,651,0.433570342188,-0.0155458157309,0.079914507015,0.999999987517,-7.77856896034e-05,-0.000121758187035,-6.39620457744e-05,1793196608340889600
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.804542307,743.804542307,712.804542307,675.195457693,661,633,879,785,801.195457693,649,630,651,0.4343575566,-0.0155446700378,0.0798767445273,0.999999980436,-7.72982078034e-05,-0.000169155918312,-6.73780756459e-05,1793196608357556224
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.229388152,743.229388152,712.229388152,675.770611848,661,633,879,785,801.770611848,649,630,651,0.435196248783,-0.0155492535102,0.0798964458279,0.999999985987,-7.8653424831e-05,-0.000132164071608,-6.61211841866e-05,1793196608374222848
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.355677438,743,712.355677438,676,661,633.355677438,879,785,802,649.355677438,630,651,0.436020198066,-0.0155530909485,0.0799289596126,0.999999990205,-8.70974717351e-05,-8.92264618442e-05,-6.35770183212e-05,1793196608390889472
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.947318437,743,712.947318437,676,661,633.947318437,879,785,802,649.947318437,630,651,0.436834366562,-0.0155564334524,0.0799699734558,0.999999992268,-0.000100244390691,-4.23443154558e-05,-6.0178848732e-05,1793196608407555840
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,743,713,675.473886261,660.473886261,633.473886261,879,785,802,649.473886261,630,650.473886261,0.437616410161,-0.0155609403159,0.0799895613096,0.999999992853,-0.000104223383371,-8.74180409969e-06,-5.79215312475e-05,1793196608424222720
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,743,713,675.103456511,660.103456511,633,879,785,801.896543489,649,629.896543489,650.103456511,0.438382592921,-0.0155653459458,0.0800027594961,0.999999992557,-0.000107124214198,1.51031713256e-05,-5.64030660674e-05,1793196608440889088
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+185,3.083333333,POSE1_TO_POSE2_PRESS,765,743,712.738779427,676,661,633,879,785,801,649,629,651,0.439765074871,-0.015569162293,0.0799708049281,0.999999990896,-0.000114167360341,-3.84216892543e-05,-6.08049234108e-05,1793196608474222592
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,743,712.151365443,676,661,633,879,785,801,649,629,651,0.44039761214,-0.0155657742658,0.0799214693937,0.999999984571,-0.000122770513455,-0.000106915756592,-6.59832698368e-05,1793196608490889728
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,743,712,676.430093489,661,633,879,785,801,648.569906511,629.430093489,651,0.440993056731,-0.0155615107344,0.0798664103467,0.999999971617,-0.000124884450116,-0.000190164749244,-7.07576795429e-05,1793196608507556352
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.367195558,660.632804442,633,879,784,801,649,630,651,0.436869562199,-0.015421996713,0.0798303653475,0.999999957641,0.000122433143473,-0.000262414785252,2.9455028097e-05,1793196610746136064
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.953754334,660.046245666,633,879,784,801,649,630,651,0.43621117047,-0.0154211693057,0.0798529509203,0.999999964638,0.000132177160212,-0.000228527811674,3.20512577315e-05,1793196610762802432
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,743,712.081581402,674.918418598,660,633,878.918418598,784,801,649,629,651,0.425577767834,-0.0154024766979,0.0797453526,0.999999906644,0.000167612442489,-0.000397542882668,2.40429288938e-05,1793196610996135680
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.542041649,742.457958351,712,673.542041649,660,633,877.542041649,784,801,649,630,651,0.402496050109,-0.0153834426637,0.079831433585,0.999999927365,0.000236200232999,-0.000297476543191,3.14252671093e-05,1793196611696135424
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,764,743,712.564710375,673.564710375,659,633,877,784,800.435289625,649,630,651,0.400968988585,-0.0153723445887,0.0798373693233,0.999999922845,0.000272994188827,-0.000281058224251,2.8118975098e-05,1793196612446136064
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6c7f7a40431cb407b39f19cf76673f16cb35a958
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_02/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
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+378,6.300000000,pose2_to_pose3_retreat,0.579299432206,-0.00999880765037,1.07001159729,0.549870669089,-0.00132513476611,1.06966113423
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+382,6.366666667,pose2_to_pose3_retreat,0.578838443424,-0.00999876755195,1.0700118529,0.549409677904,-0.00132510332961,1.06966137735
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+384,6.400000000,pose2_to_pose3_retreat,0.578667466197,-0.00999872955233,1.07001171115,0.549238701078,-0.00132506371227,1.06966124289
+385,6.416666667,pose2_to_pose3_retreat,0.578595265498,-0.00999870138537,1.07001179111,0.549166499872,-0.00132503723061,1.06966132345
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+387,6.450000000,pose2_to_pose3_retreat,0.578476483356,-0.00999869470122,1.07001181833,0.549047716867,-0.00132503373402,1.06966134409
+388,6.466666667,pose2_to_pose3_retreat,0.578429867456,-0.00999875001146,1.0700117686,0.549001101656,-0.00132508678741,1.06966129225
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+390,6.500000000,pose2_to_pose3_retreat,0.578359376411,-0.0099987362955,1.07001180585,0.548930612291,-0.0013250671836,1.06966133406
+391,6.516666667,pose2_to_pose3_retreat,0.578333276839,-0.00999885780646,1.07001163847,0.548904512137,-0.00132519006143,1.06966118177
+392,6.533333333,pose2_to_pose3_retreat,0.5783120532,-0.00999887793886,1.07001164597,0.548883288508,-0.00132521042962,1.06966118255
+393,6.550000000,pose2_to_pose3_retreat,0.578294790197,-0.00999884171038,1.07001163006,0.548866025829,-0.00132517330531,1.06966116164
+394,6.566666667,pose2_to_pose3_retreat,0.578281330513,-0.00999878995864,1.07001155589,0.548852566578,-0.0013251198675,1.06966109281
+395,6.583333333,pose2_to_pose3_retreat,0.578271544686,-0.00999878858184,1.07001175116,0.548842781134,-0.00132511731843,1.06966128502
+396,6.600000000,pose2_to_pose3_retreat,0.578264973041,-0.00999873485275,1.07001179449,0.548836207053,-0.00132507192746,1.06966132653
+397,6.616666667,pose2_to_pose3_retreat,0.578261016317,-0.00999870503364,1.0700117708,0.548832248672,-0.00132504772732,1.06966130294
+398,6.633333333,pose2_to_pose3_retreat,0.578258579863,-0.00999873563353,1.07001163186,0.548829812475,-0.00132507727452,1.06966116846
+399,6.650000000,pose2_to_pose3_retreat,0.578257103888,-0.00999875417058,1.0700115477,0.548828336656,-0.00132509517388,1.069661087
+400,6.666666667,pose2_to_pose3_retreat,0.578255912724,-0.00999877935947,1.07001160751,0.548827146413,-0.00132511729175,1.06966114555
+401,6.683333333,pose2_to_pose3_retreat,0.578255004079,-0.00999880587403,1.0700117443,0.548826239036,-0.00132513963927,1.06966127893
+402,6.700000000,pose2_to_pose3_retreat,0.578254378236,-0.00999882413631,1.07001183852,0.548825614068,-0.00132515503146,1.06966137079
+403,6.716666667,pose2_to_pose3_retreat,0.578254072226,-0.00999883306578,1.07001188458,0.548825308485,-0.00132516255757,1.06966141571
+404,6.733333333,pose2_to_pose3_retreat,0.578254066282,-0.00999883323925,1.07001188548,0.548825302549,-0.00132516270377,1.06966141658
+405,6.750000000,pose2_to_pose3_retreat,0.578253935908,-0.00999883704359,1.07001190511,0.548825172357,-0.00132516591023,1.06966143572
+406,6.766666667,pose2_to_pose3_retreat,0.578253652886,-0.00999884486853,1.0700118801,0.548824889433,-0.00132517341092,1.06966141047
+407,6.783333333,pose2_to_pose3_retreat,0.578253377681,-0.00999885226746,1.07001182307,0.548824614181,-0.0013251809657,1.0696613536
+408,6.800000000,pose2_to_pose3_retreat,0.578253173446,-0.00999885775834,1.07001178074,0.548824409911,-0.00132518657225,1.0696613114
+409,6.816666667,pose2_to_pose3_retreat,0.578253163631,-0.00999885802222,1.07001177871,0.548824400094,-0.00132518684169,1.06966130937
+410,6.833333333,pose2_to_pose3_retreat,0.578253010946,-0.00999886212718,1.07001174707,0.548824247383,-0.00132519103312,1.06966127782
+411,6.850000000,pose2_to_pose3_retreat,0.578252778133,-0.00999886838641,1.07001169882,0.548824014529,-0.00132519742421,1.06966122971
+412,6.866666667,pose2_to_pose3_retreat,0.578252580405,-0.00999884733806,1.07001168546,0.548823816471,-0.00132517744033,1.06966121772
+413,6.883333333,pose2_to_pose3_retreat,0.5782524534,-0.00999880250302,1.07001170969,0.548823688902,-0.00132513442039,1.06966124432
+414,6.900000000,pose2_to_pose3_retreat,0.578252341001,-0.0099987628245,1.07001173113,0.548823576005,-0.00132509634821,1.06966126786
+415,6.916666667,pose2_to_pose3_retreat,0.57825217338,-0.00999870445479,1.07001175413,0.548823407626,-0.0013250404203,1.06966129414
+416,6.933333333,pose2_to_pose3_retreat,0.578252159593,-0.00999870533287,1.07001169255,0.548823393666,-0.0013250418262,1.06966123394
+417,6.950000000,pose2_to_pose3_retreat,0.578252148147,-0.00999870606183,1.07001164143,0.548823382078,-0.00132504299334,1.06966118396
+418,6.966666667,pose2_to_pose3_retreat,0.578252138491,-0.0099987066768,1.0700115983,0.548823372301,-0.00132504397797,1.0696611418
+419,6.983333333,pose2_to_pose3_retreat,0.578252134875,-0.00999870690709,1.07001158215,0.54882336864,-0.0013250443467,1.06966112601
+420,7.000000000,pose2_to_pose3_retreat,0.578252127511,-0.00999870737609,1.07001154926,0.548823361185,-0.00132504509761,1.06966109386
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+422,7.033333333,pose2_to_pose3_retreat,0.578252116129,-0.009998708101,1.07001149842,0.548823349661,-0.00132504625824,1.06966104416
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2d4e4c71979f21f418482407eecccd0512026cf9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81d1419634750fcb9a4c3ff8540e2a87ea94a4b5f29bccd73c489a2027b249cb
+size 26989239
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f3064c0152d1a20cba2c2fbc6dcd47673cd15651
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_03/franka_data.csv
@@ -0,0 +1,427 @@
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+27,0.450000000,BASELINE,764,743,712.261728462,673.738271538,660,633.738271538,877,784,801,649,629.738271538,651,0.400969146383,-0.0153733684205,0.0798397497196,0.999999924567,0.00026941336251,-0.000278471093027,2.71488039077e-05,1793196613054129152
+28,0.466666667,BASELINE,764.313726707,743,712.313726707,674,660,633.686273293,877,784.313726707,800.686273293,649,629.686273293,650.686273293,0.40096965289,-0.0153737874185,0.0798399735885,0.999999924994,0.000268685882546,-0.000277627214364,2.72641152516e-05,1793196613070795520
+29,0.483333333,BASELINE,764.889186732,743,712.889186732,674,660,633.110813268,877,784.889186732,800.110813268,649,629.110813268,650.110813268,0.400968952931,-0.0153756307039,0.0798393002789,0.999999925615,0.000266622343117,-0.000277351674165,2.7534421771e-05,1793196613087461888
+30,0.500000000,BASELINE,764.523606315,743,712.523606315,673.523606315,659.523606315,633.476393685,877.476393685,784.523606315,800.476393685,648.523606315,629,650.476393685,0.400969406933,-0.0153756895185,0.079839552195,0.99999992578,0.000266735587092,-0.000276656161009,2.74511524607e-05,1793196613104128512
+31,0.516666667,BASELINE,764.06514041,743,712,673.06514041,659,634,877.93485959,784,800.93485959,648.06514041,629.06514041,651,0.400969951073,-0.0153752875355,0.0798399217782,0.999999925775,0.000267403903848,-0.000276043359094,2.72949973071e-05,1793196613120794880
+32,0.533333333,BASELINE,764.643937824,743,712,673.643937824,659,634,877.356062176,784,800.356062176,648.643937824,629.643937824,651,0.400969035883,-0.0153746078248,0.0798394792516,0.999999925293,0.000268355568295,-0.000276872559164,2.72290367214e-05,1793196613137461504
+33,0.550000000,BASELINE,765,743,712.221709959,673.778290041,659.221709959,633.778290041,877.221709959,784.221709959,799.778290041,649,629.778290041,651,0.40096881756,-0.0153747587504,0.0798393865048,0.999999925237,0.000268368144331,-0.000277055117486,2.72960469257e-05,1793196613154128384
+34,0.566666667,BASELINE,765,743,712.797843041,673.202156959,659.797843041,633.202156959,877.797843041,784.797843041,799.202156959,649,629.202156959,651,0.400969713242,-0.0153762375222,0.0798398529122,0.999999925863,0.000266879503788,-0.000276203961287,2.75756227906e-05,1793196613170795264
+35,0.583333333,BASELINE,764.619354736,743,713,673,660,633.380645264,877.619354736,785,799.761290529,649,629.380645264,651,0.400970226179,-0.0153754460719,0.0798402606188,0.999999925978,0.000267070340182,-0.000275600228976,2.75986758563e-05,1793196613187462144
+36,0.600000000,BASELINE,764.032947379,743,713,673,660,633.967052621,877.032947379,785,800.934105242,649,629.967052621,651,0.400970532219,-0.0153734274275,0.0798406365941,0.999999925817,0.000268169036646,-0.00027513024436,2.74830626544e-05,1793196613204129024
+37,0.616666667,BASELINE,764,742.453181479,713,673,660,634,877,785,800.453181479,649,630,651,0.400969965833,-0.0153736416481,0.0798403288897,0.9999999255,0.000268796454193,-0.000275662654032,2.75259401194e-05,1793196613220795648
+38,0.633333333,BASELINE,764,742.125638792,712.874361208,673.125638792,659.874361208,633.874361208,877,785,800.125638792,648.874361208,630,651,0.400969357702,-0.0153738295535,0.079839876909,0.999999925169,0.000269285762644,-0.000276385539571,2.75446026809e-05,1793196613237462016
+39,0.650000000,BASELINE,764,742.702483065,712.297516935,673.702483065,659.297516935,633.297516935,877,785,800.702483065,648.297516935,630,651,0.400968786165,-0.0153734455913,0.0798390529536,0.999999924816,0.000269379835507,-0.000277578178735,2.74424189333e-05,1793196613254128384
+40,0.666666667,BASELINE,764.279377901,743,712.279377901,674,659,633.279377901,877,785,801,648.279377901,630,651,0.400968775033,-0.0153732501525,0.0798389126064,0.99999992456,0.000270254079405,-0.000277657781042,2.73685931985e-05,1793196613270795008
+41,0.683333333,BASELINE,764.856326556,743,712.856326556,674,659,633.856326556,877,785,801,648.856326556,630,651,0.400969360801,-0.0153732555136,0.0798395003837,0.999999924405,0.000271959298409,-0.000276551866399,2.73249721325e-05,1793196613287461632
+42,0.700000000,BASELINE,765,743,712.55958798,674,659.44041202,634,877.44041202,785,801,649,630,651,0.400968124793,-0.0153728325337,0.0798389369026,0.999999924155,0.000271878055046,-0.000277547202911,2.72091693338e-05,1793196613304128512
+43,0.716666667,BASELINE,764.973458795,743,712,674,660,633.973458795,878,784.973458795,801,648.973458795,630,651,0.400966500653,-0.0153723544062,0.0798381209617,0.99999992393,0.000271184754772,-0.000279043248206,2.7090518745e-05,1793196613320795392
+44,0.733333333,BASELINE,764.394054196,743,712,674,660,633.394054196,878,784.394054196,801,648.394054196,630,651,0.400969375146,-0.0153736862235,0.0798399983034,0.999999924938,0.000270081751408,-0.000276455224828,2.74111302128e-05,1793196613337462272
+45,0.750000000,BASELINE,764,742.815716995,712.184283005,674,660,633.184283005,878,784,801,648.184283005,630,651,0.400971467373,-0.015374864485,0.0798415177009,0.999999925903,0.000268673515891,-0.000274299431085,2.77368483283e-05,1793196613354128896
+46,0.766666667,BASELINE,764,742.23964915,712.76035085,674,660,633.76035085,878,784,801,648.76035085,630,651,0.400971896507,-0.0153757162877,0.0798422761107,0.999999926782,0.000266616358336,-0.000273062555932,2.80734231139e-05,1793196613370795264
+47,0.783333333,BASELINE,764.32938939,742.32938939,713,673.67061061,659.67061061,634,878,784,801,649,629.67061061,651,0.400971363985,-0.0153756325659,0.0798417221348,0.999999926658,0.000266354524024,-0.000273779788877,2.80072938421e-05,1793196613387461888
+48,0.800000000,BASELINE,764.893420635,742.893420635,713,673.106579365,659.106579365,634,878,784,801,649,629.106579365,651,0.400970146425,-0.0153748824195,0.0798402332759,0.999999925816,0.000267371595226,-0.000275889038449,2.76542967519e-05,1793196613404128256
+49,0.816666667,BASELINE,765,743,713,673,659.487960925,633.512039075,877.512039075,784,801,649,629.487960925,651,0.400970213282,-0.0153755446721,0.079840331094,0.999999925973,0.000267778160865,-0.000274913939119,2.77649735557e-05,1793196613420795136
+50,0.833333333,BASELINE,764.913571755,743,713,673.086428245,660,633,877.086428245,784,801.086428245,648.913571755,630,651,0.40097045401,-0.0153762909104,0.0798407013205,0.999999926308,0.000267751947174,-0.00027370777996,2.78799203186e-05,1793196613437461760
+51,0.850000000,BASELINE,764.33328149,743,713,673.66671851,660,633,877.66671851,784,801.66671851,648.33328149,630,651,0.400969978303,-0.01537563672,0.0798405157712,0.999999926338,0.000266065546521,-0.000275287524658,2.74019747704e-05,1793196613454128640
+52,0.866666667,BASELINE,764,743,712.754615986,673.754615986,660,633.245384014,878,784.245384014,801.754615986,648.245384014,630,651,0.400970275004,-0.0153746229401,0.0798407646098,0.999999926244,0.000266233791785,-0.00027548985495,2.71514059849e-05,1793196613470795520
+53,0.883333333,BASELINE,764,743,712.178142756,673.178142756,660,633.821857244,878,784.821857244,801.178142756,648.821857244,630,651,0.400971613889,-0.0153731239771,0.0798415995548,0.999999925983,0.000268904454686,-0.000273833681626,2.72076298045e-05,1793196613487462144
+54,0.900000000,BASELINE,764,743,712.405783073,673.405783073,660,634,878,784.594216927,801,649,630,650.594216927,0.400970839666,-0.0153736375759,0.0798409129532,0.99999992564,0.000269238253756,-0.000274728970994,2.74638684174e-05,1793196613504128768
+55,0.916666667,BASELINE,764,743,712.993041864,673.993041864,660,634,878,784.006958136,801,649,630,650.006958136,0.40096912041,-0.0153750512397,0.0798395458803,0.99999992526,0.00026852695238,-0.000276765334429,2.78095583407e-05,1793196613520795392
+56,0.933333333,BASELINE,764.572018336,743,713,673.427981664,660,633.427981664,877.427981664,784.572018336,801,649,629.427981664,650.572018336,0.400969429976,-0.0153739040997,0.0798399872137,0.999999925655,0.000267674046179,-0.000276212961516,2.73229201893e-05,1793196613537461760
+57,0.950000000,BASELINE,764.849803491,743,712.849803491,673.150196509,660,633,877,784.849803491,800.849803491,648.849803491,629.150196509,650.849803491,0.400969609968,-0.0153734952665,0.0798403085202,0.999999925977,0.000266826855174,-0.000275902929237,2.69712322389e-05,1793196613554128384
+58,0.966666667,BASELINE,764.273607947,743,712.273607947,673.726392053,660,633,877,784.273607947,800.273607947,648.273607947,629.726392053,650.273607947,0.400969353454,-0.015375267566,0.0798402278956,0.999999926067,0.000266000689977,-0.000276368281704,2.70306069455e-05,1793196613570795264
+59,0.983333333,BASELINE,764,743,712,673.697462328,659.697462328,633.302537672,877.302537672,784.302537672,800,648,630,650,0.400970331772,-0.0153751163811,0.0798408342318,0.999999926319,0.00026649504308,-0.000274968538171,2.71221082659e-05,1793196613587461888
+60,1.000000000,BASELINE,764,743,712,673.121361787,659.121361787,633.878638213,877.878638213,784.878638213,800,648,630,650,0.400972426657,-0.0153732259292,0.0798420617369,0.999999926708,0.000268183444985,-0.000271882323682,2.72426593591e-05,1793196613604128512
+61,1.016666667,BASELINE,764,743,712.464664425,673,659.464664425,633.535335575,877.535335575,784.535335575,800.464664425,648.464664425,630,650.464664425,0.400970390307,-0.0153733600585,0.0798409212414,0.999999925718,0.000269277088837,-0.000274452539006,2.70017040028e-05,1793196613620795392
+62,1.033333333,BASELINE,764,743,712.947372143,673,660,633.052627857,877.052627857,784,801,649,630,650.947372143,0.400967743187,-0.0153740587699,0.0798394087628,0.999999924606,0.00026992030165,-0.000277878717194,2.67173516584e-05,1793196613637462528
+63,1.050000000,BASELINE,764,743,712.366551862,673,660,633.633448138,877.633448138,784,801,649,630,650.366551862,0.400970031782,-0.0153750009319,0.0798405056849,0.99999992608,0.000267635901635,-0.000274744738983,2.69657568272e-05,1793196613654128896
+64,1.066666667,BASELINE,764,743,712.211562678,673.211562678,659.788437322,634,877.788437322,784,801,649,630,650.211562678,0.400971197898,-0.0153753213156,0.0798409524086,0.999999926709,0.000266692754969,-0.000273365272963,2.70054955158e-05,1793196613670795264
+65,1.083333333,BASELINE,764,743,712.785048434,673.785048434,659.214951566,634,877.214951566,784,801,649,630,650.785048434,0.400970443776,-0.0153745780148,0.0798402868289,0.999999925911,0.000268044108338,-0.000274987274417,2.66882656741e-05,1793196613687461888
+66,1.100000000,BASELINE,764.369352691,743,713,673.630647309,659.369352691,634,877,784,801,649,630,651,0.400970880023,-0.015374431362,0.0798405052668,0.999999925918,0.000267853044548,-0.000275131773675,2.68451455954e-05,1793196613704128256
+67,1.116666667,BASELINE,764.960142928,743,713,673.039857072,659.960142928,634,877,784,801,649,630,651,0.40097202993,-0.0153746424168,0.0798412536986,0.999999926408,0.000266737257321,-0.000274390467874,2.72862679479e-05,1793196613720794880
+68,1.133333333,BASELINE,764.460154214,742.460154214,712.460154214,673,659.460154214,633.460154214,877.539845786,784,801,648.460154214,629.460154214,651,0.400969823936,-0.0153746625895,0.0798408515287,0.999999926055,0.00026714042102,-0.000275298231454,2.71590134398e-05,1793196613737461504
+69,1.150000000,BASELINE,764,742.118097248,712.118097248,673,659,633,877.881902752,784,801,648.118097248,629.118097248,651,0.400968177385,-0.0153746457322,0.0798404968501,0.999999925825,0.000267305422265,-0.000275985122166,2.70204172977e-05,1793196613754128640
+70,1.166666667,BASELINE,764,742.693832528,712.693832528,673,659,633,877.306167472,784,801,648.693832528,629.693832528,651,0.400969639534,-0.0153745388928,0.0798406487675,0.999999926315,0.000266121694933,-0.000275353805232,2.69972114306e-05,1793196613770795520
+71,1.183333333,BASELINE,764,743,713,673,659.271915613,633.271915613,877,784,801,649,630,650.728084387,0.400969972418,-0.0153744885484,0.0798405061341,0.999999926111,0.000266796977428,-0.000275431367898,2.7114668286e-05,1793196613787462144
+72,1.200000000,BASELINE,764,743,713,673,659.852665342,633.852665342,877,784,801,649,630,650.147334658,0.400969022717,-0.0153745023696,0.0798400289583,0.999999925112,0.000269583670921,-0.000276314056023,2.73918859079e-05,1793196613804128512
+73,1.216666667,BASELINE,764.435801013,743,712.564198987,673.435801013,660,634,877.435801013,784,801.435801013,649,630,650.435801013,0.400969189735,-0.0153749146892,0.0798401273897,0.99999992484,0.000270528952083,-0.000276367403489,2.74877745177e-05,1793196613820795392
+74,1.233333333,BASELINE,764.980394586,743,712,673.980394586,660,634,877.980394586,784,801.980394586,649,630,651,0.400969705531,-0.0153754447567,0.0798403959623,0.999999924829,0.000270770859159,-0.000276167648629,2.75079958126e-05,1793196613837461760
+75,1.250000000,BASELINE,764.400655977,743,712,673.400655977,660,634,877.400655977,784,801.400655977,649,630,651,0.400969340294,-0.0153754686346,0.0798399351305,0.999999925198,0.000268801242105,-0.000276791371885,2.71274747499e-05,1793196613854128384
+76,1.266666667,BASELINE,764,743,712,673,660,634,877.177684517,784,800.822315483,649,630,651,0.400969486823,-0.0153757952858,0.0798400329536,0.999999925761,0.000266987238235,-0.000276516877779,2.70906750645e-05,1793196613870795264
+77,1.283333333,BASELINE,764,743,712,673,660,634,877.752897018,784,800.247102982,649,630,651,0.40097077831,-0.0153767993222,0.0798413806379,0.99999992676,0.000265521382965,-0.00027423283018,2.78228724294e-05,1793196613887462144
+78,1.300000000,BASELINE,764.334631947,743,712.334631947,673,660,634,878,784.334631947,800.334631947,649,630,651,0.400970276272,-0.0153765314687,0.0798411775421,0.999999926874,0.000264801196694,-0.000274525293279,2.77103297401e-05,1793196613904128512
+79,1.316666667,BASELINE,764.921278965,743,712.921278965,673,660,634,878,784.921278965,800.921278965,649,630,651,0.400968423509,-0.0153753057407,0.0798398065363,0.999999926321,0.000264642582175,-0.000276758155575,2.69616038122e-05,1793196613920795392
+80,1.333333333,BASELINE,764.498392985,743,713,673,660,634,877.498392985,785,801,649,630,651,0.400968828882,-0.0153754645268,0.0798401760745,0.999999926335,0.000265378111982,-0.000275994909364,2.70534260615e-05,1793196613937462016
+81,1.350000000,BASELINE,764.080695109,743,712.919304891,673,659.919304891,633.919304891,877,785,801,649,630,651,0.400969446115,-0.0153756809159,0.0798406284139,0.999999926354,0.00026623217611,-0.000275088709311,2.71866781111e-05,1793196613954128640
+82,1.366666667,BASELINE,764.65817855,743,712.34182145,673,659.34182145,633.34182145,877,785,801,649,630,651,0.400969213033,-0.0153749309017,0.0798399297751,0.999999925875,0.000266962836446,-0.000276161157156,2.6772981787e-05,1793196613970795264
+83,1.383333333,BASELINE,765,743,712.233746136,673,659,633.233746136,877.233746136,785,800.766253864,649,630,651,0.400969107026,-0.0153744949257,0.079839898806,0.999999925422,0.000268431402598,-0.000276385653504,2.66863641611e-05,1793196613987462144
+84,1.400000000,BASELINE,765,743,712.806534913,673,659,633.806534913,877.806534913,785,800.193465087,649,630,651,0.400969185337,-0.0153745144536,0.0798408362742,0.999999925004,0.000270970281884,-0.000275380218605,2.7074165547e-05,1793196614004128768
+85,1.416666667,BASELINE,765,743,713,673.391712506,659.391712506,634,878,785,800.391712506,649,630,651,0.4009697723,-0.0153755985901,0.0798408392856,0.999999925319,0.00026994578644,-0.000275239698624,2.71054953179e-05,1793196614020795136
+86,1.433333333,BASELINE,765,743,713,673.983208689,659.983208689,634,878,785,800.983208689,649,630,651,0.40097061869,-0.015377225705,0.0798403656994,0.999999926003,0.000267103876056,-0.000275540308046,2.69550151706e-05,1793196614037461760
+87,1.450000000,BASELINE,764.438582886,743,712.438582886,673.438582886,660,634,878,784.438582886,801,648.438582886,630,651,0.400970151268,-0.0153757891743,0.0798409884047,0.999999925781,0.000268479126075,-0.000275006655839,2.69954597159e-05,1793196614054128896
+88,1.466666667,BASELINE,764,743,712,673,660,633.860941834,878.139058166,784,800.860941834,648.139058166,630,651,0.400969955759,-0.0153746243346,0.0798415021445,0.999999925604,0.000269607243546,-0.000274545444284,2.70088118374e-05,1793196614070795776
+89,1.483333333,BASELINE,764,743,712,673,660,633.283865089,878.716134911,784,800.283865089,648.716134911,630,651,0.400970737661,-0.0153745972447,0.079841571761,0.999999925659,0.000269568808481,-0.000274389191407,2.69192546175e-05,1793196614087462144
+90,1.500000000,BASELINE,764,743,712,673.291942953,659.708057047,633,878.416114093,784.291942953,800.291942953,648.708057047,630,651,0.400970292308,-0.0153748792238,0.0798409282952,0.999999925752,0.00026879199638,-0.000274815826017,2.68872676405e-05,1793196614104128768
+91,1.516666667,BASELINE,764,743,712,673.866522702,659.133477298,633,877.266954595,784.866522702,800.866522702,648.133477298,630,651,0.400968658821,-0.01537546042,0.079839594478,0.999999925878,0.000267300344215,-0.000275806767633,2.69110157662e-05,1793196614120795136
+92,1.533333333,BASELINE,764,743,712,673.546710622,659,633,877,784.546710622,801,648.453289378,629.546710622,651,0.400968647936,-0.0153735027362,0.0798396125092,0.999999925432,0.000268717381529,-0.000276067674334,2.67185880725e-05,1793196614137461760
+93,1.550000000,BASELINE,764,743,712,673,659.042681463,633,877,784.042681463,801,649,629.042681463,651,0.400969121051,-0.015371203627,0.0798400268883,0.999999924894,0.000270714691599,-0.000276082597932,2.65159112084e-05,1793196614154128384
+94,1.566666667,BASELINE,764,743,712,673,659.618795785,633,877,784.618795785,801,649,629.618795785,651,0.400969506704,-0.0153742391413,0.0798402822847,0.999999925436,0.000268963916268,-0.000275784133693,2.70026927215e-05,1793196614170795008
+95,1.583333333,BASELINE,764,743,712.195506754,673.195506754,660,633.195506754,877,784.804493246,801,648.804493246,630,651,0.400969526055,-0.0153758576631,0.0798403131083,0.999999925751,0.000267958040693,-0.000275598657476,2.72323876459e-05,1793196614187461632
+96,1.600000000,BASELINE,764,743,712.773384746,673.773384746,660,633.773384746,877,784.226615254,801,648.226615254,630,651,0.400968828996,-0.0153747048379,0.0798399047135,0.999999925628,0.000268409036432,-0.000275634162677,2.6959273852e-05,1793196614204128768
+97,1.616666667,BASELINE,764,743,713,673.642583727,660,634,877,784,801,648.357416273,630,651,0.40096876345,-0.0153751903476,0.0798400588886,0.999999925778,0.000267824682257,-0.00027565331906,2.69934359288e-05,1793196614220795648
+98,1.633333333,BASELINE,764,743,713,673.054582315,660,634,877,784,801,648.945417685,630,651,0.400969105322,-0.0153767328203,0.0798405760024,0.999999926104,0.000266572377761,-0.00027566192809,2.72258353571e-05,1793196614237462272
+99,1.650000000,BASELINE,764,743.527299636,713,673.527299636,660,634,877,784.527299636,801,649,630,651,0.400968343692,-0.0153756941758,0.0798399483908,0.999999925762,0.000267327942805,-0.000276209086449,2.68323273946e-05,1793196614254128640
+100,1.666666667,BASELINE,764.107435162,743.892564838,712.892564838,674,660,634,877.107435162,785,801,648.892564838,630,651,0.400967810438,-0.0153746500999,0.0798395128398,0.999999925382,0.000268393086015,-0.000276578427648,2.65605834021e-05,1793196614270795008
+101,1.683333333,BASELINE,764.682692591,743.317307409,712.317307409,674,660,634,877.682692591,785,801,648.317307409,630,651,0.400968763326,-0.015374732447,0.0798404236667,0.999999925137,0.000269911625034,-0.000275933508407,2.70979427052e-05,1793196614287461888
+102,1.700000000,BASELINE,764.741862306,743,712,673.741862306,659.741862306,634,877.741862306,784.741862306,801,648.258137694,629.741862306,651,0.400969561691,-0.0153752165828,0.0798410979241,0.999999925602,0.000268851813297,-0.000275276903056,2.71572594785e-05,1793196614304129024
+103,1.716666667,BASELINE,764.166186386,743,712,673.166186386,659.166186386,634,877.166186386,784.166186386,801,648.833813614,629.166186386,651,0.400970169975,-0.0153761949636,0.0798414811745,0.999999926929,0.000264620341734,-0.000274605922528,2.66285304517e-05,1793196614320795648
+104,1.733333333,BASELINE,764,743,712,673,659,634,877.420787362,784.420787362,801,649,629,651,0.400970620573,-0.0153751785446,0.0798418071046,0.999999926839,0.000265662632906,-0.000273918148232,2.6737945323e-05,1793196614337462528
+105,1.750000000,BASELINE,764,743,712,673,659.012091005,634,877.987908995,784.987908995,800.987908995,649,629.012091005,651,0.400970952869,-0.0153734197992,0.0798420744613,0.999999926174,0.000268764247726,-0.000273283859589,2.70944383039e-05,1793196614354129152
+106,1.766666667,BASELINE,764,743,712,673,659.591420154,634,877.408579846,784.408579846,800.408579846,649,629.591420154,651,0.400968737325,-0.0153748155137,0.0798406852492,0.999999925764,0.000268067250351,-0.000275478548072,2.68924230443e-05,1793196614370795776
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,713,673,659,634,877,785,801,649,630,651,0.400969249714,-0.0153722094647,0.0798397524122,0.999999925255,0.000270150652114,-0.000275284372602,2.6976212838e-05,1793196614411802880
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,743,712.406743328,673,659.593256672,634,877,784.406743328,801,648.406743328,630,651,0.400969484252,-0.0153735644626,0.0798404893229,0.999999925669,0.000268948412637,-0.000274955411464,2.69784653664e-05,1793196614428469760
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.817967847,743,712.182032153,673,660,634,877,784,801,648.182032153,630,651,0.400969307049,-0.0153743658938,0.0798406433116,0.999999925792,0.000268238122765,-0.000275209593859,2.69167714829e-05,1793196614445136128
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.238964719,743,712.761035281,673,660,634,877,784,801,648.761035281,630,651,0.40096823193,-0.0153739601213,0.0798395260791,0.999999925279,0.000268600663539,-0.000276735480413,2.67156249306e-05,1793196614461802752
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742.661977377,712.661977377,673.338022623,659.661977377,634,877,784,801,649,630,650.661977377,0.400968873822,-0.0153740651171,0.0798399487092,0.999999925395,0.000268813671777,-0.000276102293124,2.67748455018e-05,1793196614478469376
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742.08640668,712.08640668,673.91359332,659.08640668,634,877,784,801,649,630,650.08640668,0.400970722356,-0.0153745290595,0.07984145349,0.999999925951,0.000268921594819,-0.000273951799507,2.70170411422e-05,1793196614495136000
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.486938716,712,673.513061284,659.486938716,634,877.486938716,784.486938716,801,649,629.513061284,650.486938716,0.40097033761,-0.0153744052094,0.0798412397981,0.999999926099,0.00026786990085,-0.000274457078593,2.68369387854e-05,1793196614511802880
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659.938104572,634,877.938104572,784.938104572,801,649,629.061895428,651,0.400969884332,-0.0153744331222,0.0798408720719,0.999999926256,0.000266582810548,-0.00027515554618,2.66465666478e-05,1793196614528469248
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659.34597701,634,877.34597701,784.34597701,801,649,629.65402299,651,0.400972223398,-0.015376650581,0.0798417852137,0.999999927115,0.000265033927135,-0.000273490226714,2.70072447477e-05,1793196614545135872
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,743,712,673.240645594,659.240645594,634,877,784,801,649,630,651,0.40097877413,-0.0153777744097,0.0798447823895,0.999999928363,0.000265185650068,-0.000268710748367,2.729436372e-05,1793196614561802496
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,743,712,673.819530653,659.819530653,634,877,784,801,649,630,651,0.400991244568,-0.0153773610863,0.0798507087797,0.999999930099,0.000267727660724,-0.000259554163478,2.74780916132e-05,1793196614578469376
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,743,712,673.60417941,659.60417941,633.60417941,877.39582059,784,801,649,630,651,0.401019045672,-0.0153774539864,0.0798621857163,0.999999935259,0.000267825427606,-0.000238673394068,2.80631201546e-05,1793196614595136256
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,743,712,673.029064928,659.029064928,633.029064928,877.970935072,784,801,649,630,651,0.401053791072,-0.0153777761894,0.0798761768708,0.999999941415,0.000266816031393,-0.000212481948337,2.88299248763e-05,1793196614611802880
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.558418855,743,712,673,659,633,878,784,800.441581145,649,630,651,0.401113366859,-0.0153819650289,0.079893648332,0.999999949293,0.000263824341579,-0.000175922530719,2.93711216542e-05,1793196614628469504
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,743,712.144357912,673,659.144357912,633,878,784,800.288715825,649,629.855642088,651,0.401177734344,-0.0153856712154,0.0799099207346,0.999999954841,0.000261881835199,-0.000144439952628,2.95445921796e-05,1793196614645136128
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,743,712.723659233,673,659.723659233,633,878,784,801.447318466,649,629.276340767,651,0.401252556894,-0.0153873030916,0.0799220222914,0.999999956456,0.00026341837289,-0.000129916373675,2.86463027805e-05,1793196614661802752
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,743,712.698363864,673.301636136,660,633.301636136,877.698363864,784,801.698363864,649,629.301636136,651,0.401333271108,-0.0153892110995,0.0799292028812,0.999999957837,0.000263473429386,-0.000119192222661,2.64588778329e-05,1793196614678469632
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,743,712.121595042,673.878404958,660,633.878404958,877.121595042,784,801.121595042,649,629.878404958,651,0.401419359308,-0.0153913709766,0.0799318948871,0.9999999591,0.000262177175909,-0.000111933661315,2.30955881095e-05,1793196614695136256
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,634,877.453238962,784.453238962,801,649,630,651,0.401523064732,-0.0153959483397,0.0799342261593,0.999999961033,0.000257129441023,-0.000107015003762,1.91291184521e-05,1793196614711802880
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,743,712.028325637,674,660,634,877.971674363,785,801,649,630,651,0.401632774959,-0.0154010832221,0.0799365108506,0.99999996309,0.000251128025538,-0.000102626492859,1.49444905569e-05,1793196614728469504
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,743,712.618681403,674,660,634,877.381318597,785,801,649,630,651,0.40176825054,-0.0154044663288,0.0799397833754,0.999999965032,0.000246088724693,-9.63543080201e-05,9.62838879522e-06,1793196614745136128
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,712.795456483,673.795456483,660,634,877.204543517,785,801,649,630,651,0.401917016177,-0.0154092203677,0.0799435872012,0.999999967495,0.000238670463163,-8.96157311118e-05,3.82189581923e-06,1793196614761802496
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,712.217791602,673.217791602,660,634,877.782208398,785,801,649,630,651,0.402090025066,-0.0154164752146,0.0799483602079,0.999999970887,0.00022691258257,-8.20263782508e-05,-2.87915164013e-06,1793196614778469120
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,712,673.359501007,660.359501007,634,878,784.640498993,801.359501007,649,630,651,0.40227141057,-0.0154223503289,0.0799470654101,0.999999974762,0.000207806677826,-8.46803391504e-05,-1.10100947095e-05,1793196614795136000
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,743,712,673.936568375,660.936568375,634,878,784.063431625,801.936568375,649,630,651,0.402457865533,-0.0154273904438,0.0799420984391,0.999999978451,0.000184253822181,-9.35334488458e-05,-2.00063967357e-05,1793196614811802880
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,743,712.521611111,673.478388889,660.478388889,634,877.478388889,784.521611111,801.478388889,649,630,651,0.402668662419,-0.0154345172064,0.0799374082868,0.999999988248,0.000111051422518,-0.00010202585741,-2.76160628586e-05,1793196614828469504
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+134,2.233333333,POSE1_TO_POSE2_PRESS,764.310922602,743,712.310922602,673,660,634,877,785,801,649,630,650.310922602,0.403174171714,-0.015451284236,0.0799373158195,0.99999998964,0.000103255575404,-9.77652283729e-05,-2.23603964535e-05,1793196614861803008
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+136,2.266666667,POSE1_TO_POSE2_PRESS,764.846704512,743,712,673.846704512,660,633.153295488,878.693409024,785,801,648.153295488,629.153295488,650.846704512,0.403809176783,-0.0154627484285,0.0799498316159,0.999999992675,8.83169407909e-05,-7.78393880337e-05,-2.81219812534e-05,1793196614895136000
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+144,2.400000000,POSE1_TO_POSE2_PRESS,764,743,712.478332726,673.521667274,660,633.521667274,878,784.521667274,801.521667274,649,630,651,0.407211033576,-0.015552977777,0.079920485075,0.999999990934,-4.41112978569e-05,-0.000120922646412,-3.95568642611e-05,1793196615028469504
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743,712.945146173,673.054853827,660,633.054853827,878.054853827,784,801,649,630,651,0.407725246794,-0.0155278094046,0.0799175560224,0.999999990743,-1.11006827243e-05,-0.000129311421424,-4.08567702658e-05,1793196615045135872
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,712.353307818,673.646692182,660,633.646692182,878.646692182,784,801,649,630,651,0.408262543736,-0.0155128637268,0.0799062300948,0.999999987703,2.28724036072e-06,-0.000150620293905,-4.36266554055e-05,1793196615061803008
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,712,673.767660105,660,634,878.767660105,784,801.232339895,649,629.767660105,651,0.408845979646,-0.0155116355099,0.07991038881,0.999999988414,-1.44630785789e-07,-0.000145331697063,-4.52830470923e-05,1793196615078469888
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,712,673.19118191,660,634,878.19118191,784,801.80881809,649,629.19118191,651,0.409497755856,-0.0155307253871,0.0799374831418,0.999999993571,-2.60085399882e-05,-0.000100647334029,-4.52901490912e-05,1793196615095136768
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.384334074,743,712.384334074,673.384334074,660,634,878,784.384334074,801.615665926,649,629.384334074,651,0.410183486991,-0.0155420436063,0.079966621051,0.999999996706,-4.21927090044e-05,-5.32994579497e-05,-4.43489018364e-05,1793196615111803392
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.959372598,743,712.959372598,673.959372598,660,634,878,784.959372598,801.040627402,649,629.959372598,651,0.410886066355,-0.0155495055709,0.0799967729711,0.999999997632,-5.35738434587e-05,-4.62996265906e-06,-4.29370888551e-05,1793196615128470016
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.454281004,743,712.454281004,674,660.545718996,633.454281004,878,784.454281004,801,649,630,651,0.411532244637,-0.0155468715869,0.0799786490171,0.999999996398,-6.06391912738e-05,-3.65336012762e-05,-4.68136352488e-05,1793196615145136640
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,712.131436443,674,660.868563557,633,878,784,801,649,629.868563557,651,0.412183889226,-0.0155417738265,0.0799523318175,0.999999993612,-6.34277131928e-05,-7.81088816255e-05,-5.14877812246e-05,1793196615161803008
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,743,712.712066338,674,660.287933662,633,878,784,801,649,629.287933662,651,0.412868868913,-0.0155308789955,0.0799105563282,0.99999998827,-5.27211734547e-05,-0.000131803718894,-5.75137945164e-05,1793196615178469632
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.290916461,743,713,673.709083539,660,633.290916461,878,784.290916461,801.290916461,649,629.290916461,651,0.413601813504,-0.0155263372034,0.0798972873085,0.999999986467,-5.15747843211e-05,-0.000143918405739,-6.07731747647e-05,1793196615195136000
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.86801584,743,713,673.13198416,660,633.86801584,878,784.86801584,801.86801584,649,629.86801584,651,0.414381942636,-0.0155280450778,0.0799120609207,0.999999989703,-5.98329900579e-05,-0.000115129505174,-6.13109390477e-05,1793196615211802880
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.557142049,743,713,673.885715903,660,633.557142049,878,785,801.557142049,649,630,651,0.41518707904,-0.0155336004926,0.0799358498488,0.999999993227,-6.18244064763e-05,-7.93836384583e-05,-5.84950142934e-05,1793196615228469760
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.017566582,743,713,674.982433418,660,633,878,784.982433418,801,649,629.982433418,651,0.415998213931,-0.0155401334135,0.0799609135747,0.999999995596,-6.22863675308e-05,-4.37812712346e-05,-5.4879244898e-05,1793196615245136640
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.609805696,743,713,674.390194304,660,633,878,784.390194304,801,649,629.390194304,651,0.416763008211,-0.0155413223744,0.0799402303028,0.999999992409,-7.35031527295e-05,-8.03575200308e-05,-5.76289744186e-05,1793196615261803264
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,712.802835029,674,660,633.197164971,878,784.197164971,801,649,629.197164971,651,0.417569810919,-0.015541213007,0.0799363270432,0.999999991804,-7.77902681932e-05,-8.2816531145e-05,-5.90111846394e-05,1793196615278469632
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743,712.224899861,674,660,633.775100139,878,784.775100139,801,649,629.775100139,651,0.418457741363,-0.0155385962737,0.0799648297872,0.999999995785,-6.86946218594e-05,-1.93874301553e-05,-5.77524053052e-05,1793196615295136256
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.649350216,743,712,674,660,633.649350216,878,784.649350216,801.350649784,649,629.649350216,651,0.419320501264,-0.0155362842442,0.0799748321897,0.999999996363,-6.31026105126e-05,2.40204026498e-06,-5.73175442171e-05,1793196615311803136
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.07532028,743,712,674,660,633.07532028,878,784.07532028,801.92467972,649,629.07532028,651,0.420167226329,-0.0155341663251,0.0799730490167,0.999999996565,-5.97425773763e-05,-2.33486479964e-06,-5.74075573595e-05,1793196615328470016
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712.495421626,674.495421626,660,633.495421626,878,784.495421626,801.504578374,649,629.495421626,651,0.42103260325,-0.0155374479481,0.0799616891904,0.999999996248,-6.21900002795e-05,-1.95387980568e-05,-5.70439217439e-05,1793196615345136384
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,712.931123017,674.931123017,660,633.931123017,878.068876983,785,801.068876983,649,630,651,0.421904603688,-0.0155418000952,0.0799537948568,0.999999995688,-6.64781466644e-05,-3.19180514043e-05,-5.64354419255e-05,1793196615361802752
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,712.333002309,674.333002309,660,633.333002309,878.666997691,785,801.666997691,649,630,651,0.42280585258,-0.0155481118614,0.0799836427446,0.999999995435,-7.81706609836e-05,7.2430606431e-06,-5.44720646326e-05,1793196615378469632
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,712,674.254335823,660,633,878.745664177,785,802,649,629.745664177,651,0.423676436134,-0.0155484369664,0.0799909977368,0.999999994598,-8.81361529631e-05,6.19645499715e-06,-5.47505753945e-05,1793196615395136512
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,712,674.828130564,660,633,878.171869436,785,802,649,629.171869436,651,0.424508502559,-0.0155412425168,0.0799701004954,0.999999992697,-9.59324172964e-05,-4.53531139207e-05,-5.78450129745e-05,1793196615411803392
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,712,675,660.403325485,633,878.403325485,785,801.596674515,649,629.403325485,651,0.425367369748,-0.0155363828153,0.0799354400618,0.999999989954,-8.46312652608e-05,-9.53792776843e-05,-6.1905047114e-05,1793196615428470016
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,712,675,660.979119108,633,878.979119108,785,801.020880892,649,629.979119108,651,0.426237697303,-0.0155325214882,0.0798948942783,0.999999985197,-6.51637656348e-05,-0.000144754006864,-6.63779848042e-05,1793196615445136384
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.571145701,743,712.571145701,675,660.428854299,633.571145701,878.428854299,784.428854299,801,649,629.428854299,651,0.427147477887,-0.0155358007015,0.0798951291036,0.999999985458,-7.50870710999e-05,-0.000137282762945,-6.7815389372e-05,1793196615461803008
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.840282692,743,712.840282692,675,660.159717308,633.840282692,878.159717308,784,801,649,629.159717308,651,0.428052007556,-0.0155392661715,0.0799011780713,0.999999986202,-8.276304511e-05,-0.000127061280019,-6.78395468195e-05,1793196615478469632
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.262357164,743,712.262357164,675,660.737642836,633.262357164,878.737642836,784,801,649,629.737642836,651,0.428938900763,-0.0155425157892,0.07991843287,0.999999987948,-8.16586913212e-05,-0.000115239483691,-6.44623074829e-05,1793196615495136512
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.310628306,743,712,675,660.689371694,633,879,784,801,649,630,651,0.429838835205,-0.0155449504037,0.0799485302563,0.999999991961,-8.27739139014e-05,-7.40461594991e-05,-6.11878867821e-05,1793196615511802880
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.879506681,743,712,675,660.120493319,633,879,784,801,649,630,651,0.430749611822,-0.015546707441,0.0799893047085,0.999999994607,-8.57344470259e-05,-8.43394332427e-06,-5.79989473765e-05,1793196615528469760
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.530615674,743.469384326,712,675,660.469384326,633.469384326,878.530615674,784.469384326,801,649,629.530615674,651,0.431638311626,-0.0155495256391,0.0800072683879,0.999999995204,-7.85229276291e-05,1.73520802135e-05,-5.5908461157e-05,1793196615545136384
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743.936881265,712,674.936881265,661,634,878.063118735,785,801.12623747,649,629.063118735,651,0.432508496686,-0.0155518168316,0.0800099067316,0.999999995845,-7.01721017561e-05,1.90138578009e-05,-5.50016416707e-05,1793196615561803008
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743.357750783,712,674.357750783,661,634,878.642249217,785,802.284498434,649,629.642249217,651,0.433275819309,-0.0155474683371,0.0799373698579,0.999999991351,-7.48542891915e-05,-8.90514979786e-05,-6.13583923905e-05,1793196615578469632
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.219654267,743,712,674.219654267,660.780345733,634,879,785,802.780345733,649,630,651,0.43406937555,-0.0155458277597,0.0798918845714,0.999999983309,-7.61096262491e-05,-0.000152427843117,-6.59997930943e-05,1793196615595136256
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.7942711,743,712,674.7942711,660.2057289,634,879,785,802.2057289,649,630,651,0.434905325589,-0.0155485631911,0.0798901147949,0.999999984809,-7.18271551756e-05,-0.00014358650726,-6.78691802035e-05,1793196615611802880
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,743,712,675,660.368750895,634,879,785,802,649,629.631249105,651,0.435725695188,-0.0155518124459,0.079914600447,0.99999998787,-8.60745308555e-05,-0.000111828186656,-6.59275963019e-05,1793196615628469248
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660.943154229,634,879,785,802,649,629.056845771,651,0.436537375522,-0.0155553482599,0.0799537287562,0.9999999897,-0.000110656005421,-6.72890599027e-05,-6.18606329435e-05,1793196615645135872
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.466373495,743,712.533626505,675,661,634,879,785,802,649,629.533626505,651,0.437351626528,-0.0155590221021,0.0799804067001,0.999999992338,-0.000105607375236,-2.63279363964e-05,-5.89723327216e-05,1793196615661802752
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.123616321,743.123616321,712.876383679,675.123616321,661,634,879,785,802,649,629.876383679,651,0.43815244649,-0.0155624548152,0.0800006989248,0.999999993319,-0.000100287969432,7.1154862448e-06,-5.70409538315e-05,1793196615678469632
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.705278684,743.705278684,712.294721316,675.705278684,661,634,879,785,802,649,629.294721316,651,0.438902453025,-0.0155649378776,0.0800023966485,0.999999992587,-0.000106024089688,1.41591074881e-05,-5.81756450603e-05,1793196615695136256
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.716709137,743.716709137,712,676,661,633.716709137,879,785,801.716709137,649,629,651,0.439606498402,-0.0155663853609,0.079984136388,0.999999991524,-0.000114740643269,-1.08695250409e-05,-6.05610932771e-05,1793196615711803136
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.142446149,743.142446149,712,676,661,633.142446149,879,785,801.142446149,649,629,651,0.440263336368,-0.0155667691859,0.0799453769946,0.999999987564,-0.00012651844219,-6.8840031633e-05,-6.42312117818e-05,1793196615728469504
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.432325386,743,712,676,661,633,879.432325386,785,801,649,629.432325386,651,0.44086252347,-0.0155630703533,0.0798826482392,0.999999975934,-0.000126510816943,-0.000165544662947,-6.87169914375e-05,1793196615745136384
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,743.007450975,712,676,661,633,879.985098051,784.992549025,801.007450975,649,630,651,0.441443698758,-0.0155581451649,0.0798131594218,0.999999952468,-0.000122729489027,-0.000273151354833,-7.34221110421e-05,1793196615761802752
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,743.597130239,712,676,661,633,878.805739523,784.402869761,801.597130239,649,630,651,0.442103468027,-0.015562629483,0.0798332883221,0.999999961643,-0.000127858700292,-0.00023421066424,-7.42414973483e-05,1793196615778469376
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.816090163,743.816090163,712,676,660.816090163,633,878.551729512,784,802,649,630,651,0.442756102104,-0.0155697417918,0.0798638521238,0.999999971589,-0.000134292936318,-0.000183093641347,-7.25599587428e-05,1793196615795136000
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.235563817,743.235563817,712,676,660.235563817,633,880.29330855,784,802,649,630,651,0.443393348686,-0.0155825215771,0.0799169196417,0.999999981966,-0.000143541565091,-0.000105717360771,-6.54849723905e-05,1793196615811803136
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.339988885,743,712.339988885,676,660.339988885,633,880.32002223,784,802,649,630,651,0.443959241086,-0.0155881043563,0.0799340216284,0.999999983469,-0.000148547727441,-8.39308831157e-05,-6.285817729e-05,1793196615828469760
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.91214521,743,712.91214521,676,660.91214521,633,879.175709581,784,802,649,630,651,0.444476407979,-0.0155887725315,0.0799265639111,0.999999981639,-0.000150656846196,-0.000100104893189,-6.32689090756e-05,1793196615845136384
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,743,712.509997836,676,661,632.509997836,879.490002164,783.509997836,802,649,629.509997836,651,0.444938432202,-0.0155918696238,0.0798940325678,0.999999974504,-0.000151908903083,-0.000153962243725,-6.48987030453e-05,1793196615861803008
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.929796274,743,712,676,660.929796274,632.070203726,879.929796274,783,802,649,629,651,0.445390182112,-0.0155955255248,0.0798595140153,0.999999963896,-0.000153888859517,-0.00020992996266,-6.67470590721e-05,1793196615878469888
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.339893536,743,712,676,660.339893536,632.660106464,879.339893536,783,802,649,629,651,0.4458399248,-0.0156000563583,0.0798439558857,0.999999957799,-0.000162408203215,-0.000230915482513,-6.85763020867e-05,1793196615895136512
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,712.245498834,676,660,633,879,783,801.754501166,649,629,651,0.446273261769,-0.0156054903538,0.0798299480507,0.999999952787,-0.000169758761047,-0.000246451126914,-6.97904025488e-05,1793196615911802880
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,712.824759203,676,660,633,879,783,801.175240797,649,629,651,0.446684294735,-0.0156121522192,0.0798180478795,0.99999994973,-0.000175520325938,-0.000254577533755,-7.01682018891e-05,1793196615928469504
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,712.601082138,676,660,632.601082138,879,783,801.398917862,649,629,651,0.44706139281,-0.0156180585634,0.0798087042397,0.999999946255,-0.000182897173547,-0.000262785775443,-7.05918794565e-05,1793196615945136384
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,712.029136261,676,660,632.029136261,879,783,801.970863739,649,629,651,0.447423771882,-0.0156236372057,0.0798004694777,0.999999942513,-0.000190974639956,-0.000271029513138,-7.10354564315e-05,1793196615961803520
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..93d1aa37b90574445ffa3c97f05cb59571dea4af
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_03/simulation_data.csv
@@ -0,0 +1,427 @@
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+397,6.616666667,pose2_to_pose3_retreat,0.578273922634,-0.00999862968068,1.07001152633,0.54884515512,-0.00132497171977,1.06966106408
+398,6.633333333,pose2_to_pose3_retreat,0.578266416748,-0.00999861409604,1.07001169679,0.548837649512,-0.00132495536578,1.06966123013
+399,6.650000000,pose2_to_pose3_retreat,0.578261706721,-0.00999862022894,1.07001182433,0.548832939719,-0.00132496079161,1.06966135533
+400,6.666666667,pose2_to_pose3_retreat,0.578258754093,-0.00999862589923,1.07001187429,0.548829986623,-0.00132496800821,1.06966140628
+401,6.683333333,pose2_to_pose3_retreat,0.578257194008,-0.00999862881522,1.07001188422,0.548828426376,-0.00132497144834,1.0696614168
+402,6.700000000,pose2_to_pose3_retreat,0.578256174297,-0.00999863029281,1.07001180257,0.548827407017,-0.00132497170098,1.06966133591
+403,6.716666667,pose2_to_pose3_retreat,0.578255500719,-0.00999863126884,1.07001174863,0.548826733672,-0.00132497186786,1.06966128248
+404,6.733333333,pose2_to_pose3_retreat,0.578255275446,-0.00999863159527,1.07001173059,0.548826508477,-0.00132497192368,1.06966126461
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+406,6.766666667,pose2_to_pose3_retreat,0.578254932349,-0.00999863209242,1.07001170312,0.548826165498,-0.00132497200868,1.06966123739
+407,6.783333333,pose2_to_pose3_retreat,0.578254750662,-0.00999863235569,1.07001168857,0.548825983874,-0.0013249720537,1.06966122298
+408,6.800000000,pose2_to_pose3_retreat,0.578254650965,-0.00999863250016,1.07001168059,0.548825884211,-0.0013249720784,1.06966121507
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+410,6.833333333,pose2_to_pose3_retreat,0.578254538163,-0.00999863266361,1.07001167155,0.548825771448,-0.00132497210635,1.06966120612
+411,6.850000000,pose2_to_pose3_retreat,0.578254321627,-0.00999863298829,1.07001165433,0.548825554987,-0.0013249721723,1.06966118907
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+413,6.883333333,pose2_to_pose3_retreat,0.578254098661,-0.00999863626777,1.07001166881,0.54882533198,-0.00132497556043,1.06966120424
+414,6.900000000,pose2_to_pose3_retreat,0.578253916985,-0.00999863893992,1.0700116806,0.548825150271,-0.00132497832112,1.0696612166
+415,6.916666667,pose2_to_pose3_retreat,0.578253725589,-0.00999864175505,1.07001169302,0.548824958841,-0.00132498122951,1.06966122962
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+417,6.950000000,pose2_to_pose3_retreat,0.578253307101,-0.00999864791033,1.07001172018,0.548824540277,-0.00132498758873,1.06966125809
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d2707c3845992ec7c72befdb961875b78261c8ef
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b9e6dbf0bbe9428029c1d77a8bce4482b7c64fe36d2cb9e6ce506d4d0281b6b
+size 27010977
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5d671dc51ace3239b87e1834f1da860f126c8e91
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_04/franka_data.csv
@@ -0,0 +1,427 @@
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+27,0.450000000,BASELINE,765,743,712,674,660,634,877.656686068,784.656686068,801,649,630,650.656686068,0.40096980761,-0.0153743832783,0.0798394285937,0.999999925823,0.000266058649695,-0.000277218076562,2.67780908774e-05,1793196620346460160
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+29,0.483333333,BASELINE,764.174454517,743,712,674,659.174454517,634,878,785,801.825545483,649,630,651,0.400971184205,-0.0153722567032,0.0798407624995,0.99999992531,0.000270169076289,-0.00027505746374,2.70407680343e-05,1793196620379793408
+30,0.500000000,BASELINE,764.407179877,743,712,673.592820123,659.407179877,633.592820123,877.592820123,784.592820123,801.592820123,648.592820123,629.592820123,651,0.4009717496,-0.0153720224065,0.0798412450645,0.999999925563,0.000269784121419,-0.000274527055632,2.69346548135e-05,1793196620396459776
+31,0.516666667,BASELINE,764.986341934,743,712,673.013658066,659.986341934,633.013658066,877.013658066,784.013658066,801.013658066,648.013658066,629.013658066,651,0.400972258094,-0.0153725207879,0.0798414687249,0.999999926226,0.000267611561765,-0.000274259037835,2.67091308214e-05,1793196620413126144
+32,0.533333333,BASELINE,765,743,712,673,659.439040528,633.560959472,877.560959472,784,801,648,629.560959472,651,0.400968912119,-0.0153711068987,0.0798398496076,0.99999992457,0.000270174101935,-0.000277791434244,2.64159595417e-05,1793196620429792768
+33,0.550000000,BASELINE,765,743,712,673.13875299,659,634,877.86124701,784,800.86124701,648.13875299,630,651,0.400966632035,-0.0153705519326,0.0798386667519,0.999999923538,0.00027135726424,-0.000280351591983,2.62913784037e-05,1793196620446459392
+34,0.566666667,BASELINE,765,743,712,673.727195262,659,634,877.272804738,784,800.272804738,648.727195262,630,651,0.400968108145,-0.0153729303629,0.0798390420349,0.999999924762,0.000267699312938,-0.000279463309808,2.67184819444e-05,1793196620463126016
+35,0.583333333,BASELINE,764.68926171,743,712,674,659.31073829,634,877.31073829,784.31073829,800.31073829,649,630,651,0.400968511495,-0.0153734951907,0.0798389849908,0.99999992501,0.00026697412769,-0.000279264058183,2.67734544774e-05,1793196620479792896
+36,0.600000000,BASELINE,764.109953019,743,712,674,659.890046981,634,877.890046981,784.890046981,800.890046981,649,630,651,0.400967987662,-0.0153724925262,0.0798385542874,0.999999924421,0.000268783725083,-0.000279660334002,2.65067950717e-05,1793196620496459520
+37,0.616666667,BASELINE,764,743,712,673.531399206,659.531399206,634,877.531399206,784.531399206,800.531399206,649,629.531399206,651,0.400967790249,-0.0153723737944,0.0798388299937,0.999999924448,0.000269165774129,-0.000279213630489,2.63348971461e-05,1793196620513126144
+38,0.633333333,BASELINE,764,743,712.046661225,673,659.046661225,634,877,784,800.046661225,649,629.046661225,651,0.400967805552,-0.015372550763,0.0798393048303,0.999999924683,0.000269071194683,-0.000278473644301,2.62204360063e-05,1793196620529793024
+39,0.650000000,BASELINE,764,743,712.621141453,673,659.621141453,634,877,784,800.621141453,649,629.621141453,651,0.400969362046,-0.0153737302565,0.0798401602404,0.999999925638,0.000267368023737,-0.000276649958337,2.65045729121e-05,1793196620546459392
+40,0.666666667,BASELINE,764,743,712.799464078,673,660,633.799464078,877,784.200535922,801,649,629.799464078,651,0.4009700589,-0.0153745305365,0.079840775161,0.999999926128,0.000266428385195,-0.000275762330282,2.67387422002e-05,1793196620563126016
+41,0.683333333,BASELINE,764,743,712.210552287,673,660,633.210552287,877,784.789447713,801,649,629.210552287,651,0.400969090896,-0.0153745963976,0.079840924328,0.999999925725,0.000266967472159,-0.000276687556126,2.68761396967e-05,1793196620579792640
+42,0.700000000,BASELINE,764.372059175,743,712.372059175,673,660,633,877,784.627940825,801,649,629,651,0.400968053577,-0.0153746203829,0.0798399754017,0.999999925103,0.000267821124048,-0.00027812149993,2.67291595539e-05,1793196620596459520
+43,0.716666667,BASELINE,764.951164565,743,712.951164565,673,660,633,877,784.048835435,801,649,629,651,0.400966977685,-0.0153746210648,0.0798384154004,0.999999924356,0.000268849827309,-0.0002798385388,2.64239268557e-05,1793196620613126144
+44,0.733333333,BASELINE,764.472238176,743,712.472238176,673,660,633.527761824,877,784.527761824,800.472238176,649,629.527761824,651,0.400968505455,-0.0153741115793,0.0798394743516,0.999999925248,0.000267297746057,-0.000278125327039,2.65101053666e-05,1793196620629792768
+45,0.750000000,BASELINE,764,743,712.103741321,673,660,633.896258679,877,784.896258679,800.103741321,649,630,651,0.400969763844,-0.0153736336864,0.0798403899215,0.99999992604,0.000265748981566,-0.000276752164289,2.65623178306e-05,1793196620646459392
+46,0.766666667,BASELINE,764,743,712.677966558,673,660,633.322033442,877,784.322033442,800.677966558,649,630,651,0.40096871308,-0.0153735121514,0.0798395613817,0.999999925724,0.000265293170399,-0.000278353885645,2.62970087815e-05,1793196620663126272
+47,0.783333333,BASELINE,764,742.738857366,712.738857366,673.261142634,659.738857366,633,877.261142634,784,800.738857366,649,629.738857366,650.738857366,0.400968350913,-0.0153733671936,0.0798391923793,0.999999925525,0.000265656770758,-0.000278720162788,2.62890069036e-05,1793196620679792896
+48,0.800000000,BASELINE,764,742.144251538,712.144251538,673.855748462,659.144251538,633,877.855748462,784,800.144251538,649,629.144251538,650.144251538,0.400968868041,-0.0153731923264,0.0798394101782,0.999999925478,0.000267066709532,-0.000277508853336,2.66095705333e-05,1793196620696459520
+49,0.816666667,BASELINE,764,742.43671791,712,673.56328209,659,633,877.56328209,784.43671791,800.43671791,649,629.43671791,650.43671791,0.40096897853,-0.0153733064364,0.0798397213531,0.999999925469,0.000267548070127,-0.000277067878738,2.66979947904e-05,1793196620713126144
+50,0.833333333,BASELINE,764,743,712.013274404,673.013274404,659.026548807,633.013274404,877,785,801,649,630,651,0.400968969437,-0.0153735084173,0.0798400596287,0.999999925484,0.000267685649134,-0.000276881089387,2.67045114822e-05,1793196620729792768
+51,0.850000000,BASELINE,764,743,712.587923927,673.587923927,660.175847853,633.587923927,877,785,801,649,630,651,0.400969411533,-0.0153735120357,0.0798402791452,0.999999925943,0.000265863013578,-0.000277009011941,2.63916644582e-05,1793196620746459392
+52,0.866666667,BASELINE,764.167070405,743,712.832929595,674,660.665859191,634,877.167070405,785,801,649,630,651,0.400969556831,-0.01537375212,0.0798405281557,0.999999926318,0.000264390027145,-0.000277097012366,2.6072285371e-05,1793196620763126016
+53,0.883333333,BASELINE,764.75761531,743,712.24238469,674,659.48476938,634,877.75761531,785,801,649,630,651,0.400968949829,-0.0153745915758,0.0798408519247,0.999999926485,0.000263803298858,-0.00027708382189,2.57363494372e-05,1793196620779792640
+54,0.900000000,BASELINE,764.658984544,743,712,674,659.341015456,633.658984544,878,784.658984544,801,648.658984544,629.658984544,651,0.400968185789,-0.0153743262944,0.079840378106,0.999999926019,0.00026462176137,-0.000277990781428,2.56487219816e-05,1793196620796459520
+55,0.916666667,BASELINE,764.080558514,743,712,674,659.919441486,633.080558514,878,784.080558514,801,648.080558514,629.080558514,651,0.40096731242,-0.0153732919091,0.0798393490169,0.999999925109,0.00026641849967,-0.000279538337572,2.57339637093e-05,1793196620813126144
+56,0.933333333,BASELINE,764,743,712,673.503687521,660,633.496312479,878,784,800.503687521,648.496312479,629.496312479,651,0.400968677418,-0.0153737581334,0.079840411573,0.999999925728,0.000266447593792,-0.000277223814205,2.63900555881e-05,1793196620829792512
+57,0.950000000,BASELINE,764,742.925867673,712,673,659.925867673,633.925867673,877.925867673,784,800.074132327,649,630,651,0.400970119852,-0.0153742564622,0.0798415633967,0.999999926379,0.000266450957348,-0.000274802798075,2.70212788404e-05,1793196620846459136
+58,0.966666667,BASELINE,764,742.339757314,712,673,659.339757314,633.339757314,877.339757314,784,800.660242686,649,630,651,0.40096959573,-0.0153732996061,0.0798409943454,0.999999925583,0.000268251932993,-0.000275962127764,2.68428362677e-05,1793196620863126016
+59,0.983333333,BASELINE,764.243115281,742,712,673,659.243115281,633,877.243115281,784,800.756884719,649,629.756884719,651,0.400969380665,-0.0153726665526,0.079840590259,0.999999925175,0.000269124457858,-0.000276609423895,2.66269130389e-05,1793196620879792384
+60,1.000000000,BASELINE,764.821522603,742,712,673,659.821522603,633,877.821522603,784,800.178477397,649,629.178477397,651,0.400969591835,-0.0153724800708,0.0798404136834,0.999999925308,0.000268716511614,-0.000276550549952,2.63592984001e-05,1793196620896459008
+61,1.016666667,BASELINE,764.599743158,742.400256842,712,673.400256842,660,633,878,784,800,649,629.400256842,651,0.400970163958,-0.0153735078898,0.0798403990772,0.999999925741,0.00026758956592,-0.000276068372713,2.64585714512e-05,1793196620913125888
+62,1.033333333,BASELINE,764.02086306,742.97913694,712,673.97913694,660,633,878,784,800,649,629.97913694,651,0.400970897165,-0.0153750776167,0.0798404567534,0.999999926305,0.000266141751227,-0.000275397287243,2.67215760701e-05,1793196620929792512
+63,1.050000000,BASELINE,764,743,712,674,660,633.554060835,878,784.554060835,800,649,630,651,0.400970710071,-0.0153733024354,0.0798406112152,0.999999925844,0.000267505841213,-0.000275788501421,2.63368825042e-05,1793196620946459136
+64,1.066666667,BASELINE,764,743,712,673.868771306,659.868771306,634,878,784.868771306,800.131228694,649,630,651,0.400970489374,-0.0153720052124,0.0798407153748,0.999999925463,0.000268694718465,-0.00027603891377,2.60860079852e-05,1793196620963125760
+65,1.083333333,BASELINE,764,743,712,673.283324539,659.283324539,634,878,784.283324539,800.716675461,649,630,651,0.400970271465,-0.0153727951955,0.0798406329004,0.999999925499,0.000268913249723,-0.00027566450115,2.63821357676e-05,1793196620979792640
+66,1.100000000,BASELINE,764,743,712.300730664,673,659.300730664,634,878,784,801,649,629.699269336,651,0.400970359413,-0.0153729943127,0.07984083483,0.99999992565,0.000268735547277,-0.000275277349692,2.65409779516e-05,1793196620996459264
+67,1.116666667,BASELINE,764,743,712.883480851,673,659.883480851,634,878,784,801,649,629.116519149,651,0.400970734189,-0.0153726393272,0.0798413034683,0.999999925906,0.000268186264354,-0.000274878252011,2.65710762839e-05,1793196621013125888
+68,1.133333333,BASELINE,764,742.539177089,712.539177089,673,660,634,878,784.460822911,801.460822911,648.539177089,629,651,0.400968998088,-0.0153738471814,0.0798405164512,0.999999926086,0.000265974393923,-0.000276399663645,2.62448200493e-05,1793196621029792512
+69,1.150000000,BASELINE,764.036737595,742.036737595,712.036737595,673,659.963262405,634,877.963262405,784.963262405,801.963262405,648.036737595,629,651,0.400966967161,-0.0153752888776,0.0798395482758,0.999999926239,0.000263583546977,-0.00027816494403,2.58733729867e-05,1793196621046459136
+70,1.166666667,BASELINE,764.611541565,742.611541565,712.611541565,673,659.388458435,634,877.388458435,784.388458435,801.388458435,648.611541565,629,651,0.400968344686,-0.0153744349475,0.0798405229439,0.999999926418,0.000264657009216,-0.000276472259926,2.61444305757e-05,1793196621063125760
+71,1.183333333,BASELINE,764.808458977,743,713,673,659.191541023,633.808458977,877.191541023,784.191541023,801,649,629.191541023,651,0.400969629085,-0.0153741259283,0.079841360764,0.99999992668,0.000265164860357,-0.000275009062899,2.64030743111e-05,1793196621079792384
+72,1.200000000,BASELINE,764.217628821,743,713,673,659.782371179,633.217628821,877.782371179,784.782371179,801,649,629.782371179,651,0.400970719351,-0.0153749528383,0.0798419133092,0.999999927122,0.000264493630787,-0.000274024257574,2.66358400014e-05,1793196621096459008
+73,1.216666667,BASELINE,764,743,712.63449159,672.63449159,660,633.36550841,878,785,801,649,629.63449159,651,0.400970114051,-0.015373827795,0.0798412230261,0.999999926346,0.000266462813739,-0.000274961550262,2.64715840185e-05,1793196621113125888
+74,1.233333333,BASELINE,764,743,712.055840451,672.055840451,660,633.944159549,878,785,801,649,629.055840451,651,0.400968519999,-0.0153715644888,0.0798398079996,0.999999924848,0.000269971728015,-0.000277019696066,2.60758086332e-05,1793196621129792768
+75,1.250000000,BASELINE,764.518301639,743,712.518301639,673.036603278,660,633.481698361,877.481698361,784.481698361,801,649,629.518301639,651,0.400970250314,-0.0153731720018,0.0798408787507,0.999999926036,0.000267519873629,-0.000275104281073,2.60715127176e-05,1793196621146459392
+76,1.266666667,BASELINE,765,743,713,674,659.908007709,633,877,784,801,649,630,651,0.400971865445,-0.0153747087816,0.0798418425507,0.999999927159,0.000265076992421,-0.000273376442288,2.60908758559e-05,1793196621163126016
+77,1.283333333,BASELINE,765,743,713,674,659.334159067,633,877,784,801,649,630,651,0.400971017386,-0.0153737094837,0.0798408554427,0.999999926507,0.000266015936571,-0.000274854185607,2.60151474113e-05,1793196621179792640
+78,1.300000000,BASELINE,765,743,712.751586763,674,659.248413237,633.248413237,877,784.248413237,800.751586763,649,630,651,0.400970178015,-0.0153727548976,0.0798403689338,0.999999925932,0.000267288762522,-0.000275711454588,2.5982034744e-05,1793196621196459520
+79,1.316666667,BASELINE,765,743,712.156852565,674,659.843147435,633.843147435,877,784.843147435,800.156852565,649,630,651,0.400969350756,-0.0153718626458,0.0798405803266,0.999999925468,0.000269027063855,-0.000275703700022,2.60083341216e-05,1793196621213126144
+80,1.333333333,BASELINE,764.574343688,743,712,673.574343688,659.574343688,634,877.425656312,785,800,648.574343688,630,651,0.400968755475,-0.0153728341214,0.0798404166764,0.999999925174,0.000269709030115,-0.000276063519397,2.64188277117e-05,1793196621229792512
+81,1.350000000,BASELINE,764,743,712.00374557,673,659,633.99625443,877.99625443,784.99625443,800.00374557,648.00374557,629.99625443,651,0.400968246129,-0.015374463037,0.0798401204385,0.999999924945,0.000270002754342,-0.000276553054871,2.69608668634e-05,1793196621246459136
+82,1.366666667,BASELINE,764,743,712.575696668,673,659,633.424303332,877.424303332,784.424303332,800.575696668,648.575696668,629.424303332,651,0.400968167548,-0.0153745504274,0.0798400905206,0.999999925225,0.000268801511546,-0.000276746508388,2.65812027458e-05,1793196621263126016
+83,1.383333333,BASELINE,764,743,712.847597761,673.152402239,659.152402239,633.152402239,877.152402239,784,801,649,629.152402239,651,0.400968339061,-0.0153745079933,0.0798402689704,0.999999925598,0.000267594143682,-0.000276600094736,2.62765868971e-05,1793196621279792640
+84,1.400000000,BASELINE,764,743,712.257228869,673.742771131,659.742771131,633.742771131,877.742771131,784,801,649,629.742771131,651,0.40096922928,-0.0153740924758,0.0798410462179,0.999999926237,0.000266369173593,-0.000275476986252,2.61876412773e-05,1793196621296459264
+85,1.416666667,BASELINE,764,743,712,673.673173323,659.673173323,634,877.673173323,784.326826677,801,649,630,651,0.400969298768,-0.0153745017503,0.0798407085106,0.999999926449,0.000265352689611,-0.000275694137124,2.61113181301e-05,1793196621313126144
+86,1.433333333,BASELINE,764,743,712,673.093992562,659.093992562,634,877.093992562,784.906007438,801,649,630,651,0.400968734541,-0.0153755478751,0.0798395099084,0.999999926332,0.000264497184971,-0.000276946148263,2.60447412322e-05,1793196621329792768
+87,1.450000000,BASELINE,764.482405793,743,712,673,659,634,877.482405793,785,801,649,630,651,0.400969331836,-0.0153744719935,0.0798406668356,0.999999926002,0.000267290611407,-0.000275420506533,2.63678588024e-05,1793196621346459392
+88,1.466666667,BASELINE,765,743,712.059362924,673.059362924,659.059362924,634,877.940637076,784.940637076,800.940637076,649,630,651,0.40097014127,-0.0153731926667,0.0798421210284,0.999999925761,0.000270077178094,-0.00027354061188,2.66882344293e-05,1793196621363125760
+89,1.483333333,BASELINE,765,743,712.646072253,673.646072253,659.646072253,634,877.353927747,784.353927747,800.353927747,649,630,651,0.400970836322,-0.0153737578785,0.079842162251,0.999999926792,0.000266523240885,-0.00027329389048,2.6313614139e-05,1793196621379792384
+90,1.500000000,BASELINE,765,743,712.770176675,674,659.770176675,634,877.229823325,784.229823325,800,649,630,651,0.400970607491,-0.0153742309824,0.0798414981605,0.999999927162,0.000264368353077,-0.000274058259757,2.60458422163e-05,1793196621396459264
+91,1.516666667,BASELINE,765,743,712.190923473,674,659.190923473,634,877.809076527,784.809076527,800,649,630,651,0.400968973964,-0.0153745640426,0.079839761692,0.999999926538,0.000264340619824,-0.000276359919883,2.59405256045e-05,1793196621413125888
+92,1.533333333,BASELINE,764.61134485,743,712.38865515,673.61134485,659.38865515,634,877.61134485,785,800,649,630,651,0.40096815384,-0.0153739914487,0.0798394521787,0.999999926225,0.000265082962008,-0.000276781387708,2.59347791582e-05,1793196621429792512
+93,1.550000000,BASELINE,764.031606181,743,712.968393819,673.031606181,659.968393819,634,877.031606181,785,800,649,630,651,0.400967733629,-0.0153729735872,0.0798398442324,0.999999926065,0.000266203914186,-0.000276278453315,2.59779866856e-05,1793196621446459136
+94,1.566666667,BASELINE,764,742.457977098,712.457977098,673,660,634,877.542022902,784.457977098,800.542022902,649,630,651,0.400969181305,-0.0153740176309,0.079840050928,0.999999926275,0.000265836508155,-0.000275871552327,2.59897990968e-05,1793196621463126016
+95,1.583333333,BASELINE,764.118935832,742.118935832,712.118935832,673,660,633.881064168,877.881064168,784,800.881064168,648.881064168,630,650.881064168,0.400970051153,-0.0153743794006,0.079840020536,0.999999926241,0.000265924693254,-0.000275918406223,2.58941202354e-05,1793196621479792640
+96,1.600000000,BASELINE,764.710291876,742.710291876,712.710291876,673,660,633.289708124,877.289708124,784,800.289708124,648.289708124,630,650.289708124,0.400968198024,-0.0153715588886,0.0798390908712,0.999999925151,0.000268163399761,-0.00027774560642,2.53786702215e-05,1793196621496459264
+97,1.616666667,BASELINE,764.704811528,742.704811528,712.704811528,673,660,633.295188472,877,784,800.295188472,648.295188472,630,650.295188472,0.400967561675,-0.0153716805101,0.079838801736,0.999999925113,0.000267693554583,-0.000278344098662,2.52621885803e-05,1793196621513125888
+98,1.633333333,BASELINE,764.126118738,742.126118738,712.126118738,673,660,633.873881262,877,784,800.873881262,648.873881262,630,650.873881262,0.400968093943,-0.0153746278097,0.0798391277771,0.999999926086,0.000264622367523,-0.000277762517575,2.55288833694e-05,1793196621529792768
+99,1.650000000,BASELINE,764,742.450396788,712,673.450396788,660,634,877,784.450396788,801,648.549603212,630,651.450396788,0.400968252416,-0.0153736743296,0.0798399291115,0.999999926081,0.000265917249086,-0.000276538612133,2.55437078393e-05,1793196621546459392
+100,1.666666667,BASELINE,764,743,712,674,660,633.973868955,877.026131045,784.973868955,801,648.026131045,630,651.973868955,0.400968317599,-0.0153717744831,0.0798407971137,0.999999925804,0.000268305345167,-0.000275234673574,2.54992330103e-05,1793196621563126016
+101,1.683333333,BASELINE,764,743,712,674,660,633.401780995,877.598219005,784.401780995,801,648.598219005,630,651.401780995,0.400968609971,-0.0153728135178,0.0798402907283,0.99999992564,0.000268113629972,-0.000275998378704,2.56822700218e-05,1793196621579792640
+102,1.700000000,BASELINE,764.176579467,743,712.176579467,674,660,633.176579467,877.823420533,784,801,649,630,651,0.400969072567,-0.0153738449192,0.0798400611935,0.999999925786,0.000267391765444,-0.000276154260353,2.58418586658e-05,1793196621596459264
+103,1.716666667,BASELINE,764.769737665,743,712.769737665,674,660,633.769737665,877.230262335,784,801,649,630,651,0.400969936743,-0.0153748583127,0.0798404847928,0.999999926661,0.000265419195301,-0.000274876190717,2.59461288974e-05,1793196621613125888
+104,1.733333333,BASELINE,764.64604597,743,712.64604597,673.64604597,660,634,877,784,801,649,629.64604597,651,0.400971259836,-0.0153750057718,0.0798415833935,0.999999927205,0.000264937212558,-0.000273342646899,2.61314728618e-05,1793196621629792512
+105,1.750000000,BASELINE,764.067503263,743,712.067503263,673.067503263,660,634,877,784,801,649,629.067503263,651,0.400972874117,-0.0153746037839,0.0798431102918,0.999999927537,0.000265401027734,-0.000271647001088,2.63682592299e-05,1793196621646459136
+106,1.766666667,BASELINE,764.508003733,743,712.508003733,673,659.491996267,634,877,784,801,649,629.508003733,651,0.400971504878,-0.0153744058634,0.079842538126,0.999999926969,0.000266310363807,-0.00027282304738,2.66216116974e-05,1793196621663126016
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,674,659,633,877,784,801,649,630,651,0.400968554381,-0.0153754972961,0.0798403170942,0.999999927204,0.000262428444976,-0.000275717940117,2.65168882424e-05,1793196621705719808
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.579544578,712.579544578,673.420455422,659,633,877,784,801,649,630,651,0.400968859903,-0.0153743584944,0.0798401915896,0.999999926835,0.000263749653173,-0.000275854769521,2.58877837308e-05,1793196621722386432
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,743,712.841768594,673,659.158231406,633.158231406,877.158231406,784.158231406,801,648.841768594,630,651,0.40096916284,-0.0153734077699,0.0798401294944,0.999999926479,0.000265071726455,-0.000275917868631,2.54700689542e-05,1793196621739053312
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,743,712.265348583,673,659.734651417,633.734651417,877.734651417,784.734651417,801,648.265348583,630,651,0.400969458946,-0.0153729541129,0.0798402349834,0.99999992616,0.00026639608636,-0.000275786106524,2.56110344e-05,1793196621755719936
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,712.310394079,673,660,634,878,785,801,648.310394079,629.689605921,651,0.400969714454,-0.0153731288597,0.0798406667369,0.999999925992,0.000267459268258,-0.000275337437695,2.58900479382e-05,1793196621772386304
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,712.885558918,673,660,634,878,785,801,648.885558918,629.114441082,651,0.400969935333,-0.0153738396443,0.079841376799,0.999999925955,0.000268299661357,-0.000274618442734,2.62868185413e-05,1793196621789052928
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,743,712.527505155,673.472494845,660,633.527505155,878,784.527505155,801,649,629.472494845,651,0.400970364795,-0.0153734121322,0.0798411011326,0.99999992602,0.000267787356117,-0.000274903382125,2.60533278108e-05,1793196621805719808
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,743,712,673.938756663,660,633.061243337,877.938756663,784.061243337,801.061243337,649,630,651,0.400971689376,-0.0153728692706,0.0798411282993,0.999999926328,0.000266919563867,-0.000274654441255,2.57325068967e-05,1793196621822386432
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,743,712,673.359409484,660,633.640590516,877.359409484,784.640590516,801.640590516,649,630,651,0.400980148142,-0.0153737425442,0.0798457887253,0.999999928461,0.000265886935966,-0.000267779380445,2.59972961439e-05,1793196621839053056
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,743,712.21887243,673.21887243,660,633.78112757,877,784.78112757,801.78112757,649,630,651,0.400995854517,-0.0153746073166,0.0798528997089,0.99999993161,0.000265764518371,-0.000255819514287,2.65580003312e-05,1793196621855719936
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,743,712.795413496,673.795413496,660,633.204586504,877,784.204586504,801.204586504,649,630,651,0.401023404514,-0.0153754581966,0.0798640152512,0.999999936198,0.00026712951373,-0.00023555035466,2.76022715245e-05,1793196621872386816
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.377719048,743,712.622280952,673.622280952,660,633,877,784,801.377719048,649,630,651,0.401067608017,-0.015377651006,0.0798791773643,0.999999942825,0.000266748883613,-0.000205885311919,2.83861416279e-05,1793196621889053184
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.963195301,743,712.036804699,673.036804699,660,633,877,784,801.963195301,649,630,651,0.401120971468,-0.0153805819184,0.0798965652181,0.999999949729,0.000265408105187,-0.000171052239676,2.90267831197e-05,1793196621905719808
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.457957914,742.457957914,712.542042086,673.542042086,660,633.542042086,877,784.542042086,801.457957914,649,630,651,0.401190316982,-0.0153827291801,0.0799095045568,0.999999954055,0.000264509640863,-0.000145377228224,2.81153043265e-05,1793196621922386432
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.12048921,742.12048921,712.87951079,673.87951079,660,634,877,785,800.87951079,649,630,651,0.401263069361,-0.0153851190562,0.0799207093097,0.999999957076,0.000263818010419,-0.000124603511932,2.68840086633e-05,1793196621939053056
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.69910776,742.69910776,712.30089224,673.30089224,660,634,877,785,800.30089224,649,630,651,0.401344699217,-0.0153886312849,0.0799264533565,0.999999957681,0.00026379999941,-0.000120129914638,2.48325643275e-05,1793196621955719936
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,743,712,673,660,634,877,784.724310943,800.275689057,649,630,651,0.401435130623,-0.0153920118653,0.0799299069317,0.999999958918,0.000261384197886,-0.000115680171093,2.14741463477e-05,1793196621972386560
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,743,712,673,660,634,877,784.149936867,800.850063133,649,630,651,0.401535097736,-0.0153952498162,0.0799308789805,0.999999960809,0.000256370599706,-0.000111256271267,1.66997366718e-05,1793196621989053184
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.564682293,743,712,672.564682293,659.564682293,634,877,784,801,649,630,651,0.401654914041,-0.0153997201681,0.0799340328808,0.999999963295,0.000249681115251,-0.000104512937862,1.21020997482e-05,1793196622005719808
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,743,712,672.024102679,659,634,877,784.024102679,801,649,630,651,0.40178323504,-0.015404605568,0.079938053862,0.999999965905,0.000242395104287,-9.68430642331e-05,7.50026746463e-06,1793196622022386432
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,743,712,672.605643167,659,634,877,784.605643167,801,649,630,651,0.401946080118,-0.0154090212331,0.0799443024808,0.999999968627,0.000235004965059,-8.6694457469e-05,1.35715776018e-06,1793196622039053312
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.185151938,743,712,673,659.185151938,634,877,784.814848062,801,649,630,651,0.402115300766,-0.015414474902,0.079947545255,0.99999997119,0.000225474595425,-8.21640094009e-05,-5.42429797943e-06,1793196622055719680
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.760380236,743,712,673,659.760380236,634,877,784.239619764,801,649,630,651,0.402297953386,-0.0154221154273,0.0799444553436,0.999999973553,0.000211435209499,-8.9469846449e-05,-1.35506143556e-05,1793196622072386560
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,712,673.342708831,660,633.657291169,877.685417661,784.342708831,801,649,630,651,0.402492448448,-0.0154289784021,0.0799395954257,0.999999984148,0.000146219323398,-9.92387108865e-05,-2.17918069349e-05,1793196622089053184
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,743,712,673.930106997,660,633.069893003,878.860213995,784.930106997,801,649,630,651,0.402695398867,-0.0154352862176,0.0799334717477,0.999999992423,4.44641255582e-05,-0.000110766142555,-3.01150201892e-05,1793196622105719808
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633.510386199,877.979227601,784.489613801,801,649,629.489613801,651,0.402947295376,-0.0154423463675,0.0799331248264,0.999999992671,4.35849167868e-05,-0.000107234881753,-3.54746035189e-05,1793196622122386432
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.910685942,743,712,673.910685942,659.910685942,633.910685942,877.178628116,784,801,649,629.089314058,651,0.403213496925,-0.0154492217131,0.0799343668785,0.999999992428,5.85243582695e-05,-0.000101138530783,-3.86105497643e-05,1793196622139053056
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.333885827,743,712,673.333885827,659.333885827,633.333885827,878.332228346,784,801,649,629.666114173,651,0.403521696009,-0.0154545337891,0.0799400233329,0.999999991599,8.54420761658e-05,-9.21422861195e-05,-3.17943069956e-05,1793196622155719680
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743,712.242123907,673,659.242123907,633,878.757876093,784,801,648.757876093,629.757876093,651,0.403848668312,-0.0154625650092,0.0799440066984,0.999999991819,9.09986698906e-05,-8.49541439146e-05,-2.93783194817e-05,1793196622172386304
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,743,712.817047227,673,659.817047227,633,878.182952773,784,801,648.182952773,629.182952773,651,0.404201444397,-0.0154743336936,0.0799456904023,0.999999993977,6.71943877069e-05,-8.0251239902e-05,-3.30104851281e-05,1793196622189053184
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.400556409,743,713,673.400556409,660,633,878,784,801,648.400556409,629.400556409,651,0.404577910038,-0.0154856146769,0.0799469695346,0.999999995262,5.21540134762e-05,-7.45997283116e-05,-3.45055127965e-05,1793196622205719808
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.988073037,743,713,673.988073037,660,633,878,784,801,648.988073037,629.988073037,651,0.404965432801,-0.0154966680247,0.0799480598324,0.999999996192,4.12042052274e-05,-6.85054530506e-05,-3.50030284642e-05,1793196622222386944
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,743,713,674,660,633,877.436173378,784,801,649,630,651,0.405376472642,-0.0155168880539,0.0799375237937,0.999999995655,1.8693946749e-05,-8.42715476248e-05,-3.52097013497e-05,1793196622239053568
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.859640408,743,712.859640408,673.859640408,660,633,877.140359592,784.140359592,800.859640408,649,630,651,0.405801494603,-0.0155382181784,0.0799278855458,0.999999994316,-8.22151185156e-06,-0.00010012125869,-3.57350096662e-05,1793196622255720192
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.279904783,743,712.279904783,673.279904783,660,633,877.720095217,784.720095217,800.279904783,649,630,651,0.406268760112,-0.0155624286991,0.0799218118518,0.999999991554,-4.81769577957e-05,-0.000114814741122,-3.72766270906e-05,1793196622272386560
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+144,2.400000000,POSE1_TO_POSE2_PRESS,765,743,712.527956271,674,659.472043729,633,878,785,801,649,630,650.527956271,0.407795160314,-0.0155460516348,0.07991235387,0.999999988788,-4.14001058027e-05,-0.000137620464055,-4.20764613957e-05,1793196622322386688
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.948987176,743,712.051012824,674,660,633.051012824,878,784.948987176,800.948987176,649,629.948987176,650.051012824,0.408333416705,-0.015516395106,0.0799004780097,0.999999986061,-6.75126837824e-06,-0.000160767581438,-4.45614772857e-05,1793196622339053568
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.370865718,743,712.629134282,674,660,633.629134282,878,784.370865718,800.370865718,649,629.370865718,650.629134282,0.408944942699,-0.0155156502994,0.0799111316968,0.999999988697,-1.89579244866e-06,-0.000143489510558,-4.48788742353e-05,1793196622355719936
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.206173561,743,713,674,660,633.793826439,877.793826439,784.206173561,800.206173561,649,629.206173561,651,0.409586130765,-0.0155218073748,0.0799324272185,0.99999999316,-9.23053019149e-06,-0.000107678732548,-4.4726295273e-05,1793196622372386816
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.781276339,743,713,674,660,633.218723661,877.218723661,784.781276339,800.781276339,649,629.781276339,651,0.410280396431,-0.015540314753,0.0799727653547,0.999999997558,-3.83785695112e-05,-3.87053268961e-05,-4.37327361198e-05,1793196622389053440
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.635611045,743.364388955,712.635611045,674,660,633.364388955,877.728777909,785,800.635611045,649,630,651,0.410952337522,-0.0155495220715,0.0799827949557,0.999999997205,-5.50563509469e-05,-2.45296946898e-05,-4.42333247721e-05,1793196622405720064
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.047582504,743.952417496,712.047582504,674,660,633.952417496,878.904834992,785,800.047582504,649,630,651,0.411610577134,-0.0155530215831,0.0799742230356,0.999999995937,-6.40806521144e-05,-4.3985576772e-05,-4.56509298109e-05,1793196622422386688
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,743.4687685,712,674,660,633.4687685,878.4687685,785,800.5312315,649,629.4687685,651,0.412285212033,-0.0155441223774,0.0799381420287,0.999999992145,-6.49487214585e-05,-9.36689259452e-05,-5.21318942016e-05,1793196622439053312
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633.109727171,877.890272829,785,801.109727171,649,629.109727171,651,0.412975917303,-0.0155345217444,0.0799064331415,0.999999987207,-6.28549931397e-05,-0.000135014536956,-5.8367874888e-05,1793196622455720192
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633.690338092,877.309661908,785,801.690338092,649,629.690338092,651,0.413729392252,-0.0155265955923,0.0799038805136,0.999999988452,-5.11326467438e-05,-0.000129158729023,-6.16394493851e-05,1793196622472386560
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,743,712.26674343,674,660,633.73325657,877,784.73325657,801.73325657,649,629.73325657,651,0.414502204217,-0.0155258192193,0.0799156557149,0.999999991205,-5.02708280605e-05,-0.000105766559658,-6.22637837189e-05,1793196622489053184
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,712.838342369,674,660,633.161657631,877,784.161657631,801.161657631,649,629.161657631,651,0.415297116152,-0.0155332141791,0.0799438058933,0.999999994355,-6.18212786571e-05,-6.23324472658e-05,-5.9862642761e-05,1793196622505719808
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.423030784,743,712.576969216,674.423030784,660,633,877.423030784,784.423030784,801.423030784,649,629.423030784,651,0.416075267839,-0.0155377736367,0.0799434922706,0.999999993154,-6.9962224389e-05,-7.31967571933e-05,-5.86491652989e-05,1793196622522386688
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.987294413,743,712,674.987294413,660,633.012705587,878,785,801.987294413,649,630,651,0.416849111527,-0.01554113478,0.0799325616767,0.999999990004,-7.66268288547e-05,-0.000103755505058,-5.79201005517e-05,1793196622539053312
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.405472842,743,712,674.405472842,660,633.594527158,878,785,801.405472842,649,630,651,0.417726038206,-0.0155409056823,0.0799488443176,0.999999993683,-7.738664121e-05,-5.73703629804e-05,-5.79106502454e-05,1793196622555719680
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743.174183674,712.174183674,674,660,633.825816326,878,785,801,649,629.825816326,651,0.418597089737,-0.015540134082,0.0799632564282,0.999999995403,-7.43189829526e-05,-1.9123786083e-05,-5.74859003655e-05,1793196622572386560
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743.748862111,712.748862111,674,660,633.251137889,878,785,801,649,629.251137889,651,0.41945463268,-0.0155381151239,0.0799733676895,0.999999996476,-6.2450948269e-05,4.10053872056e-07,-5.61062661263e-05,1793196622589053184
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743.670606165,712.670606165,674,660,633,878,785,801,649,629,651,0.420305635685,-0.0155370973035,0.0799669294437,0.999999996615,-5.85148951169e-05,-1.06772764718e-05,-5.68474537344e-05,1793196622605719808
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743.085531042,712.085531042,674,660,633,878,785,801,649,629,651,0.421151562237,-0.015536856584,0.079947645179,0.999999995365,-6.07357860183e-05,-4.55332985409e-05,-5.92348605789e-05,1793196622622386432
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633,878.497523065,784.502476935,801.497523065,649,629.497523065,651,0.422055278913,-0.0155421921002,0.0799649100822,0.999999995695,-7.0148916648e-05,-2.00309241183e-05,-5.7341164625e-05,1793196622639053312
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.079535257,743,712,674.079535257,660.079535257,633.079535257,879,784,801.920464743,649,630,651,0.42296446861,-0.0155476491014,0.0799858539818,0.999999995269,-7.94618770897e-05,1.0534102778e-05,-5.5103566429e-05,1793196622655719936
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.657188987,743,712,674.657188987,660.657188987,633.657188987,879,784,801.342811013,649,630,651,0.423845965399,-0.0155478874556,0.0799906466548,0.999999995203,-8.04351252638e-05,8.08252407776e-06,-5.53028532015e-05,1793196622672386560
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,712,675,660.767007732,633.767007732,879,784.232992268,801,649,629.767007732,651,0.424704312442,-0.0155441237744,0.0799726045223,0.999999994991,-7.63898302935e-05,-3.00406681781e-05,-5.72683938685e-05,1793196622689053440
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660.193905554,633.193905554,879,784.806094446,801,649,629.193905554,651,0.425528866831,-0.0155345181317,0.0799212293373,0.999999988748,-6.50187285248e-05,-0.000120235414246,-6.18122191824e-05,1793196622705720064
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.608959393,743,712,675,660.391040607,633,879,785,801,649,629.391040607,651,0.426425267781,-0.0155337569991,0.0799015144195,0.999999985953,-6.74432130766e-05,-0.000138978681784,-6.50413584887e-05,1793196622722386432
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.017956742,743,712,675,660.982043258,633,879,785,801,649,629.982043258,651,0.427358408051,-0.0155375185848,0.0798979892601,0.999999987414,-7.69221924893e-05,-0.000121184604245,-6.75982214628e-05,1793196622739053056
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.561253977,743,712.561253977,675,660.438746023,633.561253977,879,785,801.561253977,649,629.438746023,651,0.428237668154,-0.0155433615525,0.0799061321217,0.999999986438,-8.05996086865e-05,-0.000127943966639,-6.52569320566e-05,1793196622755719680
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.861149881,743,712.861149881,674.861149881,660.138850119,634,879,785,801.861149881,649,629.138850119,651,0.4291273383,-0.0155480883907,0.0799213521213,0.999999987467,-8.37525056628e-05,-0.00011873820087,-6.28762821309e-05,1793196622772386560
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.28745304,743,712.28745304,674.28745304,660.71254696,634,879,785,801.28745304,649,629.71254696,651,0.430054897849,-0.0155491155089,0.0799575910412,0.999999992833,-8.5832070217e-05,-5.71237406254e-05,-6.08530488404e-05,1793196622789053184
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.294025724,743,712,674.588051447,661,633.705974276,879,785,801,649,630,651.294025724,0.430961551835,-0.0155516240655,0.0799915826063,0.999999994738,-8.48013241314e-05,-3.41009463399e-06,-5.76353318425e-05,1793196622805720064
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.883319248,743,712,675.766638496,661,633.116680752,879,785,801,649,630,651.883319248,0.431847211889,-0.0155556203184,0.0800233173208,0.999999994434,-8.06471282456e-05,4.23693572191e-05,-5.3218085381e-05,1793196622822386688
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743,712,675.53549201,661.46450799,633,879,784.53549201,801,649,630,651.53549201,0.432665033045,-0.0155522965738,0.0799780238875,0.999999994532,-8.1405829218e-05,-3.22387744346e-05,-5.71836651135e-05,1793196622839053312
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.956371976,743,712,675,661.956371976,633.043628024,878.956371976,784.043628024,801.043628024,649,630,651,0.43346843328,-0.0155477863084,0.0799166444387,0.999999986022,-8.34106135312e-05,-0.000130499798458,-6.29915677626e-05,1793196622855720192
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.378082902,743,712,675,661.378082902,633.621917098,878.378082902,784.621917098,801.621917098,649,630,651,0.434300355661,-0.0155508823901,0.0798911848895,0.999999982221,-8.58218470934e-05,-0.000154386023229,-6.60143204322e-05,1793196622872386816
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,712,675,661,633.801143065,878.198856935,785,801.801143065,649,630,651,0.435135132156,-0.0155532622004,0.0798883537258,0.999999981672,-9.66176110695e-05,-0.000151155850272,-6.68820853989e-05,1793196622889053184
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,712,675,661,633.226751119,878.773248881,785,801.226751119,649,630,651,0.435975298699,-0.0155542893553,0.0799282555457,0.9999999857,-0.000123247294975,-9.67172244541e-05,-6.36802248823e-05,1793196622905719808
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.356620221,743,712.356620221,675.356620221,661,633,879,785,801,649,629.643379779,651,0.436791627117,-0.0155567136354,0.0799619260399,0.999999989392,-0.000121455469243,-5.24406440823e-05,-6.09466527408e-05,1793196622922386688
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.945848397,743,712.945848397,675.945848397,661,633,879,785,801,649,629.054151603,651,0.437592406904,-0.0155600491999,0.0799915321073,0.999999993065,-0.000101125519792,-1.47923299944e-05,-5.85185250707e-05,1793196622939053312
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.474261602,743,712.474261602,676,661,633.525738398,879,785,801.525738398,649,629,651,0.438395733912,-0.0155650961667,0.0800062746811,0.999999992355,-0.000108501697111,1.41378785307e-05,-5.75914142874e-05,1793196622955719936
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.103927218,743,712,676,661,633.896072782,879,785,801.896072782,649,629.103927218,651,0.439178108997,-0.0155692587029,0.080011328657,0.999999990913,-0.000118418819585,2.8860686116e-05,-5.76048637673e-05,1793196622972386560
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.678690438,743,712,676,661,633.321309562,879,785,801.321309562,649,629.678690438,651,0.439864394737,-0.0155686297084,0.0799793038786,0.999999989904,-0.00012714438691,-1.6785063063e-05,-6.11912544453e-05,1793196622989053184
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,743,712,675.740855924,661,633,879,785,801.259144076,649,629.740855924,651,0.440504317826,-0.0155666963445,0.079928586112,0.999999985311,-0.000127699293074,-9.45561220311e-05,-6.42643183401e-05,1793196623005720320
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,743,712,675.153188443,661,633,879,785,801.846811557,649,629.153188443,651,0.441085465774,-0.0155631093992,0.0798541707811,0.999999968131,-0.000117896046732,-0.000213053232816,-6.66866242896e-05,1793196623022387456
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.57141601,743,712,675.857167979,661,633,879.42858399,785,802,649,629.42858399,651,0.441725063611,-0.0155642538867,0.0798314320325,0.999999960632,-0.000124679092004,-0.000241087798808,-7.11892297529e-05,1793196623039053824
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.008222294,743,712,676.991777706,661,633,879.991777706,784.991777706,802,649,630,651,0.442385532769,-0.0155672124629,0.0798278304118,0.999999959812,-0.000137229881993,-0.000236076619338,-7.62404090604e-05,1793196623055719936
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.584015614,743,712,676.415984386,661,633,879.415984386,784.415984386,802,649,630,651,0.443064158495,-0.0155802410053,0.0798875291097,0.99999997575,-0.000144241522534,-0.000151648465094,-6.8528396398e-05,1793196623072386560
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.159824774,743.159824774,712,676,661,633,879,784,802,649,629.840175226,651.159824774,0.443707407013,-0.0155900217766,0.0799304563035,0.999999982502,-0.000150439117403,-9.16732064784e-05,-6.29305199035e-05,1793196623089053440
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.73567529,743.73567529,712,676,661,633,879,784,802,649,629.26432471,651.73567529,0.4442585684,-0.015591348565,0.0799297270905,0.999999981542,-0.000154517745788,-9.53491033494e-05,-6.28357638472e-05,1793196623105720576
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.362950047,744,712,676,660.681475024,633,879,784,802,649,629.318524976,651.681475024,0.444766295725,-0.015592339253,0.079911001708,0.999999977498,-0.000157121661829,-0.000127021026656,-6.46659215287e-05,1793196623122387200
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.185373374,744,712,676,660.092686687,633,879,784,802,649,629.907313313,651.092686687,0.44523716991,-0.0155930447652,0.0798770068629,0.999999968479,-0.000158474307358,-0.000182447131223,-6.81293376599e-05,1793196623139053824
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743.357523591,712,676,660,633,879,783.357523591,801,649,629,651,0.446617146208,-0.0156120301229,0.0798218722503,0.999999950094,-0.00017897269571,-0.000250489975227,-7.09562027672e-05,1793196623189053696
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,712,676,660,632.781757638,879.218242362,783,801.218242362,649,629.218242362,651,0.447039648854,-0.0156182096908,0.0798101503623,0.999999946558,-0.000184954744181,-0.000259835191345,-7.18462913203e-05,1793196623205720320
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,712,676,660,632.208693766,879.791306234,783,801.791306234,649,629.791306234,651,0.447418254663,-0.0156233485944,0.0797993435444,0.999999941324,-0.000191365885529,-0.000274923982951,-7.17534163462e-05,1793196623222386688
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,712,676.41835642,659,632,879.41835642,780,802,648.58164358,629,651,0.450996423112,-0.0156415590776,0.0797124217344,0.999999883393,-0.000216091225508,-0.000426989745516,-6.48003924498e-05,1793196624393347584
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,743.668579214,712,676,660,633,878.668579214,784,801.331420786,649,629.668579214,651,0.438286652367,-0.0154080417691,0.0797125597631,0.999999896578,0.000129879717085,-0.000435514564921,1.73984793122e-05,1793196625276680192
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,743.080255216,712,676,660,633,878.080255216,784,801.919744784,649,629.080255216,651,0.437686182859,-0.0154113838013,0.0797627857962,0.99999992514,0.000140861280493,-0.000359460776537,2.58017366253e-05,1793196625293346816
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,743.702809094,712.297190906,675,660,633,878.594381812,784,801.702809094,649,629.702809094,650.702809094,0.429550298846,-0.0154056610224,0.079798437276,0.999999930194,0.000163184694094,-0.000334914752421,2.85575665452e-05,1793196625476680448
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,743,713,674,660,633.552224729,878.447775271,784.447775271,801,649,629.447775271,651,0.409473132638,-0.0153842618993,0.0798064293489,0.999999927085,0.000215838690585,-0.000314070784761,2.45472894753e-05,1793196625943347712
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.577820264,743,712,673.577820264,659.577820264,634,877.577820264,785,801,648,630,651,0.402897365604,-0.0153482023299,0.0798284315597,0.999999915395,0.000279158287665,-0.000300684800747,2.94998662654e-05,1793196626226680320
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.86841557,743,712.13158443,673,660,633,877.86841557,784,801,648.86841557,629,650.13158443,0.401035285015,-0.0153718905356,0.0798320485278,0.999999920993,0.000269890116115,-0.000290600444127,2.69238356591e-05,1793196626526680320
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+421,7.016666667,POSE2_TO_POSE3_RETREAT,764.533120354,743,712.466879646,674,659.533120354,633.533120354,877,784,800.466879646,649,629.533120354,651,0.400969100589,-0.0153746446596,0.0798374937708,0.999999924625,0.00026592349246,-0.000281613544262,2.6997265249e-05,1793196626976680192
+422,7.033333333,POSE2_TO_POSE3_RETREAT,764.892517245,743,712,673.892517245,660,633.892517245,877.107482755,784.107482755,800.21496551,648.892517245,630,651,0.400968448576,-0.0153742878213,0.0798373963092,0.999999924705,0.00026548387743,-0.00028174583954,2.69837398802e-05,1793196626993346816
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..11303666842c32eb1ca5dd0770318a161f6b0a9e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_04/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
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+382,6.366666667,pose2_to_pose3_retreat,0.579062397539,-0.0099986615916,1.07001172596,0.54963363097,-0.00132500052306,1.06966126038
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+384,6.400000000,pose2_to_pose3_retreat,0.578849460312,-0.00999875271988,1.07001168983,0.54942069401,-0.00132509104341,1.06966121694
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+386,6.433333333,pose2_to_pose3_retreat,0.578676157676,-0.0099987118868,1.07001178572,0.549247391589,-0.00132504922723,1.06966131951
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+389,6.483333333,pose2_to_pose3_retreat,0.578479974256,-0.0099987235513,1.07001147108,0.549051208032,-0.00132506162885,1.06966099845
+390,6.500000000,pose2_to_pose3_retreat,0.578432314289,-0.0099986936753,1.07001140535,0.549003548958,-0.001325028253,1.06966094424
+391,6.516666667,pose2_to_pose3_retreat,0.578392553824,-0.00999875881333,1.07001156109,0.54896378864,-0.0013250930474,1.06966109617
+392,6.533333333,pose2_to_pose3_retreat,0.578360822498,-0.00999878870471,1.07001167728,0.548932057438,-0.00132512269434,1.06966120795
+393,6.550000000,pose2_to_pose3_retreat,0.578334234698,-0.00999874870726,1.0700116417,0.548905469894,-0.00132508174958,1.06966117442
+394,6.566666667,pose2_to_pose3_retreat,0.578312366336,-0.00999874603602,1.07001142646,0.548883600346,-0.00132508280947,1.06966096644
+395,6.583333333,pose2_to_pose3_retreat,0.578295056785,-0.009998835841,1.07001157325,0.548866292695,-0.00132516629217,1.06966111029
+396,6.600000000,pose2_to_pose3_retreat,0.578281651216,-0.00999887087099,1.07001171106,0.548852888119,-0.00132519798835,1.06966124719
+397,6.616666667,pose2_to_pose3_retreat,0.578271635106,-0.00999882844571,1.07001170597,0.548842871621,-0.00132515677697,1.06966124445
+398,6.633333333,pose2_to_pose3_retreat,0.578264765584,-0.00999872857307,1.07001152396,0.548836000852,-0.00132506097026,1.06966106636
+399,6.650000000,pose2_to_pose3_retreat,0.578261076476,-0.00999871583879,1.07001156983,0.548832311039,-0.00132505056982,1.06966111374
+400,6.666666667,pose2_to_pose3_retreat,0.578258534882,-0.00999871080734,1.07001161457,0.548829768955,-0.00132504716,1.06966115947
+401,6.683333333,pose2_to_pose3_retreat,0.578257075598,-0.00999865470781,1.07001163405,0.5488283088,-0.00132499416619,1.06966117518
+402,6.700000000,pose2_to_pose3_retreat,0.578256548886,-0.0099986286327,1.0700116404,0.54882778171,-0.00132496945017,1.0696611797
+403,6.716666667,pose2_to_pose3_retreat,0.578256337201,-0.0099986181531,1.07001164296,0.548827569872,-0.00132495951679,1.06966118151
+404,6.733333333,pose2_to_pose3_retreat,0.578255902019,-0.00999859660923,1.07001164821,0.548827134377,-0.00132493909583,1.06966118524
+405,6.750000000,pose2_to_pose3_retreat,0.578255720768,-0.00999858763631,1.07001165039,0.548826952996,-0.0013249305906,1.0696611868
+406,6.766666667,pose2_to_pose3_retreat,0.578255546503,-0.00999857900922,1.07001165249,0.548826778605,-0.00132492241317,1.06966118829
+407,6.783333333,pose2_to_pose3_retreat,0.578255052278,-0.0099985545424,1.07001165845,0.548826284025,-0.00132489922162,1.06966119253
+408,6.800000000,pose2_to_pose3_retreat,0.578254306479,-0.00999856638192,1.07001171614,0.548825538309,-0.00132491083223,1.06966124892
+409,6.816666667,pose2_to_pose3_retreat,0.578254085571,-0.00999858406508,1.07001174738,0.548825317606,-0.00132492782154,1.06966128016
+410,6.833333333,pose2_to_pose3_retreat,0.578253844138,-0.00999860339122,1.07001178152,0.548825076396,-0.00132494638937,1.06966131431
+411,6.850000000,pose2_to_pose3_retreat,0.578253306311,-0.00999864644301,1.07001185758,0.548824539066,-0.00132498775192,1.06966139037
+412,6.866666667,pose2_to_pose3_retreat,0.578253115256,-0.00999866173644,1.07001188459,0.548824348189,-0.00132500244527,1.06966141738
+413,6.883333333,pose2_to_pose3_retreat,0.578253089618,-0.00999866378873,1.07001188822,0.548824322574,-0.00132500441703,1.06966142101
+414,6.900000000,pose2_to_pose3_retreat,0.578253042067,-0.00999866759512,1.07001189494,0.548824275067,-0.00132500807407,1.06966142773
+415,6.916666667,pose2_to_pose3_retreat,0.578252985893,-0.0099986720917,1.07001190289,0.548824218945,-0.00132501239422,1.06966143568
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+417,6.950000000,pose2_to_pose3_retreat,0.57825284675,-0.00999866906925,1.07001188937,0.548824079907,-0.00132500903726,1.06966142163
+418,6.966666667,pose2_to_pose3_retreat,0.578252591405,-0.00999865526151,1.07001184519,0.548823824741,-0.00132499467546,1.06966137616
+419,6.983333333,pose2_to_pose3_retreat,0.578252510292,-0.00999865087533,1.07001183116,0.548823743685,-0.00132499011328,1.06966136171
+420,7.000000000,pose2_to_pose3_retreat,0.578252501172,-0.0099986503822,1.07001182958,0.548823734572,-0.00132498960036,1.06966136009
+421,7.016666667,pose2_to_pose3_retreat,0.578252363546,-0.0099986429401,1.07001180578,0.548823597042,-0.00132498185963,1.06966133558
+422,7.033333333,pose2_to_pose3_retreat,0.578252313556,-0.00999864258276,1.0700117818,0.548823547009,-0.00132498162281,1.06966131224
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..40504dba8fe231fa2f2acbab2b826f2375fdf875
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc47383885aab04691802609cb1d1c6437507266a43e9486deb87659a23925f7
+size 27135250
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0858883a2d193489f08cce46a543de5993d346a7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_05/franka_data.csv
@@ -0,0 +1,429 @@
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+27,0.450000000,BASELINE,764.673785821,743,712.673785821,673.673785821,659,634,877,784.673785821,801,649,629.673785821,651,0.400967573731,-0.0153750879208,0.0798367652028,0.99999992511,0.000264032400393,-0.000281757879571,2.6075329906e-05,1793196627641225728
+28,0.466666667,BASELINE,765,743,713,674,659.25873901,633.74126099,877.25873901,785,801,648.74126099,630,651,0.400966732876,-0.0153747274848,0.0798362054759,0.999999924587,0.000264715884408,-0.00028298106469,2.59424390892e-05,1793196627657892352
+29,0.483333333,BASELINE,765,743,713,674,659.838835971,633.161164029,877.838835971,785,801,648.161164029,630,651,0.400966719611,-0.0153745496064,0.0798361923367,0.999999924845,0.000263913295291,-0.000282814090296,2.60148068431e-05,1793196627674558976
+30,0.500000000,BASELINE,764.586327933,742.586327933,712.586327933,673.586327933,659.586327933,633,878,785,801,648.413672067,630,651,0.400967756027,-0.0153748491999,0.07983741427,0.999999925465,0.000263264499001,-0.000281198546812,2.6258581182e-05,1793196627691225856
+31,0.516666667,BASELINE,764.01351571,742.01351571,712.01351571,673.01351571,659.01351571,633,878,785,801,648.98648429,630,651,0.400969196257,-0.0153753324776,0.0798391113372,0.99999992622,0.000262674867018,-0.000279025737013,2.65682958439e-05,1793196627707892480
+32,0.533333333,BASELINE,764,742.563187857,712,673,659.563187857,633.563187857,877.436812143,785,801,649,630,650.436812143,0.400968636128,-0.0153749898011,0.0798384515291,0.999999925953,0.000263118105495,-0.000279569263835,2.65392423444e-05,1793196627724559104
+33,0.550000000,BASELINE,764,743,712.143970821,673,660,634,877,784.856029179,800.856029179,649,629.856029179,650.143970821,0.400968302676,-0.0153746776776,0.0798380498406,0.999999925705,0.000263643465349,-0.000279967962149,2.64709209495e-05,1793196627741225472
+34,0.566666667,BASELINE,764,743,712.737189633,673,660,634,877,784.262810367,800.262810367,649,629.262810367,650.737189633,0.400968827388,-0.015374523174,0.0798386313148,0.999999925595,0.000264347192401,-0.000279709906751,2.63056129286e-05,1793196627757892352
+35,0.583333333,BASELINE,764,743,712.679237147,673,659.679237147,633.679237147,877.320762853,784,800.320762853,649,629.320762853,651,0.400969676255,-0.015373576665,0.0798390740868,0.999999925441,0.000265801940207,-0.000278901219885,2.60934658077e-05,1793196627774558976
+36,0.600000000,BASELINE,764,743,712.10333607,673,659.10333607,633.10333607,877.89666393,784,800.89666393,649,629.89666393,651,0.400970782959,-0.0153720001864,0.0798394065337,0.999999925247,0.000267854058075,-0.000277654554796,2.58440623446e-05,1793196627791225600
+37,0.616666667,BASELINE,764,743,712,673.471959681,659.471959681,633.471959681,877.528040319,784.471959681,800.528040319,649,630,651,0.400970423276,-0.0153729369432,0.0798394224842,0.999999925288,0.00026769470334,-0.000277657339492,2.58957663761e-05,1793196627807892224
+38,0.633333333,BASELINE,764.048322901,743,712,673.951677099,660,634,877,784.951677099,800.048322901,649,630,651,0.400969724353,-0.0153743605516,0.0798393074825,0.999999925406,0.000266884758217,-0.00027799924356,2.60094898193e-05,1793196627824558848
+39,0.650000000,BASELINE,764.638131379,743,712,673.361868621,660,634,877,784.361868621,800.638131379,649,630,651,0.400968817183,-0.0153750813564,0.0798385006075,0.999999925815,0.000264203411427,-0.000279079610965,2.6080363895e-05,1793196627841225472
+40,0.666666667,BASELINE,764.775777477,743,712,673,660,634,877.224222523,784,801,648.775777477,630,651,0.400967897664,-0.0153751353879,0.079837800041,0.999999925734,0.000263616924567,-0.000279930181518,2.60384845925e-05,1793196627857892096
+41,0.683333333,BASELINE,764.195587867,743,712,673,660,634,877.804412133,784,801,648.195587867,630,651,0.40096695854,-0.0153741308754,0.0798372682459,0.999999924877,0.00026635615725,-0.000280415935327,2.58176023417e-05,1793196627874558720
+42,0.700000000,BASELINE,764,743,712,673.38105518,660,634,877.61894482,784.38105518,801,648,630,651,0.400967171695,-0.0153745819271,0.0798373738305,0.999999925146,0.000265541477103,-0.0002802272322,2.58403742204e-05,1793196627891225344
+43,0.716666667,BASELINE,764,743,712,673.955894617,660,634,877.044105383,784.955894617,801,648,630,651,0.400967970835,-0.0153757732009,0.0798378035523,0.999999925984,0.000262919467141,-0.000279695536381,2.59870555468e-05,1793196627907892224
+44,0.733333333,BASELINE,764,743,712,674,660,633.457948247,877.542051753,784.457948247,801,648.542051753,630,651,0.400968653076,-0.0153752568688,0.0798381668464,0.999999926009,0.000263860719874,-0.000278716819266,2.59964906933e-05,1793196627924558848
+45,0.750000000,BASELINE,764,743,712,673.872521376,659.872521376,633,878.127478624,784,800.872521376,649,630,651.127478624,0.400969283286,-0.0153748293586,0.0798385568092,0.999999926057,0.000264509403644,-0.000277933265501,2.59599131097e-05,1793196627941225472
+46,0.766666667,BASELINE,764,743,712,673.293019074,659.293019074,633,878.706980926,784,800.293019074,649,630,651.706980926,0.40096976345,-0.0153752199828,0.0798390609099,0.999999926429,0.000263070680469,-0.00027797346198,2.5800622556e-05,1793196627957892096
+47,0.783333333,BASELINE,764,742.715387845,712,673.284612155,659,633.284612155,878.43077569,784,800.284612155,649,630,651.715387845,0.400969436895,-0.015375565264,0.0798387352392,0.999999926554,0.00026194373244,-0.000278596041609,2.57394867283e-05,1793196627974558720
+48,0.800000000,BASELINE,764,742.139670305,712,673.860329695,659,633.860329695,877.279340609,784,800.860329695,649,630,651.139670305,0.400968285216,-0.0153758641677,0.0798375608665,0.999999926424,0.000261135672319,-0.000279814291065,2.57787449396e-05,1793196627991225344
+49,0.816666667,BASELINE,764,742.436320971,712.436320971,673.563679029,659.436320971,634,877,784.436320971,801,649,630,651,0.400968291925,-0.0153754630862,0.0798376743801,0.999999926103,0.000262609390253,-0.000279574538977,2.5863279395e-05,1793196628007891968
+50,0.833333333,BASELINE,764.012691001,742.987308999,712.987308999,673.012691001,660,633.987308999,877.012691001,785,801,649,630,651,0.400968670497,-0.0153748557691,0.0798382002059,0.999999925727,0.000264777010332,-0.000278863786694,2.59591692145e-05,1793196628024558592
+51,0.850000000,BASELINE,764.602294394,742.397705606,712.397705606,673.602294394,660,633.397705606,877.602294394,785,801,649,630,651,0.400969086301,-0.0153750656429,0.0798387164627,0.999999925848,0.000265263846508,-0.000277971759439,2.59119985382e-05,1793196628041225472
+52,0.866666667,BASELINE,764.811361761,742,712,673.811361761,660,633.188638239,877.811361761,785,801,649,630,651,0.400968970521,-0.0153752778849,0.0798387019589,0.999999925858,0.000265303362178,-0.000277897862109,2.58973748949e-05,1793196628057892352
+53,0.883333333,BASELINE,764.231773322,742,712,673.231773322,660,633.768226678,877.231773322,785,801,649,630,651,0.400967753044,-0.015375495035,0.0798375874611,0.99999992564,0.000264415812125,-0.000279519528035,2.595020454e-05,1793196628074558976
+54,0.900000000,BASELINE,764.344776146,742.344776146,712,672.655223854,660,633.655223854,877.344776146,784.655223854,801,649,630,651,0.400967745338,-0.0153765845242,0.0798374953691,0.999999926205,0.000262164607186,-0.000279609728807,2.60596604933e-05,1793196628091225600
+55,0.916666667,BASELINE,764.919300516,742.919300516,712,672.080699484,660,633.080699484,877.919300516,784.080699484,801,649,630,651,0.400968543787,-0.0153782553133,0.079838084577,0.999999927284,0.000259004704591,-0.000278679408224,2.62068504752e-05,1793196628107892224
+56,0.933333333,BASELINE,764.494679369,743,712,673.010641261,659.494679369,633,877.494679369,784,801,649,630,651,0.400968456331,-0.0153773835262,0.0798383480187,0.999999926844,0.000260898101552,-0.000278492888116,2.6189755464e-05,1793196628124558848
+57,0.950000000,BASELINE,764,743,712,674,659.091840279,633.091840279,877.091840279,784,801,649,630,651,0.400968205091,-0.0153763735127,0.0798384573469,0.999999926262,0.000263066797538,-0.000278548719895,2.61250013592e-05,1793196628141225472
+58,0.966666667,BASELINE,764,743,712,674,659.671041524,633.671041524,877.671041524,784,801,649,630,651,0.400967852962,-0.0153768348883,0.0798380313549,0.99999992627,0.000262314216691,-0.000279245601834,2.59498054836e-05,1793196628157892352
+59,0.983333333,BASELINE,764,743,712,673.750741212,660,633.750741212,878,784,801,649,630,651,0.400967503567,-0.0153770115714,0.0798376986713,0.999999926084,0.000262242998785,-0.000279988114436,2.58124890988e-05,1793196628174558976
+60,1.000000000,BASELINE,764,743,712,673.173817366,660,633.173817366,878,784,801,649,630,651,0.400967157766,-0.0153768140098,0.0798374886467,0.999999925645,0.000263067471664,-0.000280790611273,2.57249674655e-05,1793196628191225344
+61,1.016666667,BASELINE,764.402222265,743,712,673.402222265,660,633.402222265,877.597777735,784.402222265,801,649,629.597777735,651,0.400967620618,-0.0153766945759,0.0798380271252,0.999999925577,0.000263719359038,-0.000280405945628,2.59070885907e-05,1793196628207892224
+62,1.033333333,BASELINE,764.977880593,743,712,673.977880593,660,633.977880593,877.022119407,784.977880593,801,649,629.022119407,651,0.400968432156,-0.0153766088301,0.0798388883541,0.999999925667,0.00026429682843,-0.000279509381897,2.62054782194e-05,1793196628224559104
+63,1.050000000,BASELINE,764.433006855,743,712.566993145,674,660,634,877.566993145,785,801,649,629.566993145,651,0.400970412261,-0.0153756650352,0.0798403524082,0.99999992618,0.000265094202764,-0.000276908666004,2.62009287957e-05,1793196628241225728
+64,1.066666667,BASELINE,764.153605465,743,712.846394535,674,659.846394535,634,878,785,800.846394535,649,630,651,0.400971300113,-0.0153752334757,0.0798409561003,0.999999926629,0.00026490321723,-0.000275472493147,2.61226029686e-05,1793196628257892352
+65,1.083333333,BASELINE,764.731820233,743,712.268179767,674,659.268179767,634,878,785,800.268179767,649,630,651,0.40096903959,-0.0153763126616,0.0798391149179,0.999999926867,0.000261955832299,-0.000277443691422,2.58738010171e-05,1793196628274558976
+66,1.100000000,BASELINE,764.690244132,743,712,673.690244132,659.309755868,634,877.690244132,784.690244132,800.309755868,649,630,651,0.40096927837,-0.0153762819223,0.0798391630175,0.999999926838,0.00026247771649,-0.00027705401128,2.58769658103e-05,1793196628291225344
+67,1.116666667,BASELINE,764.112549978,743,712,673.112549978,659.887450022,634,877.112549978,784.112549978,800.887450022,649,630,651,0.400971679043,-0.0153752910995,0.0798408453428,0.999999926573,0.000266000512591,-0.000274622175307,2.60980814123e-05,1793196628307891968
+68,1.133333333,BASELINE,764,743,712.462419122,673,660,633.537580878,877.462419122,784,801,649,630,651,0.400971343728,-0.0153765411265,0.0798408237863,0.999999927113,0.000263383140998,-0.000275165774103,2.62289900452e-05,1793196628324558848
+69,1.150000000,BASELINE,764,743,713,673,660,633,878,784.037824235,800.962175765,649,630,651,0.400970379327,-0.0153781568089,0.0798403705922,0.99999992774,0.000259708643282,-0.000276369062569,2.63157324204e-05,1793196628341225728
+70,1.166666667,BASELINE,764,743,713,673,660,633,878,784.629261323,800.370738677,649,630,651,0.400969896976,-0.0153771882965,0.0798396341421,0.999999926979,0.000262307301229,-0.000276690208157,2.60755099002e-05,1793196628357892352
+71,1.183333333,BASELINE,764,743,713,673,659.784418129,633,878,784.784418129,800.215581871,649,630,651,0.400969641227,-0.0153761792364,0.0798392531214,0.999999926325,0.000264691688514,-0.000276798338329,2.59127252826e-05,1793196628374558976
+72,1.200000000,BASELINE,764,743,713,673,659.206692476,633,878,784.206692476,800.793307524,649,630,651,0.400969766131,-0.0153751020625,0.0798394691663,0.999999925857,0.000266716135058,-0.000276548636013,2.58800241761e-05,1793196628391225344
+73,1.216666667,BASELINE,764.370139954,743,712.629860046,673,659.370139954,633.370139954,877.629860046,784,800.629860046,649,629.629860046,650.629860046,0.400969666794,-0.0153750675993,0.0798392697202,0.999999926013,0.000265973349336,-0.000276696702114,2.59116583971e-05,1793196628407892736
+74,1.233333333,BASELINE,764.946474759,743,712.053525241,673,659.946474759,633.946474759,877.053525241,784,800.053525241,649,629.053525241,650.053525241,0.400969442539,-0.0153756140018,0.0798388388155,0.999999926514,0.00026368901404,-0.000277066354141,2.59791320724e-05,1793196628424560384
+75,1.250000000,BASELINE,765,743,712,673.521532709,660,634,877,784,800.521532709,649,629.521532709,650.521532709,0.400969469242,-0.0153749993665,0.079839078107,0.999999926614,0.000263220877571,-0.000277145655367,2.60029704786e-05,1793196628441226496
+76,1.266666667,BASELINE,764.900802986,743,712,674,659.900802986,633.900802986,877,784,801,649,629.900802986,651,0.400969682666,-0.0153743700125,0.0798393650079,0.999999926621,0.000263331607493,-0.000277019480465,2.5985138835e-05,1793196628457892352
+77,1.283333333,BASELINE,764.309562041,743,712,674,659.309562041,633.309562041,877,784,801,649,629.309562041,651,0.400970694833,-0.015374257263,0.0798395477174,0.999999926357,0.00026539134619,-0.000276021538121,2.57827719143e-05,1793196628474558976
+78,1.300000000,BASELINE,764,743,712,673.72515099,659,633.27484901,877,784.27484901,801,649,629,651,0.400970552126,-0.0153754481021,0.0798396390589,0.999999926449,0.000264935472371,-0.000276123246141,2.58205326557e-05,1793196628491225600
+79,1.316666667,BASELINE,764,743,712,673.148245957,659,633.851754043,877,784.851754043,801,649,629,651,0.400969140226,-0.0153780715709,0.0798396299878,0.999999926927,0.000261714968067,-0.000277433457818,2.61221910566e-05,1793196628507892736
+80,1.333333333,BASELINE,764.425161479,743,712,673,659,634,877,784.574838521,801,648.574838521,629,651,0.400969820726,-0.0153770353494,0.079840089564,0.999999926748,0.000263391228842,-0.000276480948191,2.62177365128e-05,1793196628524559360
+81,1.350000000,BASELINE,764.997359364,743,712,673,659,634,877,784.002640636,801,648.002640636,629,651,0.400971224855,-0.0153747334733,0.0798407112154,0.999999926332,0.000266760970002,-0.000274745906797,2.62420005906e-05,1793196628541225728
+82,1.366666667,BASELINE,764.410402727,743,712,673.589597273,659,634,877,784.589597273,801,648.589597273,629.589597273,651,0.400969646886,-0.0153756655882,0.0798393228653,0.999999926489,0.00026437340751,-0.000276470077983,2.63114608402e-05,1793196628557892352
+83,1.383333333,BASELINE,764.178110201,743,712,673.821889799,659.178110201,634,877,784.821889799,800.821889799,649,629.821889799,651,0.400968375464,-0.0153763130281,0.0798383743805,0.999999926523,0.000262841491897,-0.000277806987962,2.62990582618e-05,1793196628574558720
+84,1.400000000,BASELINE,764.758010646,743,712,673.241989354,659.758010646,634,877,784.241989354,800.241989354,649,629.241989354,651,0.400967826756,-0.0153762844596,0.0798384391884,0.999999926289,0.000263300002959,-0.000278234115141,2.61015125804e-05,1793196628591225344
+85,1.416666667,BASELINE,764.664957546,743,712,673,660,633.664957546,877.335042454,784,800.335042454,649,629.335042454,651,0.400968217357,-0.0153753385082,0.0798387659434,0.999999926045,0.00026448704164,-0.000277997265245,2.59606538678e-05,1793196628607892224
+86,1.433333333,BASELINE,764.089980099,743,712,673,660,633.089980099,877.910019901,784,800.910019901,649,629.910019901,651,0.400969280629,-0.0153737355883,0.0798392802872,0.999999925792,0.000266195803042,-0.000277284919356,2.58603905822e-05,1793196628624558848
+87,1.450000000,BASELINE,764,743,712,673.495354604,659.504645396,633.495354604,878,784,801,649,629.504645396,651,0.400969348648,-0.0153750896387,0.0798393498569,0.999999926186,0.000264613850059,-0.000277383776551,2.58134251161e-05,1793196628641225728
+88,1.466666667,BASELINE,764.081667187,743,712,674,659,634,877.918332813,784,801,649,629.081667187,650.918332813,0.400969235351,-0.0153767230505,0.0798392865374,0.999999926607,0.000262778689576,-0.000277615145316,2.57638848693e-05,1793196628657892608
+89,1.483333333,BASELINE,764.662215175,743,712,674,659,634,877.337784825,784,801,649,629.662215175,650.337784825,0.400969142406,-0.0153767117775,0.0798389155119,0.999999926485,0.000263126223599,-0.000277736627638,2.56382120404e-05,1793196628674559488
+90,1.500000000,BASELINE,764.759386967,743,712.240613033,673.759386967,659.240613033,634,877.240613033,784,801,649,630,650.240613033,0.400969168663,-0.0153763791263,0.0798388607157,0.999999926336,0.000263810362912,-0.000277622056415,2.56635658326e-05,1793196628691225856
+91,1.516666667,BASELINE,764.183980888,743,712.816019112,673.183980888,659.816019112,634,877.816019112,784,801,649,630,650.816019112,0.400969360777,-0.0153755993042,0.0798392459263,0.999999926148,0.000264962860495,-0.000277179036279,2.58990606323e-05,1793196628707892224
+92,1.533333333,BASELINE,764,743,712.607147544,673.392852456,660,634,877.607147544,784.392852456,801.392852456,649,630,651,0.400969610738,-0.0153760074304,0.0798395366532,0.999999926602,0.000263901593846,-0.000276532855097,2.61169740224e-05,1793196628724559104
+93,1.550000000,BASELINE,764,743,712.029643293,673.970356707,660,634,877.029643293,784.970356707,801.970356707,649,630,651,0.400969887889,-0.0153769739258,0.0798397829701,0.999999927353,0.000261799795334,-0.00027579118242,2.6326623672e-05,1793196628741225728
+94,1.566666667,BASELINE,764.557601326,743,712.557601326,674,660,634,877,785,801.442398674,649,630,651,0.400970262376,-0.0153772461615,0.0798398793133,0.999999927098,0.000262819618731,-0.000275745082354,2.63669991922e-05,1793196628757892096
+95,1.583333333,BASELINE,765,743,713,673.856658991,660,634,877.143341009,785,801,649,630,651,0.400970436107,-0.0153776304594,0.0798398938936,0.999999926959,0.000263249381132,-0.00027583290871,2.64050005411e-05,1793196628774558720
+96,1.600000000,BASELINE,765,743,713,673.277102825,660,634,877.722897175,785,801,649,630,651,0.400969982869,-0.0153784701014,0.0798396843476,0.999999927346,0.000261369466819,-0.000276213767231,2.64636493901e-05,1793196628791225600
+97,1.616666667,BASELINE,764.700571149,743,712.700571149,673,660,633.700571149,877.700571149,784.700571149,800.700571149,649,630,651,0.400969921442,-0.015377591431,0.0798397924909,0.999999927016,0.000262730532718,-0.000276138756661,2.62218659678e-05,1793196628807892480
+98,1.633333333,BASELINE,764.126810496,743,712.126810496,673,660,633.126810496,877.126810496,784.126810496,800.126810496,649,630,651,0.400970218988,-0.0153751384709,0.0798401916958,0.999999926018,0.000267060931634,-0.000275646086283,2.57048314231e-05,1793196628824559104
+99,1.650000000,BASELINE,764,742.553028836,712,673,659.553028836,633.446971164,877,784.446971164,800,649,630,651,0.400970334595,-0.0153758717112,0.0798401080141,0.999999926475,0.000265117169545,-0.00027586651269,2.56944681342e-05,1793196628841225728
+100,1.666666667,BASELINE,764.021544801,742,712,673.021544801,659.021544801,633.978455199,877,784.978455199,800.021544801,649,630,651,0.400970381332,-0.0153774513915,0.0798398876637,0.999999927294,0.000261562405911,-0.000276278204782,2.58273354131e-05,1793196628857892608
+101,1.683333333,BASELINE,764.617058701,742,712,673.617058701,659.617058701,633.382941299,877,784.382941299,800.617058701,649,630,651,0.400969968547,-0.0153774975913,0.0798396763152,0.99999992701,0.000262513350705,-0.000276395330579,2.59462366506e-05,1793196628874559232
+102,1.700000000,BASELINE,764.794206033,742.205793967,712.205793967,673.794206033,659.794206033,633.205793967,877,784,800.794206033,649,630,651,0.400969812981,-0.015377500419,0.0798398056542,0.999999926872,0.000263214518609,-0.00027621674265,2.60440087787e-05,1793196628891225600
+103,1.716666667,BASELINE,764.217682278,742.782317722,712.782317722,673.217682278,659.217682278,633.782317722,877,784,800.217682278,649,630,651,0.400970120784,-0.0153774251136,0.0798405487286,0.999999927001,0.000263465723104,-0.000275505437991,2.61037176292e-05,1793196628907892224
+104,1.733333333,BASELINE,764,743,712.641808259,673,659.358191741,633.641808259,877,784,800,649,630,651,0.400969768548,-0.0153772679569,0.0798402341102,0.999999926901,0.000263198124585,-0.000276135655775,2.59438620088e-05,1793196628924559104
+105,1.750000000,BASELINE,764,743,712.066328331,673,659.933671669,633.066328331,877,784,800,649,630,651,0.400969015917,-0.015377061147,0.0798392778685,0.999999926662,0.000262615807034,-0.000277579675003,2.56508130218e-05,1793196628941225984
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,743,713,674,660,634,877,784,800,649,630,651,0.400967570135,-0.0153761617377,0.0798379367613,0.999999925524,0.000264754078416,-0.000279624615278,2.58190856614e-05,1793196628972478208
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742.398082979,712.398082979,673.398082979,659.398082979,634,877,784.601917021,801.203834043,649,630,651,0.400970025683,-0.0153764910578,0.0798402311765,0.999999927151,0.000263127014771,-0.00027528545397,2.60655808397e-05,1793196628989144832
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.195174662,712.195174662,673,659.195174662,634,877.195174662,785,801.804825338,649,629.804825338,651,0.400971031009,-0.0153766375513,0.07984139102,0.999999927922,0.000262334613755,-0.000273228691023,2.61285740211e-05,1793196629005811712
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.771520841,712.771520841,673,659.771520841,634,877.771520841,785,801.228479159,649,629.228479159,651,0.400969204085,-0.0153764269887,0.0798403350722,0.999999927051,0.000263172288915,-0.000275629397568,2.58331921689e-05,1793196629022478336
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,743,712.653482464,673,660,633.653482464,878,785,801,649,629.346517536,651,0.400968929675,-0.0153766981469,0.0798401521933,0.999999926841,0.000263471396117,-0.000276089681091,2.5994898482e-05,1793196629039144960
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,712.079372144,673,660,633.079372144,878,785,801,649,629.920627856,651,0.400969674956,-0.0153772856995,0.0798405427462,0.999999927068,0.000263416771735,-0.000275275494264,2.64568204066e-05,1793196629055811584
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,712.506547647,673,660,633.506547647,878,784.493452353,801,649,630,651,0.400969596109,-0.0153767427634,0.0798402247089,0.999999926802,0.000263684473041,-0.000276005275384,2.62227736765e-05,1793196629072477952
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,743,712.906492002,673,660,633.906492002,878,784,801,649,630,651,0.400969386134,-0.0153760512601,0.079839821185,0.99999992653,0.00026386259954,-0.000276853544718,2.58610046109e-05,1793196629089144576
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,743,712.323997862,673,660,633.323997862,878,784,801,649,630,651,0.40096918185,-0.0153755312792,0.0798395650991,0.999999926641,0.000263301890054,-0.000277026105453,2.54152194499e-05,1793196629105811200
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.25368223,743,712,673,660.25368223,633.25368223,878,784.25368223,800.74631777,649,630,651,0.400974427503,-0.0153761594275,0.0798421164666,0.99999992786,0.000263145554583,-0.000272722938215,2.56368026831e-05,1793196629122477824
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.825328378,743,712,673,660.825328378,633.825328378,878,784.825328378,800.174671622,649,630,651,0.400986504079,-0.0153782266345,0.0798481866808,0.999999930394,0.000263496059307,-0.000262809918007,2.66948618394e-05,1793196629139144704
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.600118479,743,712,673,660.600118479,633.600118479,878,785,800,648.600118479,630,651,0.401009600167,-0.0153794959306,0.0798583552425,0.99999993496,0.000263004292402,-0.000245254428167,2.75430715357e-05,1793196629155811584
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.024286187,743,712,673,660.024286187,633.024286187,878,785,800,648.024286187,630,651,0.401037544922,-0.0153804141402,0.0798703271074,0.999999940077,0.000262141919809,-0.000224336195309,2.82989460293e-05,1793196629172478208
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,743,712.569791223,673,660,633,877.430208777,785,800.569791223,648.569791223,630,651,0.401090333894,-0.0153829566129,0.0798856849409,0.999999946938,0.000261479638952,-0.000192155971662,2.87951246626e-05,1793196629189144832
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.15919425,743,713,673.15919425,659.84080575,633.15919425,877,785,801,649,630,651,0.401149181876,-0.0153849953064,0.0799008619732,0.999999952367,0.000261579558953,-0.000161270294602,2.88803519625e-05,1793196629205811456
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.734286625,743,713,673.734286625,659.265713375,633.734286625,877,785,801,649,630,651,0.401221001152,-0.0153855310174,0.0799151771509,0.999999955734,0.000263647726184,-0.000135062183666,2.79218355426e-05,1793196629222478080
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.690343857,743,712.690343857,673.690343857,659.309656143,633.690343857,877.309656143,785,801,649,630,651,0.401297983298,-0.0153876073842,0.079923345373,0.999999957547,0.000263442910306,-0.00012179196379,2.58935175523e-05,1793196629239144960
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.114736345,743,712.114736345,673.114736345,659.885263655,633.114736345,877.885263655,785,801,649,630,651,0.401379399623,-0.0153910069589,0.0799262342183,0.999999958445,0.00026128591946,-0.000119633586546,2.29463895329e-05,1793196629255811584
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,743,712.473764725,673.473764725,660,633.473764725,877.526235275,784.526235275,801,649,630,651,0.40147470852,-0.0153962147828,0.0799275317442,0.999999960499,0.000255325589309,-0.000115880703474,1.95328987477e-05,1793196629272478208
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.063972902,743,712.936027098,674,659.936027098,634,877,784.063972902,800.936027098,649,630,651,0.401576728704,-0.0154015826946,0.0799287742043,0.999999962738,0.00024863337501,-0.0001116061769,1.57828661814e-05,1793196629289144832
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.642102849,743,712.357897151,674,659.357897151,634,877,784.642102849,800.357897151,649,630,651,0.401704890849,-0.0154046191606,0.0799327581345,0.999999964607,0.000243668957828,-0.000106329561664,1.02611474862e-05,1793196629305811456
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.781214367,742.781214367,712.218785633,674,659.218785633,634,877,785,800.218785633,649,630,651,0.401846345395,-0.015409269037,0.079938055097,0.999999967473,0.000235356680837,-9.81749808019e-05,4.69413263543e-06,1793196629322478080
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.206883405,742.206883405,712.793116595,674,659.793116595,634,877,785,800.793116595,649,630,651,0.402009401215,-0.0154165408428,0.0799454858487,0.999999971804,0.000221603846306,-8.53434606087e-05,-9.4649179716e-07,1793196629339144704
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.376668807,742.376668807,712.623331193,674,660,634,877.376668807,785,800.623331193,649,630,651,0.402182907054,-0.0154224624094,0.0799466521495,0.999999973901,0.000211977652985,-8.48585887437e-05,-7.92766909148e-06,1793196629355811584
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.965412898,742.965412898,712.034587102,674,660,634,877.965412898,785,800.034587102,649,630,651,0.402362296566,-0.0154276237535,0.0799442913864,0.999999974761,0.000204674875115,-9.13252309384e-05,-1.56636164218e-05,1793196629372478208
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.454252376,743,712,674,660,633.454252376,877.454252376,784.454252376,800.545747624,648.454252376,630,651,0.402573129898,-0.0154339455435,0.0799396100899,0.99999998913,0.000105940505432,-9.96573316374e-05,-2.41906338157e-05,1793196629389144576
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,743,712,673.875509088,660,633.124490912,877.124490912,784,801,648.124490912,630,651,0.402794973174,-0.0154409382934,0.0799352436435,0.999999993521,2.64861647549e-05,-0.000105975557747,-3.20188746477e-05,1793196629405811200
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,743,712,673.300624383,660,633.699375617,877.699375617,784,801,648.699375617,630,651,0.403049549004,-0.0154500964652,0.0799325402778,0.999999993141,3.74305562067e-05,-0.000104586590827,-3.71403968922e-05,1793196629422478080
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,743,712,673.274468497,660,633.725531503,878,784,800.725531503,649,630,651,0.403328498772,-0.0154590512859,0.0799330878592,0.999999992657,5.55583145753e-05,-0.000101557158003,-3.58433704715e-05,1793196629439144704
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743,712,673.849789529,660,633.150210471,878,784,800.150210471,649,630,651,0.403634165476,-0.0154677832072,0.0799371988941,0.999999991617,8.15599600931e-05,-9.67295650133e-05,-2.75107944086e-05,1793196629455811328
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659.565802767,633,878,784,800.434197233,649,629.565802767,651,0.403970053964,-0.0154805361942,0.0799389611639,0.999999993198,6.65274091107e-05,-9.14861000013e-05,-2.84329563649e-05,1793196629472477952
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.021635349,743,712,674,659.021635349,633.021635349,878,784,801,649,629.021635349,651,0.404318516372,-0.0154947167397,0.0799398671364,0.999999995053,3.76315058245e-05,-8.61616416689e-05,-3.24730681137e-05,1793196629489144576
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.604397197,743,712,674,659.604397197,633.604397197,878,784,801,649,629.604397197,651,0.404716132621,-0.0155090720216,0.0799400890786,0.999999995744,2.52268803466e-05,-8.25477088587e-05,-3.25667952747e-05,1793196629505811200
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,743,712,673.815658817,659.815658817,633.815658817,877.815658817,784,801,649,630,651,0.405120680904,-0.0155225417775,0.0799384675209,0.999999995941,1.16779661779e-05,-8.29694626662e-05,-3.31185275473e-05,1793196629522478080
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743,712,673.241671088,659.241671088,633.241671088,877.241671088,784,801,649,630,651,0.405539881549,-0.0155341397729,0.0799329493116,0.999999995166,-4.28965788474e-06,-9.19215481318e-05,-3.46383566083e-05,1793196629539144704
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+142,2.366666667,POSE1_TO_POSE2_PRESS,764.091400842,743,712.908599158,673,659.908599158,633,877.908599158,784.908599158,801,649,630,651,0.406445849187,-0.0155628298956,0.0799141803834,0.999999989939,-5.12375147059e-05,-0.000126448242764,-3.88365131665e-05,1793196629572477952
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.495814029,743,712.504185971,673.495814029,660,633.495814029,878,785,801,649,630,651,0.406946324247,-0.0155646466657,0.0799147702655,0.999999989191,-5.95219517492e-05,-0.000128592529502,-3.92288466775e-05,1793196629589144832
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.916589238,743,712.083410762,674,660,634,877.916589238,784.916589238,801,648.916589238,630,651,0.407458221325,-0.0155599717214,0.079915578329,0.999999988981,-5.88147307022e-05,-0.000130416691946,-3.96149287861e-05,1793196629605811456
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.339882211,743,712.660117789,674,660,634,877.339882211,784.339882211,801,648.339882211,630,651,0.407994693647,-0.0155317133482,0.0799053865996,0.999999987619,-2.41283875455e-05,-0.000149706754202,-4.20425329709e-05,1793196629622478336
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,712.764002709,674,660,634,877,784.235997291,801,648.235997291,629.764002709,651,0.408561105248,-0.0155162190384,0.079903089132,0.999999987065,-4.76423055324e-06,-0.000154614331372,-4.40631248603e-05,1793196629639144960
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,712.189310876,674,660,634,877,784.810689124,801,648.810689124,629.189310876,651,0.409170484559,-0.0155190432395,0.0799121212161,0.999999989294,-7.38990784323e-06,-0.000138880699528,-4.54995877523e-05,1793196629655811840
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.396184876,743,712,673.603815124,660,633.603815124,877,785,801,649,629.396184876,651,0.409845388501,-0.0155318376251,0.0799453701982,0.999999995192,-2.63548831552e-05,-8.32568893662e-05,-4.46056290848e-05,1793196629672478208
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.986987825,743,712,673.013012175,660,633.013012175,877,785,801,649,629.986987825,651,0.410552480119,-0.0155495296689,0.0799905152576,0.999999997639,-5.33462189195e-05,-8.03780911167e-06,-4.25668961168e-05,1793196629689144832
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,743,712,674.133256047,660,633,877.566628024,785,801,649,630,651,0.411207539265,-0.0155532772112,0.0799782611388,0.999999996492,-6.2688201327e-05,-3.30558740247e-05,-4.46477252932e-05,1793196629705811456
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743,712,674.85473137,660,633,878,784.85473137,801,649,630,651,0.411866339759,-0.0155528115232,0.0799582342266,0.999999994231,-6.85431477143e-05,-6.73540999821e-05,-4.79956415578e-05,1793196629722478080
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,743,712,674.278311498,660,633,878,784.278311498,801,649,630,651,0.412539722159,-0.0155407731946,0.0799189745565,0.999999988867,-6.52283993401e-05,-0.00012249559164,-5.48288671752e-05,1793196629739144704
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.701927907,743,712,674,660,633.298072093,878,784,801,649,629.701927907,651,0.413251366001,-0.0155320327597,0.0798971236601,0.999999985544,-5.89836442487e-05,-0.000147979409284,-5.94611351947e-05,1793196629755811328
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.125578121,743,712,674,660,633.874421879,878,784,801,649,629.125578121,651,0.413998730494,-0.0155263712104,0.0798915254496,0.9999999862,-5.00034583427e-05,-0.000145775069117,-6.20386079192e-05,1793196629772478208
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633.539443947,878,784,801,649,629.460556053,651,0.414804742833,-0.0155316830273,0.0799198470952,0.99999999167,-6.00349460268e-05,-9.67248329718e-05,-6.08319152405e-05,1793196629789144832
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.048719641,743,712,674,660,633,878.048719641,784.048719641,801,649,629.951280359,651,0.415622498351,-0.0155394861483,0.0799532201828,0.999999994609,-7.40470971168e-05,-4.30391781232e-05,-5.87131854358e-05,1793196629805811456
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.629281841,743,712,674,660,633,878.629281841,784.629281841,801,649,629.370718159,651,0.416390091286,-0.0155411137785,0.0799385817812,0.999999992296,-7.36965758851e-05,-8.12163644719e-05,-5.81464799166e-05,1793196629822478336
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.792434331,743,712,674.207565669,660,633.207565669,878.792434331,784.792434331,801,649,629,651,0.417193218583,-0.0155424167001,0.0799341832942,0.999999991523,-7.36978800418e-05,-9.05861666108e-05,-5.75952625496e-05,1793196629839144960
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.218175593,743,712,674.781824407,660,633.781824407,878.218175593,784.218175593,801,649,629,651,0.41805912213,-0.0155431459793,0.079947875014,0.999999994406,-7.43207318342e-05,-4.90637923499e-05,-5.7071407205e-05,1793196629855811584
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.363762483,743.363762483,712.363762483,675,660,633.636237517,878,784.363762483,801,649,629,651,0.418915147752,-0.0155417291078,0.0799617753811,0.999999995662,-7.16772151453e-05,-1.86499003476e-05,-5.64838329419e-05,1793196629872478464
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.950405743,743.950405743,712.950405743,675,660,633.049594257,878,784.950405743,801,649,629,651,0.419765121043,-0.015538997269,0.079975803588,0.999999996181,-6.70323630341e-05,4.95771607117e-06,-5.58572175182e-05,1793196629889145856
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.466785213,743.466785213,713,675,660.533214787,633,878.533214787,785,801,649,629.533214787,651,0.420636441829,-0.0155399014848,0.0799570330933,0.999999995991,-6.38072078127e-05,-2.66898315888e-05,-5.6874724508e-05,1793196629905811968
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712.885897827,674.771795653,660.885897827,633,878.885897827,784.885897827,801,649,630,651,0.421515392276,-0.0155420729591,0.0799442149146,0.999999995105,-6.36689461969e-05,-4.94471623368e-05,-5.73696739345e-05,1793196629922478080
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,712.311336578,673.622673156,660.311336578,633,878.311336578,784.311336578,801,649,630,651,0.422417176587,-0.0155480034344,0.0799676401149,0.999999995509,-7.54587716817e-05,-1.57365568406e-05,-5.51431421319e-05,1793196629939144960
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.263429712,743,712,673.263429712,660,633.263429712,878.263429712,784,801.263429712,649,629.736570288,651,0.423309416971,-0.0155507449941,0.0799837844477,0.999999995146,-8.24551323388e-05,2.98190129806e-06,-5.38520402951e-05,1793196629955811328
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.838438596,743,712,673.838438596,660,633.838438596,878.838438596,784,801.838438596,649,629.161561404,651,0.424190369113,-0.0155497147717,0.0799913171253,0.999999995042,-8.37818843465e-05,3.96796443867e-06,-5.36673452964e-05,1793196629972478208
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,712.426291133,674,660,633.573708867,879,784,802,649.426291133,629.426291133,651,0.425033542335,-0.0155445066408,0.0799532511168,0.999999993184,-7.81028110505e-05,-6.48315202372e-05,-5.77038274086e-05,1793196629989145088
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743.018621656,712.981378344,674.018621656,660.018621656,633,878.981378344,784.018621656,801.981378344,649.981378344,630,651,0.42586569979,-0.0155379000572,0.0798990681669,0.999999983174,-7.01678487058e-05,-0.000157227903575,-6.33154667765e-05,1793196630005811712
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743.594759656,712.405240344,674.594759656,660.594759656,633,878.405240344,784.594759656,801.405240344,649.405240344,630,651,0.42681003975,-0.0155383032232,0.0798958264204,0.999999985085,-7.6656142819e-05,-0.000139659451297,-6.67015401379e-05,1793196630022478336
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.829161747,743.829161747,712.170838253,675,660.829161747,633,878.170838253,785,801,649,630,651,0.42773489103,-0.0155402766818,0.0798959049312,0.999999986054,-8.13448508003e-05,-0.00012894870761,-6.8172068026e-05,1793196630039144960
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.253224048,743.253224048,712.746775952,675,660.253224048,633,878.746775952,785,801,649,630,651,0.428613529805,-0.0155459736895,0.0799038565876,0.999999985493,-8.17662978336e-05,-0.000134499276079,-6.51003670731e-05,1793196630055811584
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743.329982972,712.670017028,675,660,633.329982972,879,785,801,649,629.670017028,651,0.429512380484,-0.0155494971949,0.079926985651,0.999999989212,-8.2658448286e-05,-0.000104016499856,-6.2639905837e-05,1793196630072478208
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743.918893987,712.081106013,675,660,633.918893987,879,785,801,649,629.081106013,651,0.430427090815,-0.0155513152159,0.0799620239841,0.999999993615,-8.39199457855e-05,-4.52594051136e-05,-6.06590666118e-05,1793196630089144832
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,744,712.499632454,675,660.499632454,633.500367546,879,785,801,649,629.499632454,651,0.431344486025,-0.0155536814443,0.0799960557292,0.999999995121,-8.07197525224e-05,3.87617492171e-06,-5.6810496182e-05,1793196630105811456
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.078622082,743.921377918,713,675,661,633,879,785,801,649,630,651,0.432246006887,-0.0155553601238,0.0800155609664,0.999999995029,-7.83268218814e-05,2.96928067118e-05,-5.40775453851e-05,1793196630122478592
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.654804579,743.345195421,713,675,661,633,879,785,801,649,630,651,0.433044352599,-0.0155521335266,0.0799441525187,0.999999991133,-8.5552455852e-05,-8.23394646612e-05,-6.02926720162e-05,1793196630139145216
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743,712.769467679,675,661,633.230532321,879,784.769467679,801,649,630,651,0.433861059347,-0.0155505868742,0.0798957525057,0.99999998238,-8.78039318256e-05,-0.000152644204595,-6.50360746034e-05,1793196630155811840
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743,712.194419454,675,661,633.805580546,879,784.194419454,801,649,630,651,0.434705205615,-0.0155515507924,0.0798817371255,0.999999981409,-8.26218471185e-05,-0.000160589818439,-6.75800809712e-05,1793196630172478464
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.608964861,743,712,675,661,633.608964861,879,784.391035139,801,649,630,651,0.435541030243,-0.0155543206672,0.0799033629312,0.999999984227,-0.000102658907574,-0.000129000141875,-6.60806583906e-05,1793196630189145088
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.018194889,743,712,675,661,633.018194889,879,784.981805111,801,649,630,651,0.436372604253,-0.0155580129973,0.0799431937163,0.999999985874,-0.000135577525913,-7.7216436091e-05,-6.2515913105e-05,1793196630205811456
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,712,675.559276203,660.440723797,633.559276203,879,784.440723797,801.559276203,649,630,651,0.437208099272,-0.0155617679773,0.079973901075,0.999999990324,-0.000121271557078,-3.25594419212e-05,-5.98759209634e-05,1793196630222478336
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,712,676,660.13634176,633.86365824,878.86365824,784.13634176,801.86365824,649,629.86365824,651,0.438034671798,-0.0155658639505,0.0799983796296,0.999999992194,-0.000110676590922,4.34893564727e-06,-5.78246594528e-05,1793196630239144960
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,712,676,660.713462466,633.286537534,878.286537534,784.713462466,801.286537534,649,629.286537534,651,0.438831995952,-0.0155710558836,0.0800036583713,0.999999991362,-0.000116930429595,1.69389733629e-05,-5.75817018439e-05,1793196630255811584
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,712,675.712075728,661,633,878.287924272,785,801,649,629.287924272,651,0.439569318255,-0.0155719448815,0.0799860774395,0.999999990563,-0.000123325268266,-7.9354030971e-06,-6.00105391888e-05,1793196630272478208
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,712,675.140235839,661,633,878.859764161,785,801,649,629.859764161,651,0.440247474041,-0.0155685908521,0.0799459551001,0.999999987018,-0.000129859143138,-6.97525924094e-05,-6.50739730037e-05,1793196630289144832
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+188,3.133333333,POSE1_TO_POSE2_PRESS,765,743.617549696,712,676,660,633,879.617549696,785,801.382450304,649.382450304,629.617549696,651,0.44216393399,-0.015570026186,0.0798268467141,0.999999958529,-0.000137019667262,-0.000242267337353,-7.39913727953e-05,1793196630339144960
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.804603287,743.804603287,712,676,660,633,879.804603287,784.804603287,801.195396713,649.195396713,630,651,0.442851104747,-0.0155789052877,0.0798578993252,0.999999968117,-0.000148608167452,-0.000190562090481,-7.32700973804e-05,1793196630355811584
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.230075194,743.230075194,712,676,660,633,879.230075194,784.230075194,801.769924806,649.769924806,630,651,0.443529872378,-0.0155878387803,0.0799122776604,0.999999979924,-0.000151875160614,-0.000112325596418,-6.68558579513e-05,1793196630372478464
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,712,676,660.352369148,633,879.352369148,784,801.647630852,649.647630852,629.647630852,651,0.444126930901,-0.015591619621,0.0799279751245,0.999999981776,-0.000154481636612,-9.20987009533e-05,-6.40353242084e-05,1793196630389145088
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,712,676,660.940101064,633,879.940101064,784,801.059898936,649.059898936,629.059898936,651,0.444669412295,-0.0155919587794,0.0799178359397,0.999999979589,-0.000156646924505,-0.000110618958911,-6.36151842523e-05,1793196630405811712
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,743.399059274,712,675.399059274,660,633,878.399059274,784,801,648.600940726,629.600940726,651,0.439978217651,-0.0154175489649,0.079748756471,0.999999919425,0.000117203453326,-0.000383292807192,2.23514573526e-05,1793196632550055936
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.187389767,660,633,878.187389767,784,801,649,629.812610233,651,0.439300783028,-0.0154108143244,0.0797145170494,0.99999989659,0.000125337631809,-0.00043672606251,1.95202417874e-05,1793196632566722560
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,743,712,675.767102772,660,633,878.767102772,784,801,649,629.232897228,651,0.438635669441,-0.0154077975164,0.079707679669,0.999999893873,0.000128643357789,-0.00044203166395,1.76916675432e-05,1793196632583389440
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,743,712,676.344479796,660,633,879,784,801.344479796,649,629.344479796,651,0.437983149491,-0.0154102094617,0.0797411726468,0.999999913977,0.000131340643183,-0.000392831080776,2.18781141583e-05,1793196632600056320
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,743,712,676.920288115,660,633,879,784,801.920288115,649,629.920288115,651,0.437339086574,-0.0154162669781,0.0798017486712,0.999999943485,0.000133629341554,-0.000307027955935,3.01038277816e-05,1793196632616722944
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,743,712.505045595,676.494954405,660,633,879,784,802,649,629.494954405,651,0.436682800131,-0.0154179163361,0.0798385430863,0.99999995794,0.000137429102458,-0.000253231552832,3.32614868123e-05,1793196632633389824
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,743,713,676,660,633,878.330390446,784,801.330390446,649,629.669609554,651,0.435261019681,-0.0154145819944,0.0798439856637,0.999999958221,0.000149706888588,-0.000244978409005,3.36401847464e-05,1793196632666722816
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,743.402427114,712.597572886,676,660.597572886,633,879.195145772,784,801,649,630,651,0.432933064517,-0.0154044395302,0.0797727844053,0.999999925949,0.000150260012235,-0.000353268811687,2.6918302013e-05,1793196632716722688
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,743.975546266,712.024453734,676,660.024453734,633,878.048907469,784,801,649,630,651,0.432119445615,-0.0154022403916,0.0797535066123,0.999999904559,0.000177987825954,-0.000398235228291,2.47162266907e-05,1793196632733389312
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,743.151079744,712.151079744,676,660,633,879,784,801,649,629.848920256,651,0.430560331353,-0.0154007493253,0.0797314228785,0.999999886928,0.000164861377246,-0.000445417540885,2.38191344162e-05,1793196632766722560
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,743.73046688,712.73046688,676,660,633,879,784,801,649,629.26953312,651,0.429854282027,-0.0154036796974,0.0797866526136,0.999999923466,0.000170016462728,-0.000351241954207,2.81291079931e-05,1793196632783389440
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,743.113024962,712.113024962,675.113024962,660,633,879.886975038,784,801.886975038,648.113024962,629,651.886975038,0.42836427053,-0.0154089572227,0.0798684709812,0.99999995988,0.000169682982533,-0.000224070597576,3.52112253756e-05,1793196632816722688
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,743,712.58942588,674.58942588,659.58942588,633,878.58942588,784,800.58942588,649,630,651,0.416698680438,-0.0153895202585,0.0797992791461,0.999999929045,0.000196943101224,-0.000320088956847,2.58114489189e-05,1793196633066722560
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.654788448,743,712.345211552,674,659.345211552,634,878,784,801,649,629,651,0.411987777507,-0.0153877390146,0.079794278482,0.999999923731,0.000204670057434,-0.000331922158852,2.18265419112e-05,1793196633183389184
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..87537b86e75fe13d478b133fc8de92837c8345d0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_08/depth_05/simulation_data.csv
@@ -0,0 +1,429 @@
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+365,6.083333333,pose2_to_pose3_retreat,0.583938875999,-0.00999867991625,1.07001166868,0.554510111045,-0.00132501329972,1.06966120429
+366,6.100000000,pose2_to_pose3_retreat,0.583511372168,-0.00999863850295,1.07001164677,0.554082606221,-0.00132497511868,1.06966118571
+367,6.116666667,pose2_to_pose3_retreat,0.58311163023,-0.00999876029656,1.07001158916,0.553682865287,-0.00132509354574,1.06966112716
+368,6.133333333,pose2_to_pose3_retreat,0.582741976672,-0.00999878997773,1.07001161037,0.553313211353,-0.00132512458983,1.06966114618
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+373,6.216666667,pose2_to_pose3_retreat,0.581121205853,-0.00999872677079,1.07001178403,0.551692440352,-0.00132506195214,1.06966132156
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+377,6.283333333,pose2_to_pose3_retreat,0.580110887653,-0.00999863855456,1.07001195931,0.550682120795,-0.00132497881291,1.06966148496
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+381,6.350000000,pose2_to_pose3_retreat,0.579380959103,-0.00999870948004,1.07001175881,0.549952193834,-0.00132504406702,1.06966129152
+382,6.366666667,pose2_to_pose3_retreat,0.579238357835,-0.00999880577061,1.07001174228,0.549809593254,-0.00132513819113,1.06966127085
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+384,6.400000000,pose2_to_pose3_retreat,0.578991802799,-0.00999880791461,1.07001139306,0.549563038783,-0.00132513780567,1.0696609368
+385,6.416666667,pose2_to_pose3_retreat,0.578887194675,-0.00999867426212,1.07001152464,0.549458427885,-0.00132501396096,1.06966105866
+386,6.433333333,pose2_to_pose3_retreat,0.578792479478,-0.00999873459158,1.07001171163,0.54936371342,-0.00132507198406,1.06966124123
+387,6.450000000,pose2_to_pose3_retreat,0.578706297851,-0.0099987121439,1.07001177357,0.549277531673,-0.00132505005883,1.06966130072
+388,6.466666667,pose2_to_pose3_retreat,0.578628523596,-0.0099986149767,1.07001170063,0.549199756571,-0.00132495580703,1.06966122723
+389,6.483333333,pose2_to_pose3_retreat,0.578559575522,-0.0099987542965,1.0700116672,0.549130811774,-0.00132508382467,1.06966119822
+390,6.500000000,pose2_to_pose3_retreat,0.578499163815,-0.00999876520867,1.07001143611,0.549070397832,-0.00132510197785,1.06966097552
+391,6.516666667,pose2_to_pose3_retreat,0.578447381125,-0.00999869726393,1.07001156817,0.549018613857,-0.00132503851532,1.06966110444
+392,6.533333333,pose2_to_pose3_retreat,0.578404657297,-0.00999858958994,1.07001165704,0.54897588911,-0.00132493399492,1.06966119237
+393,6.550000000,pose2_to_pose3_retreat,0.578369437398,-0.00999857556714,1.0700116522,0.548940669941,-0.00132491743557,1.06966118899
+394,6.566666667,pose2_to_pose3_retreat,0.578341272463,-0.0099987511532,1.07001165873,0.548912508497,-0.00132508121259,1.06966119458
+395,6.583333333,pose2_to_pose3_retreat,0.578318094527,-0.0099987960113,1.07001176975,0.548889331107,-0.00132512434287,1.06966130251
+396,6.600000000,pose2_to_pose3_retreat,0.578299173057,-0.00999875181643,1.07001169847,0.548870407812,-0.00132508624265,1.06966123376
+397,6.616666667,pose2_to_pose3_retreat,0.578284331502,-0.00999874633446,1.07001157427,0.54885556637,-0.00132508011881,1.06966111595
+398,6.633333333,pose2_to_pose3_retreat,0.57827313212,-0.00999874580274,1.0700115828,0.548844367588,-0.00132507751016,1.06966112563
+399,6.650000000,pose2_to_pose3_retreat,0.578265373327,-0.00999869110765,1.07001176919,0.548836607323,-0.00132502815964,1.06966130338
+400,6.666666667,pose2_to_pose3_retreat,0.578260396959,-0.00999873660949,1.07001156883,0.548831631162,-0.00132507274847,1.06966110828
+401,6.683333333,pose2_to_pose3_retreat,0.57825790795,-0.00999873833054,1.07001159442,0.548829142016,-0.00132507494065,1.06966113371
+402,6.700000000,pose2_to_pose3_retreat,0.578256371135,-0.00999872501372,1.07001169622,0.548827604951,-0.0013250625489,1.0696612335
+403,6.716666667,pose2_to_pose3_retreat,0.578255467683,-0.00999871718512,1.07001175607,0.548826701351,-0.00132505526412,1.06966129217
+404,6.733333333,pose2_to_pose3_retreat,0.578254942326,-0.00999869700434,1.07001181288,0.548826175544,-0.00132503667771,1.06966134733
+405,6.750000000,pose2_to_pose3_retreat,0.578254614152,-0.00999867315063,1.0700118642,0.548825846826,-0.0013250147398,1.06966139693
+406,6.766666667,pose2_to_pose3_retreat,0.578254342137,-0.00999865337884,1.07001190674,0.548825574359,-0.00132499655596,1.06966143804
+407,6.783333333,pose2_to_pose3_retreat,0.578254125506,-0.00999863763281,1.07001194062,0.54882535737,-0.00132498207457,1.06966147079
+408,6.800000000,pose2_to_pose3_retreat,0.578253901,-0.00999862131427,1.07001197573,0.548825132491,-0.00132496706664,1.06966150472
+409,6.816666667,pose2_to_pose3_retreat,0.578253802644,-0.00999861416516,1.07001199111,0.548825033972,-0.00132496049172,1.06966151959
+410,6.833333333,pose2_to_pose3_retreat,0.578253755346,-0.00999861072724,1.07001199851,0.548824986596,-0.00132495732991,1.06966152674
+411,6.850000000,pose2_to_pose3_retreat,0.578253540423,-0.00999859510533,1.07001203212,0.548824771317,-0.00132494296266,1.06966155922
+412,6.866666667,pose2_to_pose3_retreat,0.578253467221,-0.00999858978452,1.07001204357,0.548824697993,-0.00132493806919,1.06966157029
+413,6.883333333,pose2_to_pose3_retreat,0.57825317282,-0.00999860438526,1.07001200235,0.548824404027,-0.00132495112443,1.06966153084
+414,6.900000000,pose2_to_pose3_retreat,0.578253140301,-0.00999861028351,1.07001198741,0.548824371666,-0.0013249564634,1.06966151649
+415,6.916666667,pose2_to_pose3_retreat,0.578252954913,-0.00999864390953,1.07001190223,0.548824187178,-0.00132498690094,1.06966143468
+416,6.933333333,pose2_to_pose3_retreat,0.578252759225,-0.00999867940376,1.07001181232,0.548823992439,-0.00132501902954,1.06966134833
+417,6.950000000,pose2_to_pose3_retreat,0.578252497693,-0.00999872684095,1.07001169216,0.548823732176,-0.00132506196864,1.06966123292
+418,6.966666667,pose2_to_pose3_retreat,0.578252476118,-0.00999873075416,1.07001168225,0.548823710706,-0.00132506551079,1.06966122339
+419,6.983333333,pose2_to_pose3_retreat,0.578252461377,-0.00999873342792,1.07001167548,0.548823696037,-0.00132506793103,1.06966121689
+420,7.000000000,pose2_to_pose3_retreat,0.578252369566,-0.0099987500809,1.07001163329,0.548823604671,-0.00132508300494,1.06966117637
+421,7.016666667,pose2_to_pose3_retreat,0.57825231952,-0.0099987580115,1.07001161359,0.548823554838,-0.00132509018151,1.06966115745
+422,7.033333333,pose2_to_pose3_retreat,0.578252284836,-0.00999874812652,1.07001164406,0.5488235199,-0.00132508120512,1.06966118678
+423,7.050000000,pose2_to_pose3_retreat,0.578252257476,-0.00999874032881,1.07001166809,0.548823492339,-0.00132507412414,1.06966120992
+424,7.066666667,pose2_to_pose3_retreat,0.578252234707,-0.00999873383948,1.07001168809,0.548823469403,-0.00132506823129,1.06966122917
+425,7.083333333,pose2_to_pose3_retreat,0.57825221465,-0.0099987281232,1.07001170571,0.548823449199,-0.00132506304042,1.06966124614
+426,7.100000000,pose2_to_pose3_retreat,0.578252168807,-0.00999871505765,1.07001174597,0.54882340302,-0.00132505117581,1.0696612849
+427,7.116666667,pose2_to_pose3_retreat,0.578252116129,-0.009998708101,1.07001149842,0.548823349661,-0.00132504625825,1.06966104416
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e5015bc9c1018e226d5a744da2b390d6fe6942eb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a25e23b9f082492b4b712cc0dab97e19d937b686f20a638ed1ed20945c6b6097
+size 26790705
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ad0c6dc354343e789411cd205fe76c29d3e414a6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_01/franka_data.csv
@@ -0,0 +1,423 @@
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+23,0.383333333,BASELINE,765,743,711.326341151,674.673658849,665,633.673658849,877,784,801,650.673658849,630,651.326341151,0.400923881315,0.00440210575714,0.0599255621419,0.999999966493,-0.000145070661952,-0.000211860547415,-3.29096562305e-05,1793196636563179520
+24,0.400000000,BASELINE,765,743,711.923002765,674.076997235,665,633.076997235,877,784,801,650.076997235,630,651.923002765,0.400924252545,0.00440306463123,0.0599254987601,0.999999966855,-0.000143466697023,-0.000211218194016,-3.30828203822e-05,1793196636579846144
+25,0.416666667,BASELINE,765,743,711.49800532,674.50199468,665,633.50199468,877,784,801,650.50199468,630,652,0.400925706721,0.00440354261363,0.0599268480111,0.999999967205,-0.000143690913399,-0.000209380161046,-3.32077344813e-05,1793196636596512512
+26,0.433333333,BASELINE,765,743,711,674.922065162,665.077934838,633.922065162,877,784,801,650.922065162,630,652,0.400926918219,0.00440376425555,0.0599279956209,0.999999967402,-0.000144302886865,-0.000208001179052,-3.32907919365e-05,1793196636613179136
+27,0.450000000,BASELINE,765,743,711,674.348880676,665.651119324,633.348880676,877,784,801,650.348880676,630,652,0.400925567935,0.00440280972521,0.0599265318003,0.999999966652,-0.000145657596881,-0.000210665106049,-3.31532945446e-05,1793196636629845760
+28,0.466666667,BASELINE,765,743,711,674.231983533,665.768016467,633,877.231983533,784,801,650,630,651.768016467,0.400924715197,0.0044023829682,0.0599256711308,0.999999966306,-0.000146067923823,-0.000212025427473,-3.31179647459e-05,1793196636646512384
+29,0.483333333,BASELINE,765,743,711,674.824792696,665.175207304,633,877.824792696,784,801,650,630,651.175207304,0.400924636336,0.00440277710635,0.0599257485983,0.999999966598,-0.000145009363591,-0.000211358129384,-3.32415457444e-05,1793196636663179008
+30,0.500000000,BASELINE,765,743,711,675,665,633,877.591940776,784,801,650,630,651.408059224,0.40092370137,0.00440379030984,0.0599255557572,0.999999966559,-0.000144921956905,-0.000211565279919,-3.34639635886e-05,1793196636679845632
+31,0.516666667,BASELINE,765,743,711,675,665,633,877.012677932,784,801,650,630,651.987322068,0.40092240722,0.00440506324577,0.0599252495066,0.999999966382,-0.000145242003364,-0.000212139310478,-3.37278490033e-05,1793196636696512512
+32,0.533333333,BASELINE,765,743,711,674.438334986,665,633.561665014,877,784,801,650,630,651.438334986,0.40092272027,0.00440352120164,0.0599249961912,0.999999966441,-0.000145120261476,-0.000212004877177,-3.33540835868e-05,1793196636713179136
+33,0.550000000,BASELINE,765,742.860823839,711,674.139176161,664.860823839,633.860823839,876.860823839,784,801.139176161,650,629.860823839,651,0.400922869815,0.00440208353189,0.059924590929,0.999999966293,-0.000145847783086,-0.000212251542276,-3.3052560512e-05,1793196636729845760
+34,0.566666667,BASELINE,765,742.272738779,711,674.727261221,664.272738779,633.272738779,876.272738779,784,801.727261221,650,629.272738779,651,0.400922375981,0.00440118568565,0.0599236917465,0.999999965452,-0.000149346466246,-0.000213778562067,-3.30300745973e-05,1793196636746512384
+35,0.583333333,BASELINE,765,742.310647237,711,675.310647237,664.310647237,633.310647237,876.310647237,784,801.378705526,650,629.310647237,651,0.400922870829,0.00440181703924,0.0599240236664,0.999999965612,-0.000149168533751,-0.000213132681622,-3.31580200433e-05,1793196636763179008
+36,0.600000000,BASELINE,765,742.889969178,711,675.889969178,664.889969178,633.889969178,876.889969178,784,800.220061645,650,629.889969178,651,0.400924220774,0.00440377097751,0.0599254203504,0.999999966634,-0.000145810745202,-0.000210607488558,-3.34160715891e-05,1793196636779845376
+37,0.616666667,BASELINE,765,743,711,675.066214823,665,634,876.533107411,784,800.466892589,650,629.533107411,651,0.400924459848,0.00440389568448,0.0599257985092,0.999999966781,-0.000145500910074,-0.000210144959393,-3.32797261398e-05,1793196636796512000
+38,0.633333333,BASELINE,765,743,711.042462306,674.042462306,665,633.957537694,876.042462306,784,801.042462306,650,629.042462306,651,0.400924350736,0.00440357929074,0.059925855339,0.9999999667,-0.000145879964566,-0.000210295219385,-3.30750707974e-05,1793196636813178624
+39,0.650000000,BASELINE,765,743,711.608279207,674.608279207,665,633.391720793,876.608279207,784,801.608279207,650,629.608279207,651,0.400923160352,0.00440311233354,0.05992489505,0.99999996632,-0.000145941783279,-0.000212037561162,-3.31682048925e-05,1793196636829845248
+40,0.666666667,BASELINE,765.184598505,743,711.815401495,675,665,633.184598505,877,784,801.815401495,650,630,651,0.400922559193,0.00440273525151,0.0599242356832,0.999999966086,-0.000146147792874,-0.000212993443135,-3.32108636067e-05,1793196636846512128
+41,0.683333333,BASELINE,765.784548433,743,711.215451567,675,665,633.784548433,877,784,801.215451567,650,630,651,0.400923283802,0.00440256039093,0.0599242533991,0.999999966183,-0.000146678235692,-0.00021217977005,-3.3139951399e-05,1793196636863179008
+42,0.700000000,BASELINE,765.628635896,743,711,674.628635896,665,634,877,784,801,650.371364104,630,651,0.400923024297,0.00440315717253,0.0599237166142,0.999999966175,-0.000145750944803,-0.000212848257496,-3.32080607455e-05,1793196636879845888
+43,0.716666667,BASELINE,765.049179955,743,711,674.049179955,665,634,877,784,801,650.950820045,630,651,0.400922213348,0.00440418633959,0.0599228691178,0.999999966102,-0.000144006820811,-0.000214347265489,-3.33540700591e-05,1793196636896512512
+44,0.733333333,BASELINE,765,743,711,674.526594629,665,633.473405371,877,784,801,650.473405371,630,651,0.4009224811,0.00440454359944,0.0599231702711,0.999999966134,-0.00014437251649,-0.00021392523531,-3.35295471085e-05,1793196636913179136
+45,0.750000000,BASELINE,765,743,711.101832652,674.898167348,665,633,876.898167348,784,801,650,630,651,0.400922705216,0.0044047640774,0.0599234777692,0.999999966188,-0.000144662909049,-0.000213445712169,-3.37157718303e-05,1793196636929845504
+46,0.766666667,BASELINE,765,743,711.67616508,674.32383492,665,633,876.32383492,784,801,650,630,651,0.40092226267,0.0044046390335,0.0599233204103,0.999999966303,-0.00014369598093,-0.000213526102599,-3.39391844816e-05,1793196636946511872
+47,0.783333333,BASELINE,765,742.741774603,712,674.258225397,665.258225397,633,876.258225397,784.258225397,801,650,630,651,0.400922375755,0.00440414717456,0.059923487663,0.999999966372,-0.000143648595676,-0.000213251047851,-3.38270156389e-05,1793196636963178752
+48,0.800000000,BASELINE,765,742.149723844,712,674.850276156,665.850276156,633,876.850276156,784.850276156,801,650,630,651,0.400923207141,0.00440318110912,0.0599240745628,0.999999966382,-0.000144789965284,-0.000212516485191,-3.32810180263e-05,1793196636979845632
+49,0.816666667,BASELINE,765,742.431691094,711.568308906,675,665.568308906,633.431691094,877,784.568308906,801,650.431691094,630,651.431691094,0.400923964551,0.004403573428,0.0599244333309,0.999999966628,-0.000144078570468,-0.000211834245618,-3.33332182596e-05,1793196636996512512
+50,0.833333333,BASELINE,765,743,711,675,665,634,877,784,801,650.990566569,630,651.990566569,0.400924665995,0.00440439274105,0.0599246971178,0.999999966936,-0.000142802464937,-0.000211203857104,-3.35800854256e-05,1793196637013179136
+51,0.850000000,BASELINE,765,743,711,675,665,634,877,784,801,650.417154491,630,651.417154491,0.400923518525,0.00440325067558,0.0599238990914,0.999999966291,-0.000145258980856,-0.000212614538168,-3.3359561002e-05,1793196637029845760
+52,0.866666667,BASELINE,765.160720282,743,711,675,665,633.839279718,877,784,801,650,630,651.160720282,0.400922892901,0.00440253713132,0.0599235665689,0.999999965895,-0.000146981298431,-0.0002133144717,-3.32089620779e-05,1793196637046512640
+53,0.883333333,BASELINE,765.750508896,743,711,675,665,633.249491104,877,784,801,650,630,651.750508896,0.40092366043,0.00440296759261,0.0599244767835,0.999999966184,-0.000146743556708,-0.000212116951667,-3.32450403996e-05,1793196637063179008
+54,0.900000000,BASELINE,765.665771707,743,711,675,665,633.334228293,877,784,801,650,630,651.665771707,0.400924480935,0.00440428584208,0.0599249389669,0.999999966663,-0.000144825204303,-0.000211141177092,-3.3448935463e-05,1793196637079845376
+55,0.916666667,BASELINE,765.086502017,743,711,675,665,633.913497983,877,784,801,650,630,651.086502017,0.40092534028,0.00440625497853,0.0599250726736,0.999999967275,-0.000141674702515,-0.000210327976529,-3.37758663345e-05,1793196637096512000
+56,0.933333333,BASELINE,765,743,711,675,665,634,877,784.490048666,801,650,630,651,0.400924109139,0.00440461797518,0.0599247432882,0.999999966855,-0.000143287091512,-0.000211283277528,-3.34504833876e-05,1793196637113178624
+57,0.950000000,BASELINE,765,743,711,675,665,634,877,784.934487845,801,650,629.934487845,651,0.400922729845,0.00440267367725,0.0599243577785,0.999999966319,-0.000145421950342,-0.000212414344173,-3.30873984109e-05,1793196637129845504
+58,0.966666667,BASELINE,765,743,711,675,665,634,877,784.36372831,801,650,629.36372831,651,0.400923038122,0.00440324156553,0.0599241663752,0.999999966333,-0.000145138060668,-0.000212506700231,-3.33166717049e-05,1793196637146512128
+59,0.983333333,BASELINE,765,743,711.215865779,674.784134221,665,633.784134221,877.215865779,784,801.215865779,650.215865779,629.215865779,651,0.400923602563,0.00440392527951,0.0599243192673,0.999999966541,-0.000144343280698,-0.000212059813516,-3.33647680344e-05,1793196637163178752
+60,1.000000000,BASELINE,765,743,711.810981186,674.189018814,665,633.189018814,877.810981186,784,801.810981186,650.810981186,629.810981186,651,0.40092461705,0.00440481248512,0.059925077044,0.999999967088,-0.000142650929252,-0.000210665543571,-3.30945587545e-05,1793196637179845376
+61,1.016666667,BASELINE,765,743,711.604590973,674.395409027,665,633.395409027,877.604590973,784,801.209181947,650.604590973,630,651,0.400924905877,0.00440448329032,0.059925181189,0.999999967104,-0.000143149654131,-0.000210271719589,-3.29632416369e-05,1793196637196512000
+62,1.033333333,BASELINE,765,743,711.025137726,674.974862274,665,633.974862274,877.025137726,784,800.050275452,650.025137726,630,651,0.400924856943,0.00440358791855,0.0599249810994,0.999999966872,-0.000144668221624,-0.000210343556021,-3.2896572275e-05,1793196637213178624
+63,1.050000000,BASELINE,765,743,711,674.449285535,665,634,877,784,800.550714465,650,630,651,0.400922212669,0.00440434683378,0.0599233740951,0.999999966218,-0.00014439880341,-0.000213596187915,-3.30015310506e-05,1793196637229845248
+64,1.066666667,BASELINE,765,743,711,674.125604446,665,633.874395554,877,784,801,650.125604446,630,651,0.400920610869,0.00440484683789,0.0599223872894,0.999999965799,-0.000144298508311,-0.000215604037737,-3.30918410986e-05,1793196637246511872
+65,1.083333333,BASELINE,765,743,711,674.697654783,665,633.302345217,877,784,801,650.697654783,630,651,0.40092313276,0.00440415992233,0.0599238316824,0.999999966312,-0.000145087542875,-0.000212674753134,-3.31024196031e-05,1793196637263178496
+66,1.100000000,BASELINE,765,743,711,675,665,633,877,784,801,650.720021888,629.720021888,651,0.4009242192,0.00440381730919,0.059924488455,0.999999966552,-0.000145169317537,-0.000211478448776,-3.3155172922e-05,1793196637279845376
+67,1.116666667,BASELINE,765,743,711,675,665,633,877,784,801,650.126182358,629.126182358,651,0.400923696468,0.00440386066645,0.0599242622884,0.999999966493,-0.000144458238752,-0.000212224852338,-3.32552051043e-05,1793196637296512000
+68,1.133333333,BASELINE,764.544017064,743,711,675,665,633,877,784,801,650.455982936,629.911965872,651,0.400922565028,0.00440406461202,0.0599234935243,0.999999966339,-0.00014397666639,-0.000213283641076,-3.31972406335e-05,1793196637313178368
+69,1.150000000,BASELINE,764.034655352,743,711.034655352,675,665,633.034655352,877,784,801,651,630.965344648,651,0.400921426228,0.0044042646473,0.0599226879757,0.999999966184,-0.000143613740754,-0.000214271168178,-3.30764468161e-05,1793196637329845248
+70,1.166666667,BASELINE,764.607996101,743,711.607996101,675,665,633.607996101,877,784,801,651,630.392003899,651,0.400922725997,0.0044037303814,0.0599235863392,0.99999996643,-0.000144132502706,-0.000212840831619,-3.26416784377e-05,1793196637346511872
+71,1.183333333,BASELINE,765.186131687,743,712,675,665,633.813868313,877,784,801,650.813868313,630,651.186131687,0.400923901821,0.0044032872303,0.0599243290252,0.99999996668,-0.000144319394604,-0.000211563346457,-3.24546902831e-05,1793196637363178496
+72,1.200000000,BASELINE,765.774632594,743,712,675,665,633.225367406,877,784,801,650.225367406,630,651.774632594,0.400924809712,0.00440304104601,0.0599247351763,0.999999966945,-0.000143788868214,-0.000210616286749,-3.28033396747e-05,1793196637379845120
+73,1.216666667,BASELINE,765.642398993,743,711.642398993,675,665,633,877.357601007,784,801,650,630,652,0.400925329687,0.0044028842141,0.0599248931604,0.999999967093,-0.000143381425422,-0.000210145724086,-3.30691859465e-05,1793196637396511744
+74,1.233333333,BASELINE,765.062864183,743,711.062864183,675,665,633,877.937135817,784,801,650,630,652,0.400925608916,0.00440278283593,0.0599248971275,0.999999967171,-0.000143050370622,-0.000209970884365,-3.3283643049e-05,1793196637413178368
+75,1.250000000,BASELINE,765,743,711,675,665,633,877.486273326,784,801,650,630,651.486273326,0.40092458634,0.00440287804239,0.0599245526249,0.999999966615,-0.000144487484491,-0.000211642367288,-3.31865437214e-05,1793196637429846016
+76,1.266666667,BASELINE,765,743,711,675,665,633.089738732,877,784,801,650,630,651,0.400923484034,0.00440309550199,0.059924040658,0.999999966072,-0.000145785048896,-0.00021332442581,-3.30836107079e-05,1793196637446513664
+77,1.283333333,BASELINE,765,743,711,675,665,633.664558309,877,784,801,650,630,651,0.400922806936,0.00440384450589,0.0599228526538,0.999999966048,-0.000145165368117,-0.000213849335647,-3.31540525424e-05,1793196637463179776
+78,1.300000000,BASELINE,765,743,711.24585437,675,665,633.75414563,876.75414563,784,801,650,630,651,0.40092249348,0.00440411097089,0.059922433698,0.999999966056,-0.000144922500614,-0.000213970036139,-3.32080638773e-05,1793196637479845888
+79,1.316666667,BASELINE,765,743,711.836225918,675,665,633.163774082,876.163774082,784,801,650,630,651,0.400922689598,0.00440370125122,0.0599230924144,0.999999966109,-0.000145207663829,-0.000213524315645,-3.32390510503e-05,1793196637496512256
+80,1.333333333,BASELINE,765,743,712,675,665,633,876.419206788,784,801,650,629.580793212,651,0.400923701109,0.00440331651384,0.0599235951718,0.999999966446,-0.00014512749401,-0.00021204114456,-3.29418041971e-05,1793196637513178880
+81,1.350000000,BASELINE,765,743,712,675,665,633,876.999350367,784,801,650,629.000649633,651,0.400925025655,0.00440294136731,0.0599240380554,0.999999966889,-0.000144907069981,-0.000210159687974,-3.25185457149e-05,1793196637529845504
+82,1.366666667,BASELINE,765,743,712,675,665,633,877,784,801,650,629.575407641,651,0.400925569022,0.00440338144092,0.0599247250789,0.999999967161,-0.000143754595822,-0.000209631634506,-3.26529225561e-05,1793196637546512384
+83,1.383333333,BASELINE,765,743,711.849623363,675,665,633,877,784.150376637,801,650,630,651.150376637,0.400925838882,0.00440410774169,0.059925182527,0.999999967367,-0.000142471313683,-0.000209508899628,-3.27632440127e-05,1793196637563179264
+84,1.400000000,BASELINE,765,743,711.277692186,675,665,633,877,784.722307814,801,650,630,651.722307814,0.400925344469,0.00440563386829,0.0599249956337,0.999999967387,-0.000140824263121,-0.000210518151002,-3.28043780076e-05,1793196637579845632
+85,1.416666667,BASELINE,765,743,711,674.693314801,664.693314801,633.306685199,877,785,801,650,630,652,0.400924060058,0.00440521405088,0.0599241079861,0.999999966856,-0.000142121353656,-0.000212155572988,-3.28558263716e-05,1793196637596512768
+86,1.433333333,BASELINE,765,743,711,674.097191167,664.097191167,633.902808833,877,785,801,650,630,652,0.400922030075,0.00440295772156,0.0599225589918,0.999999965791,-0.000146197018524,-0.000214385839691,-3.29170090625e-05,1793196637613180160
+87,1.450000000,BASELINE,765,743,711,674.482937733,664.482937733,634,877,784.517062267,801,650,630,652,0.400923713175,0.00440331962656,0.0599237214678,0.9999999663,-0.000145430819646,-0.000212510315212,-3.29924100701e-05,1793196637629846528
+88,1.466666667,BASELINE,765,743,711,675,665,634,877,784,801,650,630,651.940438316,0.400925714811,0.00440418330728,0.0599251669832,0.99999996702,-0.000143747006423,-0.000210247908065,-3.3064092129e-05,1793196637646512896
+89,1.483333333,BASELINE,765,743,711,675,665,634,877,784,801,650,630,651.367171119,0.400924225444,0.00440497581898,0.0599244981359,0.999999966955,-0.000142283747272,-0.000211546823369,-3.3079811099e-05,1793196637663179264
+90,1.500000000,BASELINE,765,743,711.207021099,675,664.792978901,634,877,784,801,650.207021099,630,651,0.400923875098,0.00440511224772,0.0599242749595,0.999999966946,-0.000141827362502,-0.00021190089972,-3.30185160958e-05,1793196637679845632
+91,1.516666667,BASELINE,765,743,711.782861229,675,664.217138771,634,877,784,801,650.782861229,630,651,0.400925553979,0.0044040798299,0.0599248457694,0.999999967043,-0.000143164777824,-0.000210571695387,-3.28200166264e-05,1793196637696512256
+92,1.533333333,BASELINE,765,743,711.630174056,675,664.369825944,634,877,784.369825944,801,650.630174056,630,651.369825944,0.400925656579,0.00440329054239,0.0599249260456,0.999999967063,-0.000143469765916,-0.000210289045473,-3.27099180958e-05,1793196637713178880
+93,1.550000000,BASELINE,765,743,711.036475049,675,664.963524951,634,877,784.963524951,801,650.036475049,630,651.963524951,0.400924804982,0.00440264843302,0.0599247093786,0.999999967036,-0.000143149777311,-0.00021063992411,-3.26533327978e-05,1793196637729845504
+94,1.566666667,BASELINE,765,743,711,675,665,634,877,784.461232735,801,650.538767265,630,652,0.400925658557,0.00440398726059,0.0599247968536,0.999999967145,-0.000142900108797,-0.000210242135841,-3.29890375225e-05,1793196637746512640
+95,1.583333333,BASELINE,765,743,711,675,665,634,877,784,801,650.886679482,630,651.886679482,0.400926068279,0.00440507888627,0.0599247609058,0.999999967146,-0.000142938161834,-0.000210171646398,-3.32398228617e-05,1793196637763179520
+96,1.600000000,BASELINE,765,743,711,675,665,634,877,784,801,650.310003564,630,651.310003564,0.400924206746,0.00440462952717,0.0599241388906,0.999999966671,-0.00014413385588,-0.000211639829285,-3.30383845623e-05,1793196637779845888
+97,1.616666667,BASELINE,765,743,711.272213098,675.272213098,665,634,877,784.272213098,801,650,630,651,0.40092346491,0.00440425601845,0.0599238282649,0.999999966468,-0.000144782199856,-0.000212177811696,-3.28947815507e-05,1793196637796512000
+98,1.633333333,BASELINE,765,743,711.860870776,675.860870776,665,634,877,784.860870776,801,650,630,651,0.400924024712,0.00440397068493,0.0599238796259,0.999999966584,-0.000144794255636,-0.000211634446723,-3.28184114046e-05,1793196637813178880
+99,1.650000000,BASELINE,765,743,712,675.557794507,665,634,877,784.557794507,801,650,630,651.442205493,0.400924647157,0.00440513214755,0.0599241300645,0.999999966834,-0.00014348089463,-0.000211336628522,-3.28873371103e-05,1793196637829845504
+100,1.666666667,BASELINE,764.978889327,743,711.978889327,675,665,633.978889327,877,784,801,650,630,651.978889327,0.400925215315,0.00440665766812,0.0599244078288,0.999999967099,-0.000141855226225,-0.000211162838128,-3.30045928475e-05,1793196637846512128
+101,1.683333333,BASELINE,764.40425977,743,711.40425977,675,665,633.40425977,877,784,801,650,630,651.40425977,0.400923851721,0.00440598790562,0.0599237865465,0.999999966728,-0.000142796732923,-0.0002122484135,-3.3209971254e-05,1793196637863178752
+102,1.700000000,BASELINE,764.175292707,743,711,675,665,633.175292707,876.824707293,784.175292707,801,650,630,651.175292707,0.400923139027,0.0044051363852,0.0599233692351,0.999999966549,-0.000143380760731,-0.000212690721281,-3.32652204949e-05,1793196637879845632
+103,1.716666667,BASELINE,764.766526388,743,711,675,665,633.766526388,876.233473612,784.766526388,801,650,630,651.766526388,0.400923970812,0.00440385358299,0.0599234359134,0.999999966827,-0.000143116549359,-0.00021160665993,-3.29642377073e-05,1793196637896512512
+104,1.733333333,BASELINE,765,743,711,675,665,634,876.348047353,784.651952647,801,650,630,651.651952647,0.400924807191,0.00440455850687,0.0599244260773,0.999999967224,-0.00014221217023,-0.000210331427667,-3.29831374753e-05,1793196637913179392
+105,1.750000000,BASELINE,765,743,711,675,665,634,876.923229873,784.076770127,801,650,630,651.076770127,0.400925646569,0.0044065606176,0.0599260189067,0.999999967697,-0.00014089001858,-0.000208931437451,-3.32107920763e-05,1793196637929846016
+106,1.766666667,BASELINE,765,743,711.501439288,675,665,633.498560712,877,784.501439288,801,650.501439288,630,651,0.400925276501,0.00440587802374,0.0599256506034,0.999999967385,-0.000142069083004,-0.000209638575569,-3.31385307424e-05,1793196637946512384
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,711,675,665,634,877,784,801,650,630,652,0.400926527549,0.00440610328273,0.0599255214442,0.999999967527,-0.000143153576272,-0.000208221581117,-3.31093059006e-05,1793196637989236480
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,743.420761012,711,675,665,634,877,784.579238988,801,650.579238988,630,651.420761012,0.400925827901,0.00440607419576,0.0599248972287,0.999999967329,-0.000142386266273,-0.000209682879465,-3.31975629492e-05,1793196638005903104
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,743,711,675,665,634,877,784.84201224,801,650.84201224,630,651,0.400925266243,0.00440596606402,0.0599245049006,0.999999967183,-0.000141995217694,-0.000210637191434,-3.32294124005e-05,1793196638022569728
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,743,711,675,665,634,877,784.264564874,801,650.264564874,630,651,0.400925070952,0.00440564806733,0.0599247282366,0.999999967182,-0.000142603148025,-0.000210245448136,-3.31114989494e-05,1793196638039236608
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.312069306,743,711.312069306,675,665,634,877,784,801,650,630,651,0.400925148137,0.00440617410232,0.0599247211894,0.999999967242,-0.0001423514943,-0.000210122384509,-3.31791696982e-05,1793196638055903232
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.888015842,743,711.888015842,675,665,634,877,784,801,650,630,651,0.40092545572,0.00440741382732,0.0599245193365,0.999999967351,-0.000141372999875,-0.000210226509055,-3.34037653547e-05,1793196638072569856
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.527161057,743,711.527161057,675,665,633.527161057,877,784,801,650.472838943,630,651,0.400928928655,0.00440698906599,0.0599255258431,0.999999967682,-0.000141312854643,-0.000208683857328,-3.34412664832e-05,1793196638089236480
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,743,711.059076173,675,665,633.059076173,877,784,801,650.940923827,630,651,0.400934433099,0.00440618040229,0.0599271583695,0.999999968263,-0.000141551871619,-0.000205715867608,-3.34252049466e-05,1793196638105902592
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,743,711.638893143,675,665,633.638893143,877,784,801,650.361106857,630,651,0.400951110257,0.00440552904578,0.0599317382295,0.999999970538,-0.00014247407547,-0.00019368752688,-3.33350587052e-05,1793196638122569472
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,743,711.782541713,675,665.217458287,634,877,784.217458287,801,650,630,651,0.400971585362,0.00440443357058,0.0599360713267,0.999999972703,-0.000144327729898,-0.000180651795936,-3.35783145356e-05,1793196638139236352
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,743,711.206043484,675,665.793956516,634,877,784.793956516,801,650,630,651,0.40099833116,0.00440260482219,0.0599399969995,0.999999974729,-0.000147719279008,-0.000165952789379,-3.43720422039e-05,1793196638155902976
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,743,711,675,665.631116994,633.631116994,877,784.631116994,801.368883006,650,630,651,0.401033742945,0.0044036317941,0.0599432118323,0.999999977371,-0.000146307464904,-0.000150339291242,-3.53526491601e-05,1793196638172569856
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,743,711,675,665.057064638,633.057064638,877,784.057064638,801.942935362,650,630,651,0.401073974674,0.00440624709133,0.0599460313029,0.999999980215,-0.000142224064454,-0.000134217159864,-3.64371967344e-05,1793196638189236480
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,743,711.532659698,675,665,633.532659698,877,784,801.467340302,650,630,651,0.401126984294,0.00440648295526,0.0599483969766,0.999999981183,-0.000144304498724,-0.000124070375146,-3.76463890694e-05,1793196638205903360
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,743,711.878611873,674.878611873,665,634,877.121388127,784,801,650,630,651,0.401184447564,0.00440601056686,0.0599502793599,0.999999981649,-0.000147313551525,-0.000116191720376,-3.8729524437e-05,1793196638222570240
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,743,711.300146915,674.300146915,665,634,877.699853085,784,801,650,630,651,0.401253369904,0.00440386026141,0.0599505305633,0.999999981249,-0.000151257407458,-0.000114370023364,-3.92861979446e-05,1793196638239236608
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,742.723636299,711,674.276363701,665,633.723636299,877.723636299,784,801,650,630,651.276363701,0.401334359422,0.00440362640449,0.0599520351656,0.999999981449,-0.00015261456778,-0.000110434805241,-4.01860743311e-05,1793196638255902976
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,742.149233341,711,674.850766659,665,633.149233341,877.149233341,784,801,650,630,651.850766659,0.401428362559,0.00440545930572,0.0599548914725,0.999999982282,-0.00015118215443,-0.000104220299971,-4.14560714003e-05,1793196638272569600
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,742.435695304,711,675,665,633.435695304,877,784,800.564304696,650.435695304,630,652,0.401545093778,0.00440598286447,0.0599600765459,0.999999983614,-0.000150137535754,-9.18169823085e-05,-4.24408384387e-05,1793196638289235968
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,743,711,675,665,633.976080309,877,784,800.023919691,651,630,652,0.401670978366,0.00440597012307,0.0599659090572,0.9999999849,-0.000149410532725,-7.74519809433e-05,-4.33307287418e-05,1793196638305902848
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,743,711,675,665,633.397108431,877,784,800.602891569,651,630,652,0.401824149046,0.00440417700038,0.0599677978525,0.999999985018,-0.000152895223859,-6.79732608034e-05,-4.43421711859e-05,1793196638322569728
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,711.181933943,674.818066057,665,633,877,784,800.818066057,650.818066057,630,651.818066057,0.401983954501,0.00440320312288,0.0599686093564,0.999999985181,-0.000154327893354,-6.14040775452e-05,-4.5291962414e-05,1793196638339236352
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,711.761130176,674.238869824,665,633,877,784,800.238869824,650.238869824,630,651.238869824,0.402158247319,0.00440401811039,0.0599670685379,0.999999985622,-0.000151279865738,-6.11880216526e-05,-4.61071348596e-05,1793196638355902976
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.33595902,743,712,674,665,633.33595902,877,784,800.33595902,650,630,651,0.402355472483,0.00440462165491,0.0599659354423,0.999999986184,-0.000148725209383,-5.7547135942e-05,-4.69167046818e-05,1793196638372569856
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.907722519,743,712,674,665,633.907722519,877,784,800.907722519,650,630,651,0.402568793529,0.00440507679091,0.059965088521,0.999999986801,-0.000146516842428,-5.15024147298e-05,-4.77223421908e-05,1793196638389236224
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.505640344,743,711.505640344,674,665,634,877,784,801,650,630,651,0.402811646158,0.00440451196534,0.0599642050905,0.99999998715,-0.000144999947994,-4.83466908293e-05,-4.83501532234e-05,1793196638405902848
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,743,711,674.0824896,665.0824896,633.9175104,877,784,801.0824896,650,630,651,0.40306736033,0.00440397992818,0.059963613405,0.99999998753,-0.000143135175966,-4.53706705649e-05,-4.89301718538e-05,1793196638422569216
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,743,711,674.662361374,665.662361374,633.337638626,877,784,801.662361374,650,630,651,0.403366356316,0.00440482916463,0.0599648232007,0.9999999884,-0.000138370438034,-4.01257802424e-05,-4.94283713019e-05,1793196638439236096
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.75929121,743,711,675,665.75929121,633,877,784.24070879,801.51858242,650,630,651.24070879,0.40367015883,0.00440543921208,0.0599597478155,0.999999988577,-0.00013515067916,-4.53918855797e-05,-5.0191654046e-05,1793196638455902976
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.183068568,743,711,675,665.183068568,633,877,784.816931432,800.366137136,650,630,651.816931432,0.403980660942,0.004405715864,0.0599459117812,0.999999987561,-0.000134084401831,-6.53088257251e-05,-5.13244251994e-05,1793196638472569856
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.393566752,743,711,674.606433248,665,633.393566752,877,784.606433248,800.393566752,650,630,652,0.404317248865,0.00440676460764,0.0599324734809,0.999999986599,-0.00012815510599,-8.77049098218e-05,-5.18298718721e-05,1793196638489236480
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.970394216,743,711,674.029605784,665,633.970394216,877,784.029605784,800.970394216,650,630,652,0.404665983395,0.00440817286862,0.0599192203821,0.999999985262,-0.000119961390608,-0.000111255383739,-5.20432106597e-05,1793196638505903104
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,743,711.558069884,674.558069884,665,633.441930116,877,784.558069884,801,650,630,651.441930116,0.405056029531,0.00441004744482,0.0599134094042,0.999999984342,-0.00011502032724,-0.00012364019606,-5.2916099699e-05,1793196638522569728
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743,711.856038674,675,665,633,877,784.856038674,801,650,630,651.143961326,0.405475597692,0.00441126854379,0.0599147614822,0.999999984669,-0.000112746260662,-0.000122844822368,-5.34648516571e-05,1793196638539236352
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,743,711.277308273,675,665,633,877,784.277308273,801,650,630,651.722691727,0.405977573589,0.00441043992315,0.0599365303125,0.999999988104,-0.000117995182462,-8.40691070158e-05,-5.29269321359e-05,1793196638555902976
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,743,711,675,665,633.299455474,877.299455474,784,801.299455474,650.299455474,630,651.700544526,0.406497708842,0.00440973902829,0.0599625320814,0.999999988442,-0.000137671241497,-3.79027036786e-05,-5.22041812191e-05,1793196638572569600
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743,711,675,665,633.874409967,877.874409967,784,801.874409967,650.874409967,630,651.125590033,0.407034550761,0.00440915564105,0.0599924281559,0.999999984014,-0.000170620266267,1.50631366977e-05,-5.13113852674e-05,1793196638589236224
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,743.459511332,711,675,665,633.540488668,877.540488668,784,801.540488668,650.540488668,629.540488668,651,0.407561697752,0.0044090957495,0.0600033147575,0.999999983608,-0.000171655606998,2.67130576767e-05,-5.10389374457e-05,1793196638605903360
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,743.952996173,711,675,665,633,877,784,801,650,629.047003827,651.047003827,0.408089208663,0.00440935399193,0.0600071897099,0.999999985086,-0.000163285548051,2.39140000817e-05,-5.09337404976e-05,1793196638622569984
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,743.370569457,711,675,665,633,877,784,801,650,629.629430543,651.629430543,0.408651730298,0.00441156950691,0.0599917134181,0.999999987483,-0.000149378909806,-1.1940211752e-05,-5.07587580511e-05,1793196638639236864
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.790710885,743,711.209289115,675,665,633,877.209289115,784,800.790710885,650,630,651.790710885,0.409238268538,0.00441282448443,0.0599795466462,0.999999988449,-0.000137774356901,-3.98218466035e-05,-5.03509874122e-05,1793196638655903488
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.21534441,743,711.78465559,675,665,633,877.78465559,784,800.21534441,650,630,651.21534441,0.409866815311,0.0044123993409,0.0599731687111,0.999999988853,-0.000130196490047,-5.37582727812e-05,-4.9536036189e-05,1793196638672570112
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.359268984,743,711.640731016,675,665,633.359268984,877.640731016,784.359268984,800.718537968,650,630,651,0.410530324406,0.00441244141208,0.0599765201451,0.999999990481,-0.000122456962639,-3.95702115231e-05,-4.97586240192e-05,1793196638689236736
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.933431908,743,711.066568092,675,665,633.933431908,877.066568092,784.933431908,801.866863816,650,630,651,0.411214745919,0.0044127629441,0.0599856911257,0.999999992114,-0.000114620739413,-8.55970700001e-06,-5.06018077325e-05,1793196638705903104
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743,711.524121589,675,665,634,877,784.475878411,801.475878411,650,630,651.524121589,0.411888452049,0.00441402488099,0.0599792233934,0.999999991855,-0.000114263740482,-2.39722618326e-05,-5.15720586909e-05,1793196638722569472
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.113733886,743,712,675,665.113733886,634,877,784,801,650,630,651.886266114,0.412560529637,0.00441513229537,0.0599656938892,0.999999990497,-0.000115188529562,-5.48776609321e-05,-5.22053360583e-05,1793196638739236096
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.690146043,743,712,675,665.690146043,634,877,784,801,650,630,651.309853957,0.413231698715,0.00441510938956,0.0599317798765,0.999999984102,-0.000117337531006,-0.000124042231934,-5.13999874088e-05,1793196638755903488
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.734814587,743,711.734814587,675,666,633.734814587,877.265185413,784,801,650,630,651,0.413961305411,0.00441504381825,0.0599158444255,0.999999980176,-0.000117650786125,-0.000152253053219,-5.12469492329e-05,1793196638772570112
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.161370903,743,711.161370903,675,666,633.161370903,877.838629097,784,801,650,630,651,0.414758841566,0.00441492865148,0.0599208077075,0.999999983122,-0.000115830123769,-0.000132858203616,-5.18521734447e-05,1793196638789236480
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743,711.412804032,675,665.587195968,633,878,784,801,650,630,651,0.415599086826,0.00441342545367,0.0599616219476,0.99999999022,-0.000115579757857,-5.95776107518e-05,-5.14958426504e-05,1793196638805903104
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743,711.987265296,675,665.012734704,633,878,784,801,650,630,651,0.416456057251,0.00441137869224,0.0600164756981,0.999999991384,-0.000115944331337,3.48050526813e-05,-5.07629590987e-05,1793196638822569728
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,743,711.416283664,675,665,633,878,784.583716336,801,650.583716336,630,651,0.417254856481,0.00440946130259,0.0600188726009,0.999999991607,-0.000116160434991,2.87977705598e-05,-4.96397689764e-05,1793196638839236352
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.173812326,743,711,675.173812326,665,633,878,784.826187674,801,651,630,651.173812326,0.418059666366,0.00440870051582,0.0600122070888,0.999999991824,-0.000117111357563,1.33825644361e-05,-4.95737043909e-05,1793196638855902976
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.748116538,743,711,675.748116538,665,633,878,784.251883462,801,651,630,651.748116538,0.418881364413,0.00441059797244,0.0599874004789,0.999999991308,-0.000119763177994,-1.8465973913e-05,-5.19638174834e-05,1793196638872569600
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,743.323251149,711.323251149,676,665,633,878.323251149,784,801,650.676748851,630,652,0.419712351564,0.00441065779839,0.059960816361,0.999999989631,-0.000120494145453,-5.79109610849e-05,-5.35339631078e-05,1793196638889236224
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,743.899034463,711.899034463,676,665,633,878.899034463,784,801,650.100965537,630,652,0.420550595564,0.00440928201959,0.0599328436088,0.999999986015,-0.000119724492596,-0.000103290489167,-5.44635287523e-05,1793196638905903104
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,743.515627752,711.515627752,675.515627752,665.484372248,633,878.515627752,784,801,650,629.515627752,652,0.421343771819,0.00441035918803,0.0599009722354,0.999999978198,-0.000113376415708,-0.000166910533317,-5.37647427717e-05,1793196638922569984
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.928752765,743,711,675,665.928752765,633,878,784,801,650,629.071247235,651.928752765,0.42214550629,0.00441184331331,0.0598757482754,0.999999968922,-0.000107290361704,-0.000218705119771,-5.30387098755e-05,1793196638939236608
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.345431944,743,711,675,665.345431944,633,878,784,801,650,629.654568056,651.345431944,0.423077627948,0.00441250349321,0.0599042594198,0.999999979857,-0.000111613088702,-0.00015762973501,-5.4605468574e-05,1793196638955902976
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,711.233844481,675,665.233844481,633,878.233844481,784,801,650.233844481,630,651,0.424014451235,0.00441181238024,0.0599454650868,0.999999988323,-0.000115116306533,-8.42836545814e-05,-5.47555388311e-05,1793196638972569856
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,711.807248234,675,665.807248234,633,878.807248234,784,801,650.807248234,630,651,0.424958101769,0.00440915909141,0.0600051041321,0.999999991685,-0.000117429537641,6.88038141079e-06,-5.28484741172e-05,1793196638989236480
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743.381936984,712,675,666,633,878.618063016,784,801,651,630,651,0.425875760765,0.00441009541034,0.0600218133389,0.999999991404,-0.000114012835382,3.76474127486e-05,-5.26761908952e-05,1793196639005902848
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743.957276387,712,675,666,633,878.042723613,784,801,651,630,651,0.426780258302,0.00441284940842,0.0600167840487,0.99999999206,-0.000107694652119,3.78310511258e-05,-5.33823537275e-05,1793196639022569472
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,744,711.454614525,675,666,633,878.545385475,784,801,650.454614525,630,651,0.427628125475,0.00441287600267,0.0599909833955,0.999999992768,-0.000106963787608,4.4766037826e-06,-5.48004513705e-05,1793196639039236352
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743.867662662,711.132337338,675,666,633.132337338,879,784,801,650,629.867662662,651,0.428467552934,0.00441358274109,0.0599655989789,0.999999992503,-0.000104923638402,-2.96209957919e-05,-5.57446301391e-05,1793196639055902976
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,743.288083475,711.711916525,675,666,633.711916525,879,784,801,650,629.288083475,651,0.429293809785,0.00441732743957,0.0599472521745,0.999999992162,-9.69440167077e-05,-5.71382710534e-05,-5.48941735773e-05,1793196639072569856
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743,711.71017465,675,665.71017465,633.71017465,878.71017465,784,801.28982535,650,629.28982535,651,0.430124823465,0.00442175979315,0.0599289411293,0.999999990623,-8.97929660791e-05,-8.76490717803e-05,-5.48502053041e-05,1793196639089236736
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743,711.13391667,675,665.13391667,633.13391667,878.13391667,784,801.86608333,650,629.86608333,651,0.430960538243,0.00442687175186,0.0599106654259,0.999999987636,-8.34607876477e-05,-0.000121118353861,-5.56032845391e-05,1793196639105903104
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743,711.449726989,675.449726989,665.449726989,633.449726989,878.449726989,784,801.550273011,650,630,651,0.43186209969,0.00442731570703,0.0599451820988,0.999999993017,-8.74551949863e-05,-5.60190059395e-05,-5.63916714774e-05,1793196639122569472
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743,712,676,666,633.964799597,879,784.035200403,801,650,630,651,0.432777283007,0.004426155286,0.0599929020711,0.999999993385,-9.43340174641e-05,3.28573948506e-05,-5.70295609138e-05,1793196639139236352
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743,712,676,666,633.385604773,879,784.614395227,801,650,630,651,0.433594904543,0.00442204062485,0.0599976695629,0.999999993335,-9.74743407543e-05,2.8017517499e-05,-5.51764422267e-05,1793196639155902976
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.806188723,743,712,675.806188723,665.806188723,633,879,784.806188723,801,650,630,651,0.434395779741,0.00441910659377,0.059989415284,0.99999999357,-9.95107505746e-05,6.2442513914e-06,-5.40285338544e-05,1793196639172569600
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.226331919,743,712,675.226331919,665.226331919,633,879,784.226331919,801,650,630,651,0.435163298674,0.00441852421542,0.0599552234211,0.999999992378,-9.93483162645e-05,-4.92580076918e-05,-5.42853074381e-05,1793196639189236224
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.349832375,743,712,675.349832375,665.349832375,633,879,784,801,650,629.650167625,651,0.435920718716,0.00441684710488,0.059931900647,0.999999989459,-0.000101685831634,-8.78863909906e-05,-5.49396806581e-05,1793196639205902848
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.923632634,743,712,675.923632634,665.923632634,633,879,784,801,650,629.076367366,651,0.436671673254,0.00441446913056,0.0599155364271,0.999999986168,-0.000105623852006,-0.00011571186506,-5.58486030956e-05,1793196639222569984
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,743.508855718,712,675.491144282,666,633.508855718,879,784,801,650,629.508855718,651,0.437393261184,0.0044143879716,0.0599133391172,0.99999998448,-0.00010349634978,-0.000131691308073,-5.46352974423e-05,1793196639239236608
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744,711.905459936,675.094540064,665.905459936,634,879,784,801,650,630,651,0.438110818213,0.00441431434596,0.059914149112,0.999999983424,-0.000100532089382,-0.000142194440687,-5.31671628201e-05,1793196639255902976
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744,711.326399208,675.673600792,665.326399208,634,879,784,801,650,630,651,0.438830822674,0.00441247217216,0.0599192249709,0.999999984866,-9.80518305954e-05,-0.000133951890706,-5.20628118643e-05,1793196639272569600
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,743.748050214,711.251949786,675.748050214,665.251949786,633.748050214,878.748050214,784.251949786,801,650,630,651,0.439556206368,0.00440903056639,0.0599424520843,0.999999988987,-0.000100666815498,-9.61982474255e-05,-5.13640806617e-05,1793196639289236224
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,743.170620713,711.829379287,675.170620713,665.829379287,633.170620713,878.170620713,784.829379287,801,650,630,651,0.440288539134,0.00440352274484,0.0599891277792,0.999999992448,-0.000109864058065,-2.03208877124e-05,-5.11893466091e-05,1793196639305903360
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,743,712,675.405252024,666,633.405252024,878.405252024,784.594747976,801,650,630,651,0.440953155601,0.00440067174199,0.0600084247342,0.999999992283,-0.000113072273415,8.27289608505e-06,-5.07889957096e-05,1793196639322569984
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,743,712,675.980471884,666,633.980471884,878.980471884,784.019528116,801,650,630,651,0.441589371057,0.00439893504211,0.0600162387026,0.999999992119,-0.000113768615786,1.70353552317e-05,-5.02940183075e-05,1793196639339236608
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.57366738,743,712,676,666.57366738,633.42633262,879,784,801.57366738,650,630.57366738,651,0.442153222183,0.00440037941195,0.0599794617757,0.999999991708,-0.000111858497122,-3.77071723747e-05,-5.14720751332e-05,1793196639355903744
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,743,712,676,666.837710566,633.162289434,879,784.162289434,801.837710566,650,630.837710566,651,0.442707811647,0.00440157633645,0.0599470595852,0.999999989027,-0.000109981186987,-8.41578453578e-05,-5.2609824465e-05,1793196639372570368
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,743,712,676,666.262337303,633.737662697,879,784.737662697,801.262337303,650,630.262337303,651,0.443245299934,0.00440185888289,0.0599297812337,0.999999987302,-0.00010842053117,-0.000103822394653,-5.34953267794e-05,1793196639389236736
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.687691961,743,712,676,666,633.687691961,879,784.687691961,801.312308039,650,630,651.312308039,0.443770970114,0.0044002642964,0.0599281593042,0.999999987435,-0.000108764938736,-0.000102310320381,-5.32304362495e-05,1793196639405903360
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.113656682,743,712,676,666,633.113656682,879,784.113656682,801.886343318,650,630,651.886343318,0.444286736191,0.00439709659374,0.0599396581143,0.999999989071,-0.000110705869431,-8.30513458918e-05,-5.20014681945e-05,1793196639422569984
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,743,712,676.475307959,665.524692041,633,878.524692041,784.475307959,801.524692041,650,630,651.524692041,0.444773039782,0.00439631914332,0.0599505034347,0.999999990074,-0.000111214615125,-6.97448775292e-05,-5.11830776153e-05,1793196639439236608
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,743,711.93369066,676.93369066,665,633,878.06630934,784.93369066,801,650,630,651,0.445240157251,0.00439596938895,0.0599569033206,0.999999990366,-0.000111546710362,-6.53869601357e-05,-5.04916843083e-05,1793196639455902976
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,743,711.355420602,676.355420602,665,633,878.644579398,784.355420602,801,650,630,651,0.445615300596,0.00439436576854,0.0599302265318,0.999999985284,-0.000113244787123,-0.00011877298603,-4.9998215914e-05,1793196639472569600
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,743,711.221671957,676.221671957,665,633,878.778328043,784.221671957,801.221671957,650,630,651,0.445978524645,0.00439366256037,0.0599036041093,0.999999978479,-0.000112467965406,-0.00016709780795,-4.97206538733e-05,1793196639489236480
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,743,711.796886477,676.796886477,665,633,878.203113523,784.796886477,801.796886477,650,630,651,0.446322738685,0.00439439541155,0.0598770683975,0.999999971459,-0.000107743951009,-0.000207350557415,-4.97874390631e-05,1793196639505903104
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.370957709,743,712,677,664.629042291,633,878.370957709,784.629042291,801.629042291,650,630,651,0.446662108934,0.00439694630277,0.0598681988113,0.999999969858,-0.000103591682036,-0.000216952032895,-4.98530306142e-05,1793196639522569728
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.944404924,743,712,677,664.055595076,633,878.944404924,784.055595076,801.055595076,650,630,651,0.446998835202,0.00440048958219,0.059868972384,0.999999971766,-9.97515033749e-05,-0.000209822329169,-4.99179706442e-05,1793196639539236096
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.464014988,743,712,676.464014988,664,632.464014988,879,784,801,650,630,651,0.447319288974,0.00440058630204,0.0598807329588,0.999999975749,-0.000100839991563,-0.000189226284157,-5.02602539995e-05,1793196639555902720
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,743,711.873940358,676,664.126059642,632,879,784,801,650,630,651,0.447624181709,0.00440002993079,0.0598904030262,0.999999978453,-0.000102605313256,-0.000173281809023,-5.03997918183e-05,1793196639572569088
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,743,711.296233928,676,664.703766072,632,879,784,801,650,630,651,0.447879581445,0.00439845934458,0.0598883571914,0.999999977209,-0.000104899838358,-0.000179182664893,-4.97062555373e-05,1793196639589235712
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,743,711.280459396,676.280459396,664.719540604,632,879.280459396,784,801,650,630,650.719540604,0.448110438939,0.00439733517754,0.0598816473785,0.999999974927,-0.000105365839744,-0.000191345344603,-4.93085432548e-05,1793196639605902592
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,743,711.85608645,676.85608645,664.14391355,632,879.85608645,784,801,650,630,650.14391355,0.448315467096,0.00439668084154,0.0598700289924,0.99999997132,-0.000103907423135,-0.000210098239483,-4.92221690355e-05,1793196639622569216
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,743,711.571860124,676.571860124,664,632,879.571860124,784,801,649.571860124,629.571860124,650.428139876,0.448487390024,0.00439832366721,0.0598545635761,0.999999966815,-0.000100815730483,-0.000231918970084,-4.91905736341e-05,1793196639639235840
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,743,711.000997993,676.000997993,664,632,879.000997993,784,801,649.000997993,629.000997993,650.999002007,0.44864827718,0.00440073226155,0.059837815736,0.999999961617,-9.71795782795e-05,-0.000254762376347,-4.91772389674e-05,1793196639655902464
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,743,711,677.192826235,663.403586882,632,879.596413118,784,801,649.596413118,629.596413118,651,0.448781459614,0.00440280344074,0.0598206830219,0.999999954936,-9.18544263222e-05,-0.000281636597505,-4.86888515569e-05,1793196639672569088
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,743,711.18657928,677.81342072,663,632,879.81342072,784,801,650,630,651,0.448906030078,0.0044045348156,0.0598060126277,0.999999948264,-8.86069145247e-05,-0.000305406484018,-4.84447315375e-05,1793196639689235968
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,743,711.761566541,677.238433459,663,632,879.238433459,784,801,650,630,651,0.449012773718,0.00440556003891,0.0597964695279,0.999999942724,-8.96906502287e-05,-0.000322699280848,-4.87108426761e-05,1793196639705902592
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,743.33627528,711.66372472,677,663,632,879,784,801,650,630,651,0.449111403908,0.00440644477186,0.0597907078806,0.999999939788,-8.86203256952e-05,-0.000331942738145,-4.8823982147e-05,1793196639722569216
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,743.910786757,711.089213243,677,663,632,879,784,801,650,630,651,0.449204286087,0.0044072299737,0.0597876252246,0.999999938833,-8.60239446602e-05,-0.000335483595396,-4.88287479756e-05,1793196639739235840
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.496676377,743.503323623,711.496676377,676.503323623,663,632,879.496676377,784,801,650,630,651,0.449280070072,0.0044093078112,0.0597852810598,0.999999938569,-8.47767848245e-05,-0.000336533037146,-4.91961443699e-05,1793196639755902464
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.916169624,743,712,676,663,632,879.916169624,784,801,650,630,651,0.44935020978,0.0044116118099,0.0597834923151,0.999999938498,-8.35058479595e-05,-0.000336994677896,-4.96490910532e-05,1793196639772569344
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.333933921,743,712,676,663,632,879.333933921,784,801,650,630,651,0.449405479564,0.00441384763753,0.0597841986278,0.999999938811,-8.06189099982e-05,-0.000336684607843,-5.02143302974e-05,1793196639789235968
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,743.244537817,712,676.244537817,663.244537817,632,878.755462183,784,801.244537817,650,630,651,0.449450391603,0.00441522433267,0.0597826555445,0.999999937786,-7.85130252989e-05,-0.000340208754116,-5.02226027256e-05,1793196639805902848
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,743.817947473,712,676.817947473,663.817947473,632,878.182052527,784,801.817947473,650,630,651,0.449481373804,0.00441544560525,0.0597780873135,0.999999934914,-7.74575567166e-05,-0.000348889427058,-4.94818265516e-05,1793196639822570240
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,743.60581021,712,677,663.211620419,632,878.39418979,784,802,650,630,651,0.449507905809,0.00441743814071,0.0597757667754,0.999999933803,-7.66396978079e-05,-0.000352166234858,-4.99833540274e-05,1793196639839236608
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,743.028250204,712,677,662.056500407,632,878.971749796,784,802,650,630,651,0.449532367659,0.00442025463678,0.059774491825,0.999999933534,-7.59323708064e-05,-0.000352929258603,-5.10627795169e-05,1793196639855902720
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,743.562047132,712,677,662,632,879,784,801.437952868,650,630,651,0.449548277325,0.00442048149483,0.0597730523002,0.999999933556,-7.48084197384e-05,-0.00035310851459,-5.10561625939e-05,1793196639872569600
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,743.85021213,711.85021213,676.85021213,662.14978787,632,879,784,801,650,630,651,0.449560783979,0.00442115634003,0.0597713282769,0.999999933155,-7.30351431185e-05,-0.000354607444093,-5.10828037438e-05,1793196639889236224
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,743.271664703,711.271664703,676.271664703,662.728335297,632,879,784,801,650,630,651,0.449564808676,0.00442349474806,0.0597688141193,0.999999931479,-6.94645397512e-05,-0.000359969803841,-5.13645221214e-05,1793196639905903104
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,743,711.304925533,676,662.695074467,632,879,784,801,650,630.304925533,651,0.449570042221,0.00442572559415,0.0597683220457,0.999999931155,-6.675933847e-05,-0.000361354072767,-5.15326211776e-05,1793196639922569728
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,743,711.87978325,676,662.12021675,632,879,784,801,650,630.87978325,651,0.449576345887,0.0044278612224,0.0597696200007,0.99999993205,-6.48202250637e-05,-0.000359216778407,-5.16001399334e-05,1793196639939236608
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,743.465373389,712,676,662.465373389,632,879,784,801.465373389,650,630.534626611,651,0.449576262559,0.00442788289584,0.0597673283844,0.999999930888,-6.55631625768e-05,-0.000362266397088,-5.18494296243e-05,1793196639955903232
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,744,711.947361487,676,662.947361487,632,879,784,802,650,630,651,0.449574951531,0.00442773193822,0.0597646000062,0.999999929436,-6.64474928447e-05,-0.000366054537106,-5.21295504495e-05,1793196639972570112
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,744,711.371651722,676,662.371651722,632,879,784,802,650,630,651,0.449578223057,0.0044314200939,0.0597669633406,0.999999930648,-6.16895840373e-05,-0.000363552442544,-5.22384266822e-05,1793196639989236480
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,743.795306193,711.204693807,676.204693807,662,632,879,784,801.795306193,650,630,651,0.449579426754,0.0044328279431,0.0597673963136,0.999999930763,-5.90046416873e-05,-0.000363706941766,-5.20587683808e-05,1793196640005902848
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,743.217802777,711.782197223,676.782197223,662,632,879,784,801.217802777,650,630,651,0.449576864309,0.00443008266124,0.0597643135117,0.999999928906,-6.00952013136e-05,-0.000368699905506,-5.13536010302e-05,1793196640022569472
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,743,712,676.6427525,662,632,878.6427525,784,801,650,630.3572475,650.6427525,0.449576354268,0.00443034956279,0.0597632264521,0.999999928458,-5.96953569277e-05,-0.000369995781708,-5.12249929478e-05,1793196640039236096
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,743,712,676.069187647,662,632,878.069187647,784,801,650,630.930812353,650.069187647,0.449577086982,0.00443244037515,0.0597633478369,0.999999928872,-5.83930562195e-05,-0.000369053029915,-5.14454979705e-05,1793196640055902976
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,743,711.477610385,676,662.522389615,632,878.522389615,784,801,650,630.477610385,650.522389615,0.449578154764,0.0044333466407,0.0597639736508,0.999999929095,-5.99036387434e-05,-0.000368112253666,-5.20994359742e-05,1793196640072569600
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,743,711.113309421,676,662.886690579,631.886690579,879,784,801,650,630,651,0.449579404458,0.00443380246866,0.0597647226515,0.999999929291,-6.1573819426e-05,-0.000367235689753,-5.25823771999e-05,1793196640089236480
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,743,711.691397252,676,662.308602748,631.308602748,879,784,801,650,630,651,0.449581211799,0.00443307717619,0.0597656931191,0.999999929494,-6.23159251492e-05,-0.000366621403999,-5.2120035522e-05,1793196640105903104
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,743,712,676,662.268898234,631.268898234,879,784,801.268898234,650,630,651,0.449581811065,0.00443319945473,0.0597658361965,0.9999999296,-6.19048130627e-05,-0.000366409948275,-5.20771764663e-05,1793196640122569984
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,743,712,676,662.845727254,631.845727254,879,784,801.845727254,650,630,651,0.449581026895,0.00443429233535,0.0597650317818,0.999999929591,-6.01730852251e-05,-0.00036665979624,-5.25146909571e-05,1793196640139236096
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,743,711.570099653,676.429900347,662.570099653,631.570099653,878.570099653,784,802,650,630,651,0.449580502962,0.00443389371726,0.0597648095649,0.999999929387,-5.94676493629e-05,-0.000367371930687,-5.22243618697e-05,1793196640155902720
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,743,711,676.983466234,662.016533766,631.016533766,878.016533766,784,801.983466234,650,630,651,0.449580151728,0.00443299857225,0.059764811931,0.99999992914,-5.91576170302e-05,-0.000368167479223,-5.16966512986e-05,1793196640172569344
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,743,711,676.404349656,662.595650344,631.595650344,878.595650344,784,801.404349656,650,630,651,0.449582443905,0.00443373703667,0.059765223503,0.999999929868,-5.95522864127e-05,-0.000366058411886,-5.21335786723e-05,1793196640189235968
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,743.173930149,711.173930149,676,663,631.826069851,879,784,801,650,630,651,0.449583495277,0.00443410235431,0.0597651705031,0.999999930262,-5.90627196111e-05,-0.000365043883518,-5.22467500113e-05,1793196640205902592
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,743.750273922,711.750273922,676,663,631.249726078,879,784,801,650,630,651,0.449581675861,0.00443360434056,0.0597640426461,0.999999929887,-5.65273390519e-05,-0.000366561736216,-5.16108629236e-05,1793196640222569472
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,743.675837262,712,676.324162738,662.675837262,631.324162738,879,784,801.324162738,650,630,651,0.449580319625,0.00443364073214,0.0597633799488,0.999999929289,-5.74940939339e-05,-0.000368046808803,-5.15601248396e-05,1793196640239236352
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,743.103825489,712,676.896174511,662.103825489,631.896174511,879,784,801.896174511,650,630,651,0.449579317528,0.00443408572049,0.0597630729044,0.999999928514,-6.11385190965e-05,-0.000369506818229,-5.19567812541e-05,1793196640255903232
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,743,711.514199613,677,662,632,879,784,802,650,630,651,0.449579133057,0.00443535470272,0.0597629508254,0.99999992831,-6.10958794751e-05,-0.000370002728724,-5.23941775556e-05,1793196640272569856
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,743,711.077372427,677.077372427,662.077372427,632,879,784,802,650,630,651,0.449579280759,0.00443662087185,0.0597628966119,0.999999928306,-6.00973969165e-05,-0.000370128862281,-5.27268106916e-05,1793196640289236480
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,743,711.656240557,677.656240557,662.656240557,632,879,784,802,650,630,651,0.449580406241,0.00443668442911,0.0597630164109,0.999999928767,-5.82031891845e-05,-0.000369244015878,-5.23218546241e-05,1793196640305902848
+247,4.116666667,HOLD_POSE2,765,743,712,677,662,631,879,784,802,650,630,651,0.449581851606,0.00443321234188,0.0597638191054,0.999999929083,-5.82986619762e-05,-0.000368529976637,-5.11919715306e-05,1793196640344799744
+248,4.133333333,HOLD_POSE2,765.587437918,743,711.412562082,676.412562082,662.587437918,631.587437918,879,784,802,650,630,651,0.449581961283,0.00443435442084,0.0597640516055,0.999999929156,-5.84604760464e-05,-0.000368273958595,-5.1429709072e-05,1793196640361466112
+249,4.150000000,HOLD_POSE2,765.827440355,743,711.172559645,676.172559645,662.827440355,631.827440355,879,784,801.827440355,650.172559645,630,651,0.449582488808,0.00443490996347,0.0597642936147,0.999999929284,-5.89089390529e-05,-0.000367831967412,-5.15939478594e-05,1793196640378132736
+250,4.166666667,HOLD_POSE2,765.247782801,743,711.752217199,676.752217199,662.247782801,631.247782801,879,784,801.247782801,650.752217199,630,651,0.44958400211,0.00443408176613,0.0597645580578,0.999999929541,-6.00336562797e-05,-0.000366951233519,-5.15847904812e-05,1793196640394799360
+251,4.183333333,HOLD_POSE2,765,743,712,676.669195702,662,631,879,784,801,650.669195702,630,650.669195702,0.449583218505,0.00443346021616,0.0597634689293,0.999999928963,-6.08839459993e-05,-0.000368375045481,-5.1651673552e-05,1793196640411465472
+252,4.200000000,HOLD_POSE2,765,743,712,676.091407855,662,631,879,784,801,650.091407855,630,650.091407855,0.449580719993,0.00443299295233,0.0597613692034,0.999999927753,-6.15293438767e-05,-0.000371519466675,-5.17753295852e-05,1793196640428131840
+253,4.216666667,HOLD_POSE2,765,743,711.520071929,676.479928071,662,631.479928071,879,784,801,650,630,650.479928071,0.449581306301,0.0044343545692,0.0597624381439,0.999999928384,-5.93384798944e-05,-0.000370164809282,-5.18458129738e-05,1793196640444798720
+254,4.233333333,HOLD_POSE2,765,743,711.052193659,677,662,631.947806341,879,784,801,650,630,651,0.449582286828,0.00443577358731,0.0597638715025,0.999999929192,-5.71186104943e-05,-0.000368322425763,-5.18908935289e-05,1793196640461465344
+255,4.250000000,HOLD_POSE2,765,743,711.646718364,677,662,631.353281636,879,784,801,650,630,651,0.449581339598,0.00443421763533,0.059762903713,0.999999928328,-6.01359640568e-05,-0.000370197939371,-5.17758544743e-05,1793196640478131968
+256,4.266666667,HOLD_POSE2,765,743,711.764859586,676.764859586,662,631,879,784,801,650,630,651,0.449581136532,0.00443414840979,0.0597625956635,0.999999928153,-6.01970833613e-05,-0.000370670683251,-5.17044264321e-05,1793196640494798592
+257,4.283333333,HOLD_POSE2,765,743,711.185374451,676.185374451,662,631,879,784,801,650,630,651,0.449582023235,0.00443625637882,0.0597632537517,0.999999928986,-5.5929028841e-05,-0.000369089180553,-5.16968633121e-05,1793196640511465472
+258,4.300000000,HOLD_POSE2,764.608625906,743,711.391374094,676.391374094,662,631.391374094,879,784,801,650,630,651,0.449583572753,0.00443536084903,0.0597643187528,0.999999929655,-5.68109012747e-05,-0.000367167957284,-5.1478280799e-05,1793196640528132608
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+261,4.350000000,HOLD_POSE2,765,743,712,676.138018811,662,631.861981189,879,783.861981189,801,649,630,651,0.449581223272,0.00443405516285,0.059762439364,0.999999928266,-5.80724492466e-05,-0.00037074557318,-5.14166760416e-05,1793196640578132480
+262,4.366666667,HOLD_POSE2,765,743,712,676.717626695,662,631.282373305,879,783.282373305,801,649,630,651,0.449580774156,0.00443493363475,0.0597617169115,0.999999928045,-5.67468337144e-05,-0.000371535650464,-5.1497550261e-05,1793196640594798848
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,743,712,676,662,631,878,784,802,650,630,651,0.449583402167,0.00443486786759,0.0597633023306,0.99999992893,-6.04664518932e-05,-0.000368567541816,-5.14010817701e-05,1793196640631864320
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,743,711.422218749,676,662,631.577781251,878,784,801.422218749,650,630,651,0.44958415102,0.00443447072063,0.0597640617597,0.999999929256,-5.87310298469e-05,-0.000367977051188,-5.13062845447e-05,1793196640648531200
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,743,711.158188132,676,662,632,878.158188132,784,801,650,630.158188132,651,0.449584808595,0.00443422311032,0.0597646672673,0.999999929536,-5.80398812484e-05,-0.000367319954499,-5.13308808314e-05,1793196640665198336
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,743,711.745721474,676,662,632,878.745721474,784,801,650,630.745721474,651,0.44958521843,0.00443438136376,0.05976485501,0.999999929699,-6.01830397273e-05,-0.000366482079303,-5.16795281622e-05,1793196640681864704
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,743.328900595,712,676.328900595,662,632,879,784,801,650,630.671099405,651,0.449583677628,0.00443533472576,0.0597634917696,0.999999929108,-5.93538655011e-05,-0.000368216531279,-5.1746453607e-05,1793196640698531328
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,743.908757345,712,676.908757345,662,632,879,784,801,650,630.091242655,651,0.44958064846,0.00443689476768,0.0597609451055,0.999999927926,-5.62567560983e-05,-0.000371913708044,-5.15984209477e-05,1793196640715197952
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,743.513941914,712,677,662,631.513941914,879,784,801,650.486058086,630,651,0.449580568021,0.0044373343454,0.0597608450999,0.999999927938,-5.64168602944e-05,-0.000371823783312,-5.18479715847e-05,1793196640731864320
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,743,712,676.937343189,662.062656811,631.062656811,879,784,801,650.937343189,630,651,0.449581071045,0.00443722350632,0.0597612357683,0.999999928173,-5.73931085663e-05,-0.000371011616744,-5.20595083574e-05,1793196640748530688
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,743,712,676.36258106,662.63741894,631.63741894,879,784,801,650.36258106,630,651,0.449581842342,0.00443432410999,0.0597619026152,0.999999928399,-6.00685575795e-05,-0.000370076465482,-5.13535433706e-05,1793196640765197056
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,743.217827854,712,676,662.782172146,632,879,783.782172146,801.217827854,650,630,651,0.449580959479,0.00443305201478,0.0597616704747,0.999999928294,-6.10789193994e-05,-0.000370233622438,-5.10654883511e-05,1793196640781863680
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,743.807886093,712,676,662.192113907,632,879,783.192113907,801.807886093,650,630,651,0.449577249938,0.00443456069795,0.0597599021192,0.999999927632,-5.92439329567e-05,-0.000372257346602,-5.14915697513e-05,1793196640798530816
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,743.609660496,711.609660496,676,662,632,879,783.390339504,802,650,630,651,0.449562228879,0.00443542322265,0.0597529145004,0.999999923482,-5.83333848243e-05,-0.000383382394741,-5.14869355969e-05,1793196640815197696
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,743.030878384,711.030878384,676,662,632,879,783.969121616,802,650,630,651,0.449541747005,0.00443597380418,0.0597434071991,0.99999991745,-5.78691238245e-05,-0.000398901251988,-5.12743666809e-05,1793196640831864320
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,743.54382318,711.54382318,676,662,632,879,784,801.45617682,650,630,651,0.449497705427,0.00443847628179,0.0597236548912,0.999999904318,-5.49811418401e-05,-0.000430830943719,-5.22138918636e-05,1793196640848530944
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,743.879092882,712,676,662,632,879,783.879092882,801,650.120907118,630.120907118,651,0.449451391289,0.00444023451093,0.0597043540299,0.999999891307,-5.30613346843e-05,-0.000460167715534,-5.30750567058e-05,1793196640865197568
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,743.291934866,712,676,662,632,879,783.291934866,801,650.708065134,630.708065134,651,0.449401433736,0.0044386985113,0.0596890206032,0.999999883781,-5.54018190137e-05,-0.000475938936624,-5.33836594199e-05,1793196640881864192
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,743,712,676,662,631.708442524,879,783,801,650.708442524,630.708442524,651,0.449344769531,0.00443786083981,0.0596776565278,0.999999877355,-5.55039676446e-05,-0.00048925414227,-5.32918942679e-05,1793196640898530816
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,743,712,676,662,631.128575061,879,783,801,650.128575061,630.128575061,651,0.449281473378,0.0044377137183,0.0596702175923,0.99999987211,-5.33927119665e-05,-0.000500140687701,-5.2804220702e-05,1793196640915197696
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,743,711.549251181,676.450748819,662,631.450748819,879,783.450748819,801,650,630,651,0.449213805585,0.00443946330657,0.0596698255232,0.999999872493,-5.09487227302e-05,-0.000499628802028,-5.28053470738e-05,1793196640931864320
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.970329484,743,711,677,662,632,878.970329484,784,801,650,630,651,0.449144067368,0.00444174071663,0.0596715569264,0.999999874575,-4.82194573561e-05,-0.000495710273189,-5.28825329926e-05,1793196640948530944
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.395947984,743,711,677,662,632,878.395947984,784,801,650,630,651,0.449059184636,0.00444378756765,0.0596754141013,0.99999987828,-4.19932521137e-05,-0.000488869351653,-5.1799422742e-05,1793196640965197568
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.365465,743,711.1827325,677,662,632,878.1827325,784,801.1827325,650,630,650.8172675,0.448967066987,0.00444572787924,0.0596780597521,0.999999880712,-3.6994157631e-05,-0.000484385562063,-5.07667215049e-05,1793196640981864448
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.5419049,743,711.77095245,677,662,632,878.77095245,784,801.77095245,650,630,650.22904755,0.448858894909,0.0044474317772,0.0596780170035,0.999999880478,-3.47180498344e-05,-0.000485132301261,-4.98458791333e-05,1793196640998530816
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.646101661,743,711.646101661,676.646101661,662.353898339,632,878.646101661,784,801.646101661,650,630,650.707796678,0.448736232418,0.00444798427829,0.0596815080142,0.999999883061,-3.19382809878e-05,-0.000480114450714,-4.84505503637e-05,1793196641015197440
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.066519033,743,711.066519033,676.066519033,662.933480967,632,878.066519033,784,801.066519033,650,630,651.866961934,0.448604329242,0.00444780252294,0.0596872525366,0.999999887373,-2.88373225406e-05,-0.00047142046727,-4.67526370749e-05,1793196641031864064
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,743,711.509574883,676,663,632,878,784,801,650,630,651.490425117,0.448457379138,0.00444912745284,0.059692154386,0.999999890883,-2.44397246598e-05,-0.000464305381149,-4.53598852191e-05,1793196641048530432
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,743,711.913235669,676,662.913235669,632,878.086764331,784,801,650,630,651,0.448306082397,0.00445074453082,0.0596980832536,0.999999894952,-1.9854335558e-05,-0.000455826159753,-4.38583238102e-05,1793196641065197312
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,743,711.327138047,676,662.327138047,632,878.672861953,784,801,650,630,651,0.448140997689,0.00445291872925,0.059710551424,0.999999902962,-1.5155679049e-05,-0.000438318176832,-4.15028620623e-05,1793196641081863936
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,743,711,676,662.255972928,632,879,784,801.511945857,650,629.744027072,651,0.447958874348,0.00445434345769,0.0597229666219,0.999999911012,-1.04203113017e-05,-0.000419929385922,-3.90859718031e-05,1793196641098530560
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,743,711,676,662.835310904,632,879,784,802.670621807,650,629.164689096,651,0.447755226482,0.00445482139682,0.0597353148998,0.999999919143,-5.63856732708e-06,-0.00040042789046,-3.6591480381e-05,1793196641115197440
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,743,711,676.414074116,663,632,879,784,802.171851768,650,629.414074116,650.585925884,0.447518577137,0.00445744924344,0.0597419283081,0.99999992346,3.18287366487e-06,-0.000389730900392,-3.43395413366e-05,1793196641131864064
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,743,711,676.992609031,663,632,879,784,801.014781937,650,629.992609031,650.007390969,0.447268820363,0.00446093098429,0.0597462639566,0.999999926225,1.36087901113e-05,-0.000382530859615,-3.21839386256e-05,1793196641148530688
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,743,711,676.43342454,663,632.56657546,879,784,801,650,630,650.56657546,0.446992484362,0.00446247953316,0.0597488475728,0.999999926257,2.02356697383e-05,-0.000382410480968,-2.89493662561e-05,1793196641165197312
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,743,711,676,663.143877114,633,879,783.856122886,801,650,630,651,0.446708866763,0.00446487101745,0.0597503170072,0.999999925788,2.78529792898e-05,-0.000383379769797,-2.58445121091e-05,1793196641181863936
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,743,711,676,663.731651059,633,879,783.268348941,801,650,630,651,0.446403844846,0.00446994035062,0.0597484188619,0.999999923933,3.86776882569e-05,-0.000387428298703,-2.31829496686e-05,1793196641198530816
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,743,711,676,664,632.684658442,879,783.315341558,801,650,630,651,0.446075491425,0.00447357427787,0.0597466871274,0.999999922597,4.79707054995e-05,-0.000389990687409,-2.03218594795e-05,1793196641215197440
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,743,711,676,664,632.10439838,879,783.89560162,801,650,630,651,0.44572753717,0.00447600232088,0.0597450951944,0.999999921724,5.59769494274e-05,-0.000391304569906,-1.72931456979e-05,1793196641231864064
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,743,711.473486284,676,664,632.473486284,878.526513716,784,801,650,630,651,0.445348066149,0.00447855165418,0.0597427540806,0.999999920569,6.7606247599e-05,-0.00039255379151,-1.38896550753e-05,1793196641248530688
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,743,712,676,664,632.949474816,878.050525184,784,801,650,630,651,0.444962183581,0.00448145749808,0.0597415408388,0.999999920157,8.00952940453e-05,-0.000391358857791,-1.0477744885e-05,1793196641265197312
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,743,712,676,664,632.375796839,878.624203161,784,801,650,630,651,0.444581507456,0.00448777923651,0.0597537077649,0.999999929007,9.32562741947e-05,-0.000365003297752,-7.83000025028e-06,1793196641281863936
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,743,711.796321812,676,664.203678188,632.203678188,879,784,801,650,630,650.796321812,0.444194665797,0.00449259122949,0.0597710547357,0.999999938801,0.000106570142747,-0.000333203776769,-4.10378775662e-06,1793196641298530816
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,743,711.205837624,676,664.794162376,632.794162376,879,784,801,650,630,650.205837624,0.443796115172,0.00449453605889,0.0597982391479,0.999999950418,0.000120174361436,-0.000291065610988,1.67054688494e-06,1793196641315197184
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,743,711,676,665,633,878.62179875,784,801,650,630,650.37820125,0.443348836295,0.00449953601998,0.0598144817147,0.999999955337,0.000134435939756,-0.000266858083841,6.35977608904e-06,1793196641331863808
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,743,711,676,665,633,878.041209005,784,801,650,630,650.958790995,0.442875481266,0.00450617088705,0.0598248689229,0.999999957023,0.000149049293426,-0.000252245859512,1.0468327872e-05,1793196641348530688
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,743,711.534307155,676,665,633,878.534307155,784,801,650,630,650.465692845,0.442320970015,0.00451347771591,0.0598009538551,0.999999942342,0.000166164548807,-0.000295805563894,1.43144238031e-05,1793196641365197568
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,743,711.88853724,676,665,633,878.88853724,784,801.11146276,649.88853724,630,650.11146276,0.441761090599,0.00452037580982,0.0597765667731,0.999999925212,0.00018249116357,-0.00034050103329,1.82008330081e-05,1793196641381864192
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,743,711.302755801,676,665,633,878.302755801,784,801.697244199,649.302755801,630,650.697244199,0.441204752757,0.00452531610587,0.0597613232769,0.999999911942,0.000194648387385,-0.000371117054986,2.23441187721e-05,1793196641398531072
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,743,711,676,665,633,878,784,801.718367019,649,630,650.718367019,0.44064071876,0.00453002861585,0.0597561390476,0.999999903754,0.000206490379061,-0.000386199924694,2.65215192555e-05,1793196641415197440
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,743,711,676,665,633,878,784,801.135467908,649,630,650.135467908,0.440068452025,0.004534497461,0.0597617153333,0.999999901782,0.000217995164855,-0.000384666802132,3.07354131899e-05,1793196641431864064
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,743,711,675.559051892,665,633.440948108,878,784,801,649.440948108,630,650.440948108,0.439510281312,0.00454066915054,0.0597918930087,0.999999916983,0.000229518515399,-0.00033496137699,3.39928396604e-05,1793196641448530688
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,743,711,675.01542201,665,633.98457799,878.01542201,784,801,650,630,651,0.438953991347,0.00454730937734,0.059828753216,0.999999933599,0.000239549734161,-0.000272182776772,3.65413275571e-05,1793196641465197312
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,743,711,675.590650804,665,633.409349196,878.590650804,784,801,650,630,651,0.438311051087,0.00455224247631,0.0598378088614,0.999999945738,0.000195213773425,-0.000264283500102,2.38677271585e-05,1793196641481863936
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,743,711,675.829386464,665,633,878.829386464,784,801,650,630,650.829386464,0.437649359961,0.00455658121867,0.0598302397623,0.999999946381,0.000166964078455,-0.000281254708995,1.60017988491e-05,1793196641498530560
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,743,711,675.2377416,665,633,878.2377416,784,801,650,630,650.2377416,0.436941396451,0.00455945323801,0.059781644971,0.999999919229,0.000178411247612,-0.000359600026676,1.99999978386e-05,1793196641515197440
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,743,711,675.346005496,665,633,878,784,800.653994504,649.653994504,630,650.346005496,0.436253640035,0.00456353602472,0.059751750373,0.99999990148,0.000188216168661,-0.000401392624472,2.2330359496e-05,1793196641531864064
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,743,711,676,665,633,878.074130106,784,801,650,630,651,0.434241565598,0.00457594732122,0.0597750898942,0.999999926206,0.000201405350456,-0.000326176510259,2.51633774752e-05,1793196641581864192
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,743,711,676,665,633,878.663862243,784,801,650,630,651,0.433518804115,0.00457853486939,0.059781306609,0.999999930699,0.000191997713507,-0.000318015012715,2.46178115153e-05,1793196641598530816
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,743,711.249136323,675.750863677,665,633,878.750863677,784,801,650,630,650.750863677,0.432782478663,0.00458126986533,0.0597832799933,0.999999931213,0.000186223983832,-0.000319811735728,2.47933908143e-05,1793196641615197440
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,743,711.82850136,675.17149864,665,633,878.17149864,784,801,650,630,650.17149864,0.432028174152,0.0045842003028,0.0597796288692,0.999999926454,0.0001852669753,-0.000334808019667,2.59248437847e-05,1793196641631864064
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,743,711.595069286,675.404930714,665,633,878,784,801,650,630,650.404930714,0.43130565631,0.00458670775669,0.0597920320012,0.999999934783,0.000182577083635,-0.000310500087199,2.62678967516e-05,1793196641648530944
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,743,711.019874355,675.980125645,665,633,878,784,801,650,630,650.980125645,0.43059650409,0.00458903735538,0.0598111855855,0.999999947246,0.000179158553566,-0.000269665618292,2.62794452235e-05,1793196641665197568
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,743,711,676,665,633,878,784,801,650,630,651,0.429827903603,0.00458971419225,0.0598177662325,0.999999947768,0.00017474859609,-0.000270420361441,2.82676313647e-05,1793196641681863936
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,743,711,676,664.866373214,633,878,784.133626786,801,650,629.866373214,651,0.429044259145,0.00458952414742,0.0598121216087,0.999999943103,0.000169179577487,-0.000290333377413,2.96284137442e-05,1793196641698530560
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,743,711,676,664.274643718,633,878,784.725356282,801,650,629.274643718,651,0.428216334475,0.0045865650187,0.0597661086107,0.999999918075,0.000159758676777,-0.000370822573708,2.85957955888e-05,1793196641715197184
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764.689973153,743,711,675.689973153,664.310026847,633,878,784.689973153,801,650,629.310026847,651,0.42743309411,0.00457399288545,0.0597503359272,0.999999914845,0.000135761265885,-0.00038875150475,2.74236170199e-05,1793196641731864064
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764.111416708,743,711,675.111416708,664.888583292,633,878,784.111416708,801,650,629.888583292,651,0.426688557076,0.00455309445332,0.0597607558793,0.999999932618,9.91384188864e-05,-0.000352493890145,2.61305583843e-05,1793196641748530688
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764.464071135,743,711,675,665,633,878,784.464071135,801,650,630,651,0.425932548193,0.00454816656746,0.0597836663936,0.999999942937,8.70981115064e-05,-0.000325180707157,2.82443850972e-05,1793196641765197568
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,743,711.038924486,675,665,633,878,784.961075514,801,650,629.961075514,651,0.425172494983,0.00454769322315,0.0598086138759,0.999999950802,8.19064291323e-05,-0.000301202124354,3.1054994677e-05,1793196641781864192
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,743,711.615121564,675,665,633,878,784.384878436,801,650,629.384878436,651,0.424394385606,0.00455612876486,0.0598205570956,0.99999995224,9.03173507844e-05,-0.000293804756946,3.22673913608e-05,1793196641798530816
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764.803688005,743,711.803688005,675,665,633,877.803688005,784,801,650,629.196311995,651,0.423621451586,0.00456069807989,0.0598293336331,0.999999952478,0.00011717280752,-0.000283243225369,3.29670281595e-05,1793196641815197440
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764.212452269,743,711.212452269,675,665,633,877.212452269,784,801,650,629.787547731,651,0.422858928769,0.0045574896511,0.0598317397118,0.999999947601,0.00018113340949,-0.000266316295825,3.26351384441e-05,1793196641831864064
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,743.370578718,711,675,665,633,877.370578718,784,801,650,630,651,0.422085338386,0.00455799426771,0.0598317250011,0.99999994444,0.000198956302121,-0.000265424575932,3.29719955584e-05,1793196641848530688
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,743.949007785,711,675,665,633,877.949007785,784,801,650,630,651,0.421305540468,0.00456058145901,0.059830352517,0.999999943803,0.00019090145314,-0.000273526692691,3.36839397502e-05,1793196641865197312
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,743.476402099,711.523597901,674.476402099,664.476402099,633.523597901,878,784,801,650,630,651,0.42049131515,0.00456558384064,0.0597806404231,0.999999916782,0.000185787197775,-0.000361710993174,3.29160578179e-05,1793196641881864192
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,743,711.902053344,674,664,633.902053344,877.902053344,784,801,650,630,651,0.419689100715,0.00456951358576,0.0597352536165,0.999999887488,0.000178772630018,-0.000438241701973,3.17426462404e-05,1793196641898530560
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,743,711.327072505,674,664,633.327072505,877.327072505,784,801,650,630,651,0.418961594009,0.0045670819984,0.0597336937278,0.999999898262,0.000161118276535,-0.000420307761936,2.9290959277e-05,1793196641915197184
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,743,711,674.255752209,664.255752209,633,877.255752209,784,801,650,630,651,0.418244956523,0.00456616726561,0.0597487715965,0.999999913855,0.000149301640059,-0.000386237709725,2.86095873333e-05,1793196641931864064
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.848925522,664.848925522,633,877.848925522,784,801,650,630,651,0.41754265916,0.00456725376201,0.0597858001277,0.999999934262,0.000145186869482,-0.000330878830344,3.02638420858e-05,1793196641948530688
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,743,711,675,664.572528156,633,878,784,801,649.572528156,629.572528156,651,0.416840234395,0.00456651741705,0.0598100082814,0.999999943565,0.000141349445974,-0.000303011390804,3.27686702837e-05,1793196641965197312
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742.99897412,711,675,664.00102588,633,877.99794824,784.00102588,801,649.00102588,629.00102588,651,0.416137774334,0.00456516428589,0.0598297824122,0.999999949397,0.000137612082515,-0.000284612114784,3.55585070005e-05,1793196641981863936
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742.422040689,711,675,664.577959311,633,876.844081378,784.577959311,801,649.577959311,629.577959311,651,0.415439973129,0.00456724520031,0.0598197856531,0.999999942703,0.000136841589717,-0.000307620861971,3.51762340157e-05,1793196641998530816
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.15868425,742.15868425,711,674.84131575,665,633,876.15868425,784.84131575,801,650,630,651,0.414749106306,0.00456826314167,0.0598148352552,0.999999937822,0.000143665329415,-0.000320139864822,3.50389405392e-05,1793196642015197440
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.749740151,742.749740151,711,674.250259849,665,633,876.749740151,784.250259849,801,650,630,651,0.414077133646,0.00456638476948,0.059823634824,0.999999938484,0.000171181298043,-0.000304077157548,3.5569149883e-05,1793196642031864064
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,743,711,674.333755114,665,633,877,784,801,650,630,651,0.413400105689,0.00456784821329,0.0598183809347,0.999999933253,0.000183825616111,-0.000313741912978,3.5613834454e-05,1793196642048530432
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,743,711,674.912599607,665,633,877,784,801,650,630,651,0.412719365471,0.00457176568285,0.0598028070432,0.999999923578,0.000185549100326,-0.000342299347145,3.530197924e-05,1793196642065197312
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.512933259,743,711,675,664.512933259,633,877,784.487066741,801,650.487066741,629.512933259,651,0.412058347301,0.00456936967329,0.0597693717395,0.999999905493,0.000176115465309,-0.000395971757542,3.46831807188e-05,1793196642081863936
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.062261023,743,711,675.062261023,664.062261023,633.062261023,877.062261023,784.937738977,801,650.937738977,629.062261023,651,0.411412161837,0.00456640990212,0.0597382998964,0.99999988726,0.000165383042601,-0.000443819484508,3.39517893746e-05,1793196642098530816
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.650166797,743,711,675.650166797,664.650166797,633.650166797,877.650166797,784.349833203,801,650.349833203,629.650166797,651,0.410861590951,0.00456816998945,0.0597540000918,0.99999990467,0.000160437511234,-0.000404782496556,3.27306877445e-05,1793196642115197440
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.765337936,743,711.234662064,675.765337936,664.765337936,633.765337936,877.765337936,784,801,650,630,651,0.410312910869,0.00456877953969,0.0597793968155,0.999999922856,0.000153881863574,-0.00035990400216,3.28104993307e-05,1793196642131864064
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764.185854252,743,711.814145748,675.185854252,664.185854252,633.185854252,877.185854252,784,801,650,630,651,0.409767009256,0.00456769844555,0.0598190419957,0.999999941934,0.000144960248424,-0.000306441772971,3.48019238092e-05,1793196642148530688
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,743,711.608076297,675,664.391923703,633,877,784,801.391923703,650,630,651,0.409232211188,0.00456651215565,0.0598399313128,0.999999951011,0.000140702467891,-0.000277259148626,3.61611530786e-05,1793196642165197312
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,743,711.03110366,675,664.96889634,633,877,784,801.96889634,650,630,651,0.408702655671,0.00456527619691,0.0598519649493,0.999999956015,0.000138646741847,-0.000259540268808,3.72218880993e-05,1793196642181864192
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.542621671,743,711,675,665,633,877,784,801.457378329,650,630,651,0.408186620132,0.00456457347415,0.0598412050287,0.999999947574,0.000166586244777,-0.000275236323723,3.66797577646e-05,1793196642198530816
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,743,711,674.880288798,665,633,877,784,801,650,630,651,0.407678921431,0.00456400685509,0.059828879572,0.999999938481,0.000188840225716,-0.000293393453528,3.60267346086e-05,1793196642215197440
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,743,711,674.289224282,665,633,877,784,801,650,630,651,0.407201014944,0.00456385649939,0.0598155037757,0.999999933601,0.000181978360918,-0.000313744083665,3.52966898693e-05,1793196642231864064
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,743,711,674,665,633,877,784,801,650,630,650.703779905,0.406748430069,0.00456319985214,0.0598151111593,0.999999936427,0.000174422949345,-0.000309059514644,3.46974841829e-05,1793196642248530688
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,743,711,674,665,633,877,784,801,650,630,650.1237208,0.40632010847,0.00456205807477,0.0598271590668,0.999999946294,0.000166202979461,-0.00028038613902,3.4223648914e-05,1793196642265197056
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,743,711,674,665,633,877,784,801,650,630,650.452729545,0.405915389208,0.00456176464729,0.0598330068375,0.999999950344,0.000159890205898,-0.000269461485402,3.37189671817e-05,1793196642281863936
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,743,711,674.028182455,664.971817545,633,877,784,801,650,629.971817545,651,0.405517346665,0.00456173440741,0.0598361776306,0.999999952469,0.000154248834212,-0.000264892929792,3.31962640701e-05,1793196642298530560
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,743,711,674.603266024,664.396733976,633,877,784,801,650,629.396733976,651,0.405124693705,0.00456234816639,0.0598200199528,0.999999945847,0.000151602340681,-0.000290289310375,3.24861325125e-05,1793196642315197440
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.81597883,743,711,674.81597883,664.18402117,633,877,784,801,650,629,651,0.40474047262,0.00456192139976,0.0598018184973,0.99999993748,0.000147641435005,-0.000319737607347,3.17845625472e-05,1793196642331864320
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.22260749,743,711,674.22260749,664.77739251,633,877,784,801,650,629,651,0.404375008064,0.00455918001168,0.0597790707152,0.999999925457,0.000140756655062,-0.000358199280594,3.11020377177e-05,1793196642348530688
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.720439227,743,711,674,664.639780387,633,877,784,801,650,629.360219613,651,0.404041404673,0.0045592673492,0.0597653744598,0.99999991829,0.000137199213286,-0.000379075175622,2.99849228108e-05,1793196642365197312
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.873431976,743,711,674,664.063284012,633,877,784,801,650,629.936715988,651,0.403726930771,0.00456105306041,0.0597571127618,0.999999914579,0.000135639513124,-0.00038939252909,2.860687888e-05,1793196642381863936
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.489165249,743,711,674,664,633.510834751,877,784,801,650,630,651,0.403480109441,0.00455841961627,0.0597756391054,0.999999928225,0.000131103941657,-0.000354313855607,2.86965592808e-05,1793196642398530560
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,743,711,674,664,634,877,784,801,650,630,651,0.403244432189,0.0045556693095,0.0597962486494,0.999999941334,0.000127123554658,-0.000316749792149,2.90166791338e-05,1793196642415197184
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,743,711,674,664,634,877,784,801,650,630,651,0.403024943961,0.00455539233202,0.0598098089408,0.999999947154,0.000128471259162,-0.000297168953562,2.96225489162e-05,1793196642431864064
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,743,711,674,664.259536679,633.740463321,877,784,801,650,629.740463321,651,0.402811282797,0.00455361553003,0.0598208620529,0.999999951808,0.000130034744121,-0.000280285591071,3.02469769628e-05,1793196642448530688
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,743,711,674,664.842134032,633.157865968,877,784,801,650,629.157865968,651,0.40260487494,0.00454997180765,0.0598287943295,0.999999955248,0.000131866823737,-0.000266759938056,3.08945055508e-05,1793196642465197312
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,742.580906875,711,674,664.580906875,633,877,784,800.580906875,650,629.419093125,651,0.402408373474,0.00454879074108,0.0598297206288,0.999999954464,0.000138182247859,-0.000266533245896,3.06329127142e-05,1793196642481863936
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,742.006043447,711,674,664.006043447,633,877,784,800.006043447,650,629.993956553,651,0.402215554062,0.00454852500492,0.0598280429167,0.999999952079,0.00014616406036,-0.000271249567979,3.00334137707e-05,1793196642498530560
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,742.568887956,711,674.568887956,664,633,877,784,800.568887956,650.568887956,630,651.568887956,0.402047884468,0.00454746848431,0.0598234507846,0.99999994848,0.000147157245792,-0.000283684837528,3.01409031984e-05,1793196642515197440
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,742.853770847,711.146229153,674.853770847,664,633,877,784,801,650.853770847,630,651.853770847,0.401889587882,0.00454679183224,0.0598200937978,0.999999945562,0.000147166594006,-0.000293793836337,3.00595293124e-05,1793196642531864064
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,742.269208375,711.730791625,674.269208375,664,633,877,784,801,650.269208375,630,651.269208375,0.401758586681,0.00454727905082,0.0598205320744,0.999999945125,0.000144449386018,-0.000296683822512,2.93895067935e-05,1793196642548530688
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,742.315473674,711.684526326,674,664,633,877,784,801,650,630,651,0.40163923682,0.00454647348916,0.059821166653,0.999999945145,0.000142045735947,-0.000297793514402,2.91725330529e-05,1793196642565197312
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,742.900257865,711.099742135,674,664,633,877,784,801,650,630,651,0.401529833345,0.0045445643194,0.0598219688089,0.999999945564,0.000139909760669,-0.000297383422189,2.93423135422e-05,1793196642581863936
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,743,711,674,664,633.476163629,877,784,800.523836371,650,630,651,0.40143986615,0.0045424631256,0.0598247869223,0.999999947775,0.000136495074768,-0.000291472749344,2.93794095206e-05,1793196642598530560
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,743,711.632958029,674,664,633.367041971,877,784,801.265916057,650,630,651,0.401283812401,0.00454250920149,0.0598281896485,0.99999994927,0.000133196154062,-0.000287921472933,2.86238743718e-05,1793196642631864064
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,743,711.783621198,674,664,633,877,784,801.783621198,650,630,651.216378802,0.401217617894,0.00454284821268,0.0598276415703,0.999999948651,0.000131743802006,-0.000290761332921,2.8280069255e-05,1793196642648530688
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,743,711.197808044,674,664,633,877,784,801.197808044,650,630,651.802191956,0.401160245936,0.00454062707511,0.0598254465704,0.999999948236,0.00012772253071,-0.000293937461233,2.85494743112e-05,1793196642665197312
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,743,711,674,664,633,877,784,801,650,630,651.617806251,0.401113016652,0.00454013090253,0.0598239183893,0.999999948116,0.000125489981617,-0.000295356256305,2.80290509931e-05,1793196642681863936
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,743,711,673,664,634,877.499267084,784,801.500732916,650.500732916,629.500732916,651,0.40094643552,0.00453517432374,0.0598312441119,0.999999952408,0.000115820661848,-0.000284662617233,2.71514182684e-05,1793196642915197184
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,743,711.570208703,674,664,633,877,784,801,650,630,651,0.400943252741,0.00453608961573,0.0598313089591,0.999999952506,0.000115545274705,-0.000284485936523,2.65426011199e-05,1793196643031864064
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,743,711.845640145,674,664,633,877.154359855,784,801,650,630,651,0.40094326183,0.00453676303385,0.0598313850122,0.999999952564,0.000116824749837,-0.000283766431499,2.64682962425e-05,1793196643048530688
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,743,711.266243904,674,664,633,877.733756096,784,801,650,630,651,0.400943133782,0.00453668881423,0.0598324621787,0.999999952871,0.000115650396026,-0.000283145267462,2.66851884324e-05,1793196643065197568
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,743,711,674,664,633,877.687420801,784,801,650,630,651,0.400943016469,0.00453567406718,0.05983273948,0.99999995316,0.000113696039689,-0.000282910984199,2.67211876095e-05,1793196643081863936
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765,743,711,674,664,633,877.109085012,784,801,650,630,651,0.400942908283,0.00453385967841,0.0598323367314,0.999999953431,0.000111078520882,-0.000283005629175,2.66033905198e-05,1793196643098530816
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.466637791,743,711,674,664,633,877,784,801.466637791,650,630,651,0.400943826142,0.00453360605476,0.0598325182915,0.999999953609,0.000111510880976,-0.000282208304549,2.65665230449e-05,1793196643115197440
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.914601849,743,711,674,664,633,877,784,801.957300925,650,630,651,0.400944867005,0.00453376396982,0.0598328757497,0.999999953758,0.00011260756098,-0.000281244645995,2.65463268477e-05,1793196643131864064
+414,6.900000000,POSE2_TO_POSE3_RETREAT,764.738313894,743,711,674,664,633,877,784,801.369156947,650,630,651,0.400944432233,0.00453454415696,0.0598337450168,0.999999953824,0.000113133563393,-0.000280804971551,2.64987667033e-05,1793196643148530688
+415,6.916666667,POSE2_TO_POSE3_RETREAT,764.215520196,743,711,674,664,633.215520196,877,784,801,650,630,651,0.400944626713,0.00453480543538,0.0598344958829,0.999999954067,0.000112854675553,-0.000280041463523,2.65634525191e-05,1793196643165197312
+416,6.933333333,POSE2_TO_POSE3_RETREAT,764.794353225,743,711,674,664,633.794353225,877,784,801,650,630,651,0.400945881954,0.00453419196438,0.0598350471548,0.99999995461,0.000111218945322,-0.000278732053472,2.68173567777e-05,1793196643181863936
+417,6.950000000,POSE2_TO_POSE3_RETREAT,765,742.628424551,711,674,664,633.628424551,877,784,801,650,629.628424551,651,0.400946173317,0.00453393106425,0.0598345774827,0.999999954494,0.000111628256908,-0.000278986771246,2.67743722812e-05,1793196643198530560
+418,6.966666667,POSE2_TO_POSE3_RETREAT,765,742.052090006,711,674,664,633.052090006,877,784,801,650,629.052090006,651,0.400945933528,0.00453386445067,0.0598335452127,0.999999954015,0.000113164502344,-0.000280103412031,2.6567785267e-05,1793196643215197184
+419,6.983333333,POSE2_TO_POSE3_RETREAT,765,742.523513479,711,674,664,633,877,784,801,650,629,651,0.400945365929,0.00453491155383,0.0598338323009,0.99999995404,0.000113711892645,-0.000279817632927,2.63074778635e-05,1793196643231864064
+420,7.000000000,POSE2_TO_POSE3_RETREAT,765,743,711,674,664,633,877,784,801,650,629.101569366,651,0.400945066254,0.0045359316035,0.0598343128781,0.999999954135,0.000114242592933,-0.000279279837185,2.61147209192e-05,1793196643248530688
+421,7.016666667,POSE2_TO_POSE3_RETREAT,765,743,711,674,664,633,877,784,801,650,629.691772813,651,0.400946212217,0.00453628912978,0.0598350936282,0.999999954326,0.000115165687774,-0.000278200007159,2.62726176579e-05,1793196643265197312
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9353bdad0b8c336f4d819d6da4478118b37bc587
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_01/simulation_data.csv
@@ -0,0 +1,423 @@
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+397,6.616666667,pose2_to_pose3_retreat,0.57825761702,0.0100012412908,1.05001191002,0.548828853299,0.0186749118542,1.04966144087
+398,6.633333333,pose2_to_pose3_retreat,0.578256740075,0.0100012493115,1.05001194467,0.548827976437,0.0186749201469,1.04966147532
+399,6.650000000,pose2_to_pose3_retreat,0.578256102877,0.0100012476778,1.05001184395,0.548827339261,0.0186749187486,1.04966137852
+400,6.666666667,pose2_to_pose3_retreat,0.578255705172,0.0100012466581,1.05001178109,0.54882694157,0.018674917876,1.04966131809
+401,6.683333333,pose2_to_pose3_retreat,0.578255241473,0.0100012454692,1.0500117078,0.548826477888,0.0186749168585,1.04966124765
+402,6.700000000,pose2_to_pose3_retreat,0.578254554597,0.0100012437082,1.05001159923,0.548825791036,0.0186749153512,1.04966114329
+403,6.716666667,pose2_to_pose3_retreat,0.578253986515,0.0100012422517,1.05001150944,0.548825222975,0.0186749141047,1.04966105699
+404,6.733333333,pose2_to_pose3_retreat,0.578253694309,0.0100012354512,1.05001150303,0.548824930521,0.0186749064278,1.04966104962
+405,6.750000000,pose2_to_pose3_retreat,0.57825360587,0.0100012326179,1.05001150619,0.548824841975,0.0186749032032,1.04966105213
+406,6.766666667,pose2_to_pose3_retreat,0.578253569535,0.0100012314538,1.05001150749,0.548824805596,0.0186749018783,1.04966105317
+407,6.783333333,pose2_to_pose3_retreat,0.578253490438,0.0100012289198,1.05001151031,0.548824726403,0.0186748989943,1.04966105541
+408,6.800000000,pose2_to_pose3_retreat,0.578253450184,0.0100012276302,1.05001151175,0.5488246861,0.0186748975265,1.04966105656
+409,6.816666667,pose2_to_pose3_retreat,0.578253418699,0.0100012266215,1.05001151287,0.548824654577,0.0186748963785,1.04966105745
+410,6.833333333,pose2_to_pose3_retreat,0.578253352659,0.0100012245058,1.05001151523,0.548824588456,0.0186748939706,1.04966105933
+411,6.850000000,pose2_to_pose3_retreat,0.578253167787,0.010001218583,1.05001152183,0.548824403359,0.0186748872298,1.04966106459
+412,6.866666667,pose2_to_pose3_retreat,0.578253018242,0.010001213792,1.05001152717,0.548824253631,0.0186748817771,1.04966106884
+413,6.883333333,pose2_to_pose3_retreat,0.578252832786,0.0100012078505,1.05001153379,0.54882406795,0.018674875015,1.04966107411
+414,6.900000000,pose2_to_pose3_retreat,0.578252500136,0.0100012441553,1.05001152755,0.54882373507,0.0186749105865,1.04966106904
+415,6.916666667,pose2_to_pose3_retreat,0.578252241878,0.0100012935258,1.05001151452,0.548823476712,0.018674959721,1.04966105856
+416,6.933333333,pose2_to_pose3_retreat,0.578252166643,0.0100012991011,1.05001154071,0.548823401577,0.0186749656606,1.04966108536
+417,6.950000000,pose2_to_pose3_retreat,0.578252151861,0.0100012835333,1.0500116026,0.548823387059,0.0186749509837,1.04966114713
+418,6.966666667,pose2_to_pose3_retreat,0.578252144902,0.0100012762047,1.05001163173,0.548823380225,0.0186749440745,1.0496611762
+419,6.983333333,pose2_to_pose3_retreat,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+420,7.000000000,pose2_to_pose3_retreat,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
+421,7.016666667,pose2_to_pose3_retreat,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0b28b80b0d87e0f885d76c8e5c20c9a954345cb8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:702a5603b72cd9da6d53ee1c03c450bbd10a2c15ec8e40aae2ec3476eea930b4
+size 26774284
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fedb022e22bccdb74919a3549d20cf6f599389a6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_02/franka_data.csv
@@ -0,0 +1,423 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,743,711,674,664,634,877,784,802,650,630,651,0.40094461939,0.00453691882493,0.0598341785228,0.999999953498,0.000117296290847,-0.000280283788661,2.61857524115e-05,1793196643388843520
+1,0.016666667,BASELINE,764,743,711,674,664,633.422337381,877,784,802,650,630,651.577662619,0.400944658828,0.00453496723413,0.0598345460458,0.999999954192,0.000113496618922,-0.000279366925098,2.62455489197e-05,1793196643405510144
+2,0.033333333,BASELINE,764.155060618,743,711.155060618,674,664,633,877,784,801.844939382,650,630,651.844939382,0.400944287871,0.00453328103318,0.0598346040311,0.999999954624,0.000110293161825,-0.000279100384554,2.62912502318e-05,1793196643422176768
+3,0.050000000,BASELINE,764.73173923,743,711.73173923,674,664,633,877,784,801.26826077,650,630,651.26826077,0.400942801028,0.00453231644075,0.0598338203667,0.999999954376,0.000108710843437,-0.000280602106392,2.62986259768e-05,1793196643438843392
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+9,0.150000000,BASELINE,764.216585667,743,711,674,664,633.783414333,877,784,801,650,630,651,0.400944363246,0.00453523779165,0.0598346918715,0.999999954214,0.000113507819515,-0.000279278824131,2.63074377304e-05,1793196643538843392
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+16,0.266666667,BASELINE,765,743,711,674,664,633,877,784,800.276418936,650,630,651,0.400946864558,0.00453381326077,0.0598358222943,0.999999955156,0.0001125817657,-0.000276268045166,2.62598768158e-05,1793196643655510272
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+18,0.300000000,BASELINE,765,743,711,674,664,633.44664516,877,784,801.44664516,650,630,651,0.40094617246,0.00453230217809,0.0598355604982,0.999999955164,0.000111086978833,-0.000276824020022,2.64527431932e-05,1793196643688843520
+19,0.316666667,BASELINE,764.970771503,742.970771503,711.029228497,674,664,633.970771503,877,784.029228497,801.970771503,650,630,651,0.4009453411,0.00453194274108,0.0598343220236,0.999999954821,0.000110318737605,-0.000278375989015,2.63631889425e-05,1793196643705510144
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+21,0.350000000,BASELINE,764.179873232,742.179873232,711.820126768,674,664,633.179873232,877,784.820126768,801,650,630,651,0.400947381402,0.00453449057385,0.0598376892014,0.999999955607,0.000112855284488,-0.000274568155521,2.57179939742e-05,1793196643738843392
+22,0.366666667,BASELINE,764.753072621,742.753072621,711.246927379,674,664,633.753072621,877,784.246927379,801,650,630,651,0.400946127574,0.00453300886103,0.0598371105824,0.999999955666,0.000112183632783,-0.000274599700483,2.60405739757e-05,1793196643755510272
+23,0.383333333,BASELINE,765,743,711,674,664,633.66260202,877,784,801,650.33739798,629.66260202,651,0.400945989135,0.00453366774375,0.0598366202652,0.999999955604,0.000112644299403,-0.000274647552314,2.59304238438e-05,1793196643772176896
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+25,0.416666667,BASELINE,765,743,711,674,664,633,877.510165848,784,801.510165848,650.489834152,629.510165848,651,0.400947068136,0.00453521088002,0.0598362722574,0.999999955592,0.000113322957832,-0.00027442723416,2.57743451166e-05,1793196643805509888
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+27,0.450000000,BASELINE,765,743,711,674,664,633,877.33603164,784,802,650,630,651,0.400945564842,0.00453300463129,0.0598357596433,0.999999955445,0.000111593612042,-0.000275612065413,2.63512890442e-05,1793196643838843392
+28,0.466666667,BASELINE,764.761537906,743,711,674.238462094,664,633,877.238462094,784,801.761537906,650,630,651.238462094,0.400944946263,0.00453309602833,0.0598356307589,0.999999955227,0.000111751343375,-0.000276336068328,2.63727088277e-05,1793196643855510016
+29,0.483333333,BASELINE,764.18895488,743,711,674.81104512,664,633,877.81104512,784,801.18895488,650,630,651.81104512,0.400945626297,0.00453482468187,0.0598360905262,0.999999955069,0.0001133048873,-0.000276299114148,2.61117399413e-05,1793196643872176640
+30,0.500000000,BASELINE,764.397823984,743,711,674.602176016,664,633,877.602176016,784,801,650,629.602176016,651.602176016,0.400945243184,0.00453456491727,0.0598360644734,0.999999954995,0.000112575524325,-0.000276855629496,2.62426665138e-05,1793196643888843520
+31,0.516666667,BASELINE,764.991594947,743,711,674.008405053,664,633,877.008405053,784,801,650,629.008405053,651.008405053,0.400944336422,0.00453332576337,0.0598357991313,0.999999954958,0.000110721722535,-0.000277704456433,2.65666199961e-05,1793196643905510400
+32,0.533333333,BASELINE,765,743,711.567204007,674.567204007,664,633,877.567204007,784,801,650,629,651,0.400945094849,0.00453502984074,0.0598360092083,0.999999954947,0.000112454108798,-0.000277102554638,2.59815452386e-05,1793196643922176768
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+42,0.700000000,BASELINE,765,743,711,674,664,633.360171552,877,784,800.720343103,650,630,651,0.40094486339,0.00453547382653,0.0598358569543,0.999999954881,0.000113409288907,-0.00027700210523,2.54282064449e-05,1793196644088844032
+43,0.716666667,BASELINE,765,743,711,674,664,633.951368364,877,784,801.902736728,650,630,651,0.400947412318,0.00453423779308,0.0598367701308,0.999999955645,0.000111115797856,-0.00027512262091,2.59025360923e-05,1793196644105510656
+44,0.733333333,BASELINE,765,743,711,674.531185099,664,633.468814901,877.531185099,784,801.468814901,650,630,651,0.400944696756,0.00453358799015,0.0598352515117,0.999999954926,0.000110533351689,-0.00027794241632,2.60310679344e-05,1793196644122177024
+45,0.750000000,BASELINE,765,743,711.109455476,674.890544524,664,633.109455476,877.890544524,784,801,650.109455476,630,651,0.400942187181,0.00453339801695,0.0598340689268,0.999999954267,0.000110472125218,-0.000280323952905,2.60863137123e-05,1793196644138843392
+46,0.766666667,BASELINE,765,743,711.685482128,674.314517872,664,633.685482128,877.314517872,784,801,650.685482128,630,651,0.400942567079,0.00453494415707,0.0598352478668,0.999999954461,0.000111978934176,-0.000279041869313,2.59612864108e-05,1793196644155510016
+47,0.783333333,BASELINE,765,743,711.732340806,674,664.267659194,634,877,784.267659194,801,650.732340806,630,651,0.400943019854,0.00453554504765,0.0598355926638,0.999999954624,0.000112264052984,-0.000278352655407,2.58721347362e-05,1793196644172176896
+48,0.800000000,BASELINE,765,743,711.142766529,674,664.857233471,634,877,784.857233471,801,650.142766529,630,651,0.400943560277,0.00453500908196,0.059834934233,0.99999995475,0.000111079838985,-0.000278376488742,2.58261308455e-05,1793196644188843776
+49,0.816666667,BASELINE,765,743,711.439132595,674,664.560867405,634,877,785,801,650,630,651,0.400944710436,0.00453417286163,0.0598354896047,0.999999955087,0.000110478031189,-0.000277402406007,2.58562964121e-05,1793196644205510400
+50,0.833333333,BASELINE,765.018412452,743,712,674,664.018412452,633.981587548,877.018412452,784.981587548,801.018412452,650,630,651,0.400946051138,0.00453327116965,0.0598364527262,0.9999999555,0.00011006028691,-0.000276072353618,2.59069315188e-05,1793196644222177024
+51,0.850000000,BASELINE,765.592656346,743,712,674,664.592656346,633.407343654,877.592656346,784.407343654,801.592656346,650,630,651,0.400947262549,0.00453328921992,0.0598380168537,0.999999956228,0.000109581254839,-0.000273622032882,2.58407835854e-05,1793196644238843648
+52,0.866666667,BASELINE,765.833052167,743.166947833,712,674,665,633.166947833,877.833052167,784,801.833052167,650,630,651.166947833,0.400947574981,0.00453376368852,0.059838492703,0.99999995647,0.000109437606448,-0.000272806891296,2.57040864044e-05,1793196644255510016
+53,0.883333333,BASELINE,765.258644556,743.741355444,712,674,665,633.741355444,877.258644556,784,801.258644556,650,630,651.741355444,0.400945693325,0.00453535211052,0.0598363124555,0.999999955532,0.000110112509347,-0.000275982635617,2.53952038198e-05,1793196644272176640
+54,0.900000000,BASELINE,765,743.67423052,711.67423052,674,664.67423052,634,877.32576948,784,801,650,630,651.67423052,0.400944469036,0.00453448382392,0.059835205158,0.999999955057,0.000109837765418,-0.000277795957374,2.55185491983e-05,1793196644288843776
+55,0.916666667,BASELINE,765,743.081620153,711.081620153,674,664.081620153,634,877.918379847,784,801,650,630,651.081620153,0.400943783201,0.00453160322379,0.0598349767243,0.999999954966,0.000108785156685,-0.000278493305663,2.59959366375e-05,1793196644305510912
+56,0.933333333,BASELINE,764.501177223,743,711.498822777,674.498822777,664,634,877.501177223,784,801,650,630,651,0.4009448842,0.00453138898798,0.0598360119584,0.999999955531,0.000107612000353,-0.000276904159977,2.6121831622e-05,1793196644322177536
+57,0.950000000,BASELINE,764.153542348,743,712,674.923228826,664,633.923228826,877.076771174,784,801,650.076771174,630,651,0.400945880752,0.00453178687051,0.0598369323407,0.999999956025,0.000106843514357,-0.000275410635395,2.61473310119e-05,1793196644338844416
+58,0.966666667,BASELINE,765.30229536,743,712,674.34885232,664,633.34885232,877.65114768,784,801,650.65114768,630,651,0.400944350377,0.00453339177972,0.0598357999987,0.999999955406,0.000108822772557,-0.000276904132968,2.58860040721e-05,1793196644355510784
+59,0.983333333,BASELINE,765.768949674,743,711.768949674,674,664.231050326,633,877.768949674,784,801,650.768949674,630,651.231050326,0.400943145333,0.00453413809691,0.0598351191204,0.999999954977,0.000109727083544,-0.000278102448842,2.57916371038e-05,1793196644372177408
+60,1.000000000,BASELINE,765.180498822,743,711.180498822,674,664.819501178,633,877.180498822,784,801,650.180498822,630,651.819501178,0.400942443528,0.00453355630006,0.0598351365892,0.999999954849,0.000108968611213,-0.000278844162715,2.59555323646e-05,1793196644388843776
+61,1.016666667,BASELINE,765,743,711,674,664.598658851,633,877.401341149,784,801,650,630,651.598658851,0.400942483528,0.00453378184211,0.0598354466581,0.999999954848,0.000109711975476,-0.000278558663627,2.59233544551e-05,1793196644405510144
+62,1.033333333,BASELINE,765,743,711,674,664.019743907,633,877.980256093,784,801,650,630,651.019743907,0.400942851739,0.0045343645921,0.0598358861882,0.999999954902,0.000111119828896,-0.000277818673087,2.58044237645e-05,1793196644422176768
+63,1.050000000,BASELINE,765,743,711.556295924,674,664,633.556295924,877.443704076,784,801,650,630,651,0.400943792837,0.00453333431702,0.0598361026327,0.999999955176,0.000109711151439,-0.000277388179077,2.5842685123e-05,1793196644438843648
+64,1.066666667,BASELINE,765,743,711.868129314,674,664,633.868129314,877,784,801,650,630,651,0.400944610281,0.0045329549154,0.0598362875979,0.999999955378,0.000109192705246,-0.000276863209351,2.58504765975e-05,1793196644455510528
+65,1.083333333,BASELINE,765,743,711.293774457,674,664,633.293774457,877,784,801,650,630,651,0.400944944938,0.00453495058875,0.0598363933671,0.999999955314,0.000111995073803,-0.000275984563504,2.57374043959e-05,1793196644472177408
+66,1.100000000,BASELINE,765,743,711,674.288585711,664,633,877,784,801,650,630,651,0.400944491138,0.00453553323286,0.0598361240011,0.999999955141,0.000112540795435,-0.000276392952659,2.56648101623e-05,1793196644488844032
+67,1.116666667,BASELINE,765,743,711,674.879327598,664,633,877,784,801,650,630,651,0.400943211806,0.00453463640127,0.0598354618595,0.999999954858,0.000110723753335,-0.000278148898448,2.56345973412e-05,1793196644505510656
+68,1.133333333,BASELINE,765,743,711,674.539026799,664.460973201,633.460973201,877,784,801.460973201,650,630,651,0.400943761466,0.0045344638643,0.0598357390783,0.999999954913,0.000111639218746,-0.000277596988942,2.55083865749e-05,1793196644522177024
+69,1.150000000,BASELINE,765,743,711,674,664.960018763,634,877,784,801.920037525,650,630,651,0.400944774626,0.00453435898307,0.059836263271,0.999999955104,0.000112882370922,-0.000276414208495,2.53818343453e-05,1793196644538843392
+70,1.166666667,BASELINE,765,743,711,674,664.38505822,634,877,784,800.77011644,650,630,651,0.400945707169,0.00453267143563,0.0598368654589,0.999999955984,0.000109124057774,-0.000274717378447,2.5580466106e-05,1793196644555510016
+71,1.183333333,BASELINE,765,743,711,674,664,633.81069121,877,784,800.18930879,650,630,651,0.400945973917,0.00453181991138,0.059837107384,0.999999956389,0.000107114300137,-0.000274020811604,2.56970142296e-05,1793196644572176896
+72,1.200000000,BASELINE,765,743,711,674,664,633.237527578,877,784,800.762472422,650,630,651,0.400944890657,0.00453266356194,0.0598366188171,0.999999955859,0.000108650026925,-0.000275352443317,2.56471242581e-05,1793196644588843520
+73,1.216666667,BASELINE,765,743,711.34742723,674,664,633,877,784,801,650,630,651.34742723,0.400944364966,0.00453299214302,0.0598362347328,0.999999955478,0.00010930150041,-0.000276481126166,2.55910853021e-05,1793196644605510400
+74,1.233333333,BASELINE,765,743,711.940726548,674,664,633,877,784,801,650,630,651.940726548,0.400944233865,0.0045329562126,0.0598359245901,0.999999955204,0.000109327193247,-0.000277466183286,2.55306947511e-05,1793196644622177280
+75,1.250000000,BASELINE,765,743,712,674,664,633,877,784,801,650,630,651.480588477,0.400944998098,0.00453325414379,0.0598370084282,0.999999955793,0.000109129590744,-0.000275431610653,2.53596034198e-05,1793196644638843904
+76,1.266666667,BASELINE,765,743,711.904142246,674,664,633.095857754,877,784,801,650,630,651,0.400945661498,0.00453345476797,0.0598379699067,0.999999956289,0.000109090811857,-0.000273650338696,2.52518696337e-05,1793196644655510528
+77,1.283333333,BASELINE,765,743,711.330767861,674,664,633.669232139,877,784,801,650,630,651,0.400945327552,0.00453298605856,0.0598375510953,0.99999995587,0.00010996667842,-0.000274800489066,2.5520960513e-05,1793196644672177152
+78,1.300000000,BASELINE,765,743,711,673.75645608,664,633.75645608,877,784,801,650,630,651,0.40094523405,0.00453263550139,0.0598370730025,0.999999955634,0.000109970441173,-0.000275633627149,2.57970403926e-05,1793196644688843776
+79,1.316666667,BASELINE,765,743,711,673.180866305,664,633.180866305,877,784,801,650,630,651,0.40094546837,0.00453244603209,0.059836514086,0.999999955645,0.000108785184418,-0.000276034553095,2.6082648998e-05,1793196644705510400
+80,1.333333333,BASELINE,765,743,711.409826614,673.409826614,664,633,877,784,801,650.409826614,629.590173386,651,0.400944414001,0.00453296413194,0.0598358580772,0.999999955439,0.000108474824759,-0.000276934099267,2.57396937e-05,1793196644722177024
+81,1.350000000,BASELINE,765,743,711.992836288,674,664,633,877,784,801,650.992836288,629.007163712,651.007163712,0.400942806419,0.00453379046943,0.0598351777283,0.999999955142,0.000108549973218,-0.000278031012091,2.5121172315e-05,1793196644738843648
+82,1.366666667,BASELINE,765,743,711.417415548,674,664,633,877,784,801,650.417415548,629.582584452,651.582584452,0.400944155798,0.00453334937797,0.0598360956671,0.999999955637,0.000107405221291,-0.000276660436769,2.54901075168e-05,1793196644755510528
+83,1.383333333,BASELINE,765,743,711.157663716,674,664,633.157663716,877.157663716,784.157663716,801.157663716,650,630,652,0.400944831497,0.00453298746976,0.0598364747976,0.999999955876,0.000106715640741,-0.000276040456114,2.57109508284e-05,1793196644772177408
+84,1.400000000,BASELINE,765,743,711.731841001,674,664,633.731841001,877.731841001,784.731841001,801.731841001,650,630,652,0.400943727477,0.00453283474656,0.0598354305132,0.999999955449,0.00010722852465,-0.000277403384555,2.5540567355e-05,1793196644788843776
+85,1.416666667,BASELINE,765.315531066,743,711.684468934,674.315531066,664.315531066,633.684468934,877.684468934,784.684468934,802,650,630,651.684468934,0.400944220124,0.00453242756345,0.0598358702261,0.999999955582,0.000107109675277,-0.000276955700804,2.56837279394e-05,1793196644805509888
+86,1.433333333,BASELINE,765.907556995,743,711.092443005,674.907556995,664.907556995,633.092443005,877.092443005,784.092443005,802,650,630,651.092443005,0.400946111905,0.00453179740119,0.0598376103424,0.999999956204,0.000106437248028,-0.000274921406252,2.61016422142e-05,1793196644822176512
+87,1.450000000,BASELINE,765.512503059,743,711,674.512503059,664.512503059,633.487496941,877.487496941,784,802,650.487496941,630,651,0.400946136407,0.00453303215232,0.0598374969956,0.999999956037,0.000109581584277,-0.000274332115419,2.56861343416e-05,1793196644838843136
+88,1.466666667,BASELINE,765,743,711.064875729,674.064875729,664,633.935124271,877.935124271,784,801.935124271,650.935124271,630,651,0.400945680957,0.00453425324757,0.05983698432,0.999999955697,0.000112756342454,-0.000274326400332,2.52269656817e-05,1793196644855510016
+89,1.483333333,BASELINE,765,743,711.639701749,674.639701749,664,633.360298251,877.360298251,784,801.360298251,650.360298251,630,651,0.400944168829,0.00453265449572,0.0598360286053,0.999999955242,0.000110618768548,-0.000276806084151,2.56368128763e-05,1793196644872177408
+90,1.500000000,BASELINE,765,743,711.780332741,674.780332741,664,633,877.219667259,784,801.219667259,650,630,651,0.400943801187,0.00453203422018,0.0598359150141,0.999999955177,0.000109497108883,-0.000277465712337,2.5880726252e-05,1793196644888844288
+91,1.516666667,BASELINE,765,743,711.191735545,674.191735545,664,633,877.808264455,784,801.808264455,650,630,651,0.400945355703,0.0045330572903,0.0598372157649,0.999999955776,0.000110081671738,-0.000275068566989,2.58459546629e-05,1793196644905510912
+92,1.533333333,BASELINE,765,743,711,674,664,633,877.609326051,784,801.609326051,650,630,651,0.40094441376,0.00453246804931,0.0598367686242,0.999999955762,0.000107654710222,-0.000276088645637,2.5726778015e-05,1793196644922177536
+93,1.550000000,BASELINE,765,743,711,674,664,633,877.029905967,784,801.029905967,650,630,651,0.400942265703,0.00453109985324,0.0598354770254,0.999999955435,0.0001037727923,-0.000278759686007,2.55668227841e-05,1793196644938844160
+94,1.566666667,BASELINE,765,743,711.546753774,674,664,633.546753774,877,784.546753774,801,650,630,651,0.400944470513,0.00453294097283,0.059836426849,0.999999955804,0.000107145915301,-0.000276148349711,2.55597679718e-05,1793196644955510528
+95,1.583333333,BASELINE,764.877599807,743,712,674,664,634,877.122400193,784.877599807,801,650,630,651,0.400946166914,0.00453435201562,0.0598371807141,0.999999956105,0.000109794815465,-0.000274007198323,2.55845121302e-05,1793196644972177152
+96,1.600000000,BASELINE,764.305126883,743,712,674,664,634,877.694873117,784.305126883,801,650,630,651,0.400945122791,0.00453353940912,0.059836765486,0.999999956085,0.000108328864221,-0.000274652026486,2.56955853182e-05,1793196644988843520
+97,1.616666667,BASELINE,764.276590731,743,711.723409269,674.276590731,664,634,877.723409269,784.276590731,801,650.276590731,630,651.276590731,0.400945164363,0.00453331559729,0.0598369613214,0.999999956128,0.000107754294488,-0.000274726275676,2.56661799905e-05,1793196645005510400
+98,1.633333333,BASELINE,764.868859442,743,711.131140558,674.868859442,664,634,877.131140558,784.868859442,801,650.868859442,630,651.868859442,0.40094644506,0.00453376378746,0.0598378545748,0.999999956243,0.00010819707461,-0.000274149312774,2.54764439976e-05,1793196645022176768
+99,1.650000000,BASELINE,765,743,711.451069491,675,664.451069491,634,877.451069491,784.548930509,801,650.548930509,630,651.548930509,0.400945805722,0.00453360171422,0.0598373840941,0.999999956107,0.000108357415824,-0.000274578650479,2.55378086409e-05,1793196645038843392
+100,1.666666667,BASELINE,765.030117414,743,711.969882586,675,664.969882586,633.969882586,877.969882586,784,801,650,630,651,0.400944774427,0.00453327002108,0.0598366303099,0.999999955939,0.000108426396462,-0.000275148517699,2.56688423401e-05,1793196645055510272
+101,1.683333333,BASELINE,765.603724082,743,711.396275918,675,664.396275918,633.396275918,877.396275918,784,801,650,630,651,0.400946523677,0.00453300930766,0.0598377628365,0.999999956515,0.000108296196523,-0.000273089977184,2.57684471808e-05,1793196645072177408
+102,1.700000000,BASELINE,765.818272801,743,711,674.818272801,664,633,877,784,801,650,630,651,0.400947725118,0.00453272888661,0.0598384282265,0.999999956828,0.000108382359694,-0.000271900909516,2.58393735397e-05,1793196645088844288
+103,1.716666667,BASELINE,765.230445143,743,711,674.230445143,664,633,877,784,801,650,630,651,0.400947702386,0.00453240442555,0.0598380497195,0.99999995656,0.000108952023191,-0.000272654827681,2.58462129205e-05,1793196645105510656
+104,1.733333333,BASELINE,765,743.352432069,711,674.352432069,664,633.352432069,877,784,801,650,630,651,0.400946982845,0.00453257569789,0.0598377804789,0.999999956314,0.000108872356213,-0.000273598227981,2.57593428184e-05,1793196645122177024
+105,1.750000000,BASELINE,765,743.932117223,711,674.932117223,664,633.932117223,877,784,801,650,630,651,0.400945813991,0.00453306662598,0.0598375816946,0.999999956079,0.000108373991996,-0.000274663809063,2.5612047543e-05,1793196645138843648
+106,1.766666667,BASELINE,765,743.49084506,711.50915494,675,664.50915494,634,878.018309879,784,801,650,629.49084506,651,0.400945830282,0.00453319653368,0.0598373363116,0.999999956224,0.000108051205332,-0.000274262679639,2.56187700946e-05,1793196645155510272
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,712,674,665,633,879,784,801,650,630,651,0.40094342547,0.00453261191986,0.0598354483802,0.999999954904,0.000110731455485,-0.00027795070843,2.59432472655e-05,1793196645198675712
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,743,711.424559571,674,664.424559571,633.575440429,878.424559571,784,801,650,630,651.575440429,0.400945319749,0.00453538872167,0.0598369641134,0.99999995546,0.000111695395748,-0.000275602608199,2.54622815592e-05,1793196645215342080
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,743.156397092,711,674,664,634,877.843602908,784,801,650,630,651.843602908,0.400946449231,0.00453697920723,0.059838031418,0.99999995585,0.000112055621267,-0.000274057878278,2.52138132736e-05,1793196645232008448
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,743.752875875,711,674,664,634,877.247124125,784,801,650,630,651.247124125,0.400945426668,0.0045352315491,0.0598378369014,0.999999955792,0.000110717069859,-0.000274773730552,2.56195632975e-05,1793196645248675072
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,743.664482525,711,674,664,633.664482525,877,784,801,650,630,651,0.400945135234,0.00453480128022,0.0598379963473,0.999999955869,0.000110885617323,-0.000274435231165,2.55255892173e-05,1793196645265341440
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,743.091629012,711,674,664,633.091629012,877,784,801,650,630,651,0.40094536098,0.00453530289717,0.0598384061767,0.99999995604,0.000112120246081,-0.000273350911726,2.50781237207e-05,1793196645282007808
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.514933376,743,711.485066624,674,664,633,877.485066624,784,801,650,630,651,0.400945494049,0.0045352694426,0.0598380991397,0.999999955901,0.000111422734296,-0.000274124891893,2.5281430281e-05,1793196645298674688
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.063949855,743,711.936050145,674,664,633,877.936050145,784,801.063949855,650,630,651,0.400946070982,0.00453491134852,0.0598379297406,0.999999955849,0.000110219944111,-0.00027477123748,2.55915419372e-05,1793196645315341056
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.654830372,743,711.345169628,674,664,633,877.345169628,784,801.654830372,650,630,651,0.400950450648,0.00453271778801,0.0598400191454,0.999999957006,0.000107885150021,-0.000271450393825,2.5760695152e-05,1793196645332007936
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,743,711,674,664,633.240406136,877,784,801.759593864,650,630,651,0.400960936787,0.00453156796623,0.0598444581282,0.99999995919,0.000106656204161,-0.00026376320248,2.59334755296e-05,1793196645348674560
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,743,711,674,664,633.81852984,877,784,801.18147016,650,630,651,0.400980001174,0.00453188436721,0.0598521977493,0.999999962701,0.000106980731215,-0.00024994225642,2.61113512534e-05,1793196645365341440
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.606971435,743,711.393028565,674,664,634,877,784.393028565,801,650,629.606971435,651,0.401020323644,0.00453104464464,0.0598691188322,0.999999969915,0.000106284891948,-0.000219477293856,2.65105415582e-05,1793196645382008320
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.034131098,743,711.965868902,674,664,634,877,784.965868902,801,650,629.034131098,651,0.401070371753,0.00452967599202,0.0598902404625,0.999999977657,0.000105122231869,-0.000181397641353,2.70109839456e-05,1793196645398674944
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.554654878,743,711.445345122,674,664,634,877.554654878,784.445345122,801,650,629.554654878,651,0.401132820778,0.00453185667131,0.0599058023259,0.999999981584,0.000108334239372,-0.000156167272106,2.65850158308e-05,1793196645415341568
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,743,711,674,664,634,877.858225116,784,801,650,630,651,0.401199346255,0.00453326204455,0.0599193094738,0.999999984549,0.000109994753546,-0.000134587220544,2.62714003674e-05,1793196645432008192
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,743,711,674,664,634,877.27935586,784,801,650,630,651,0.401276017232,0.00453158384121,0.0599275678989,0.999999986618,0.000106017479139,-0.000121751287845,2.6485126882e-05,1793196645448674816
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,743,711,673.701383654,664.298616346,634,877,784,801,650,630,651,0.401359206121,0.00452979043031,0.0599313331279,0.999999987837,0.000102334811362,-0.000114812291693,2.59296149985e-05,1793196645465341440
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,743,711,673.124248158,664.875751842,634,877,784,801,650,630,651,0.401448474257,0.00452788956552,0.0599309075572,0.999999988376,9.89269231274e-05,-0.000113373362772,2.46566352694e-05,1793196645482007808
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743,711,673.448685338,664.551314662,633.551314662,877,784.448685338,801.448685338,650.448685338,630,651.448685338,0.401563910313,0.00452678094179,0.0599347738925,0.999999989502,9.50757814809e-05,-0.000106732618953,2.37771118004e-05,1793196645498674688
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,743,711,674,664,633.021332664,877.021332664,784.978667336,801.978667336,650.978667336,630,651.978667336,0.40168745013,0.00452592001268,0.0599396517467,0.999999990712,9.11301584764e-05,-9.87154901185e-05,2.29507072416e-05,1793196645515341312
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,743,711,674,664,633.617325667,877.617325667,784.382674333,801.382674333,650.382674333,630,651.382674333,0.401835899018,0.00452587654209,0.0599400591934,0.999999991684,8.79151953926e-05,-9.20645450524e-05,2.06474367014e-05,1793196645532008192
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,711,674,664,634,877.792817625,784,801,650,630,651,0.401993578846,0.00452615947861,0.0599393923896,0.999999992315,8.50868381763e-05,-8.82928961036e-05,1.83054218793e-05,1793196645548674816
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,711,674,664,634,877.213968936,784,801,650,630,651,0.402167818121,0.00452702795973,0.0599367984782,0.999999992411,8.29520170322e-05,-8.96864429017e-05,1.58939035939e-05,1793196645565341440
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,711,674,664,634,877.359754075,784,801.359754075,650,630,651,0.40236723271,0.00452413961772,0.0599375919573,0.999999993418,7.58972762873e-05,-8.49242366458e-05,1.38622692827e-05,1793196645582008064
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,743,711,674,664,634,877.930471394,784,801.930471394,650,630,651,0.40258141036,0.00451904823862,0.0599403718345,0.999999994822,6.5957447226e-05,-7.65522378027e-05,1.20534023505e-05,1793196645598674688
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,743,711,674,664.519752109,634,878,784,801.480247891,650,630.519752109,651,0.402836272577,0.00450480102334,0.059942589465,0.999999996577,4.53269999452e-05,-6.82331630104e-05,1.16188462893e-05,1793196645615341056
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,743,711,674,664.890877699,633.890877699,878,784,801,650,630.890877699,651,0.403102051848,0.00449105169215,0.0599445304584,0.999999997771,2.50598269623e-05,-6.0908089397e-05,1.09889075868e-05,1793196645632007936
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,743,711,674,664.312203581,633.312203581,878,784,801,650,630.312203581,651,0.403390520809,0.00448491024927,0.0599456167155,0.999999998209,1.27374922744e-05,-5.78285946018e-05,8.69785580443e-06,1793196645648674816
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.265042812,743,711.265042812,674,664.265042812,633.265042812,877.734957188,784,801,650,630,651,0.403689247519,0.00448288613237,0.0599398867457,0.999999997801,4.27331308916e-06,-6.59836907526e-05,5.04276074731e-06,1793196645665341440
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.840616412,743,711.840616412,674,664.840616412,633.840616412,877.159383588,784,801,650,630,651,0.403999992448,0.00448568597792,0.0599261707139,0.999999996189,3.29446114616e-07,-8.73015147813e-05,-2.10481386125e-07,1793196645682008064
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.585543603,743,712,674,664.585543603,633.585543603,877.414456397,784,801,650,629.585543603,651,0.404332742316,0.00448403690935,0.059912546851,0.999999993751,-8.37297727141e-06,-0.000111391490151,-4.52346850724e-06,1793196645698674944
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.012367534,743,712,674,664.012367534,633.012367534,877.987632466,784,801,650,629.012367534,651,0.404673919159,0.00448068409045,0.0598989582853,0.999999990464,-1.88977310181e-05,-0.000136543084373,-8.47637669173e-06,1793196645715341568
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.420312248,743,711.420312248,674,664,633.579687752,877.420312248,784,801,650.579687752,629,651,0.405087997073,0.00448074756667,0.0598956354464,0.999999989373,-2.70834468269e-05,-0.000142582581614,-1.38162699948e-05,1793196645732008192
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.168232194,743,711.168232194,674.168232194,664,634,877,784,801,651,629.168232194,651,0.405523442567,0.00447958944838,0.0598994771384,0.99999998973,-3.62745530837e-05,-0.000137407383251,-1.85337695711e-05,1793196645748674816
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.74718866,743,711.74718866,674.74718866,664,634,877,784,801,651,629.74718866,651,0.406007130051,0.004475264978,0.0599202576975,0.999999993006,-4.80461666304e-05,-0.000105881486358,-2.1657072082e-05,1793196645765341440
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,743,712,675,664.323332075,633.676667925,877.323332075,784,801,651,630,651,0.406525551136,0.00447237270981,0.0599480627597,0.999999996268,-5.79013347471e-05,-5.89304484458e-05,-2.52537155021e-05,1793196645782008064
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743,712,675,664.897295016,633.102704984,877.897295016,784,801,651,630,651,0.407070896025,0.00447059061273,0.0599813128678,0.999999997377,-6.62709712742e-05,-2.26086252887e-08,-2.92172694177e-05,1793196645798675200
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,743,711.517854387,674.517854387,664.517854387,633,878,784,801,650.517854387,629.517854387,651,0.407600055278,0.00446882635083,0.0599921068902,0.999999996908,-7.11588227603e-05,9.4993745971e-06,-3.21020057933e-05,1793196645815341824
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,743,711.068472208,674,664.068472208,633,877.931527792,784,801,650,629,651,0.40813095446,0.00446737340467,0.0599952942778,0.999999997155,-6.77893357627e-05,4.20772043343e-06,-3.28034981962e-05,1793196645832008448
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,743,711.648104039,674,664.648104039,633,877.351895961,784,801,650,629,651,0.408701176128,0.00446821547899,0.0599782315169,0.999999999294,-8.44176021894e-06,-3.1322421953e-05,-1.89617958476e-05,1793196645848675072
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.772064629,743,711.772064629,674,664.772064629,633,877,784,801,650,629.227935371,651,0.409292768211,0.00446940705627,0.0599667275123,0.999999998076,2.39837358807e-05,-5.56548486739e-05,-1.32607074117e-05,1793196645865341696
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.191925063,743,711.191925063,674,664.191925063,633,877,784,801,650,629.808074937,651,0.409917381681,0.00447113868308,0.0599638128612,0.999999997723,1.4809413189e-05,-6.26846389031e-05,-2.01384415151e-05,1793196645882008576
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.384095178,743,711.384095178,674,664,633,877.384095178,784,801,650,630,651,0.410583888196,0.00446687144609,0.0599698036902,0.999999998649,4.97486463925e-06,-4.54483962681e-05,-2.47485249578e-05,1793196645898675200
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.958078894,743,711.958078894,674,664,633,877.958078894,784,801,650,630,651,0.411271105729,0.00445963849756,0.0599801972004,0.999999999456,-5.18608535214e-06,-1.62155396257e-05,-2.82375296202e-05,1793196645915341824
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743,712,674,664.544033825,633,878,784,800.455966175,650,630,651,0.411944465385,0.00446040189781,0.0599740980488,0.99999999912,6.87514405756e-06,-3.02686984876e-05,-2.82150086241e-05,1793196645932007936
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,743,712,674,665,633.129987088,878,784,800.129987088,650,630,651,0.412620525997,0.00446167535308,0.0599595556995,0.999999997548,1.90093203691e-05,-6.12575930385e-05,-2.81010890734e-05,1793196645948674304
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,743,712,674,665,633.712649713,878,784,800.712649713,650,630,651,0.413309794805,0.00446253099679,0.05992013551,0.999999989561,2.53001458426e-05,-0.000139347661161,-2.86323792919e-05,1793196645965340928
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,743.290616856,712,674,664.709383144,634,878,784,801,650,629.709383144,651,0.414046668285,0.00446141595041,0.0599058815879,0.999999985837,-1.36287178608e-05,-0.000165120466389,-2.95776043678e-05,1793196645982008064
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,743.864015183,712,674,664.135984817,634,878,784,801,650,629.135984817,651,0.414829863038,0.00445838334623,0.0599161154154,0.999999985062,-9.6558091957e-05,-0.000139986554895,-3.09256041381e-05,1793196645998675200
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743.560105224,712,674.439894776,664.439894776,633.560105224,878,784,801.439894776,650.439894776,629,651,0.41567422862,0.00445443028138,0.0599600521092,0.999999991576,-0.0001098404772,-6.16667470928e-05,-3.13106101645e-05,1793196646015341568
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743,712,675,664.983047241,633,878,784,801.983047241,650.983047241,629,651,0.4165356791,0.00445025870006,0.060012924405,0.999999993913,-0.000101363290627,3.02279478274e-05,-3.13831097149e-05,1793196646032007680
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,743,712,675,664.392210132,633,878,784,801.392210132,650.392210132,629,651,0.417331725106,0.00444837685514,0.0600135944879,0.999999995296,-8.92488991608e-05,2.19293981718e-05,-3.10112336212e-05,1793196646048674304
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,712,674.805793999,664,633.194206001,878.194206001,784,801,650,629.194206001,651,0.418143575559,0.00444661184496,0.0600050322717,0.999999996396,-7.86393776678e-05,4.00113587624e-06,-3.17472736344e-05,1793196646065340928
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743,712,674.228107588,664,633.771892412,878.771892412,784,801,650,629.771892412,651,0.418986633526,0.00444507753755,0.0599782398986,0.999999996336,-7.10013827044e-05,-3.29420179406e-05,-3.4671011864e-05,1793196646082007808
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,743,712,674,664.346744791,634,878.653255209,784,801,650,629.653255209,651,0.419812615272,0.00444320021338,0.0599504196259,0.999999994252,-6.79292951496e-05,-7.44618280627e-05,-3.6572824887e-05,1793196646098674944
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664.919747882,634,878.080252118,784,801,650,629.080252118,651,0.420627454391,0.0044410990636,0.0599219286281,0.999999989908,-6.7836558843e-05,-0.000118968001555,-3.78078099811e-05,1793196646115341824
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743,711.492173596,674.507826404,665,633.492173596,878.507826404,784,801,650,629.507826404,651,0.421419669308,0.00443955234969,0.0598907104507,0.999999979934,-7.33927938908e-05,-0.000182510846543,-3.7888421906e-05,1793196646132007936
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743,711.096514315,674.903485685,664.903485685,633,878.903485685,784,801,650,630,651,0.422234078292,0.00443779641462,0.0598695522625,0.999999970417,-7.87578417646e-05,-0.000226974150295,-3.80333462917e-05,1793196646148674304
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743,711.675965643,674.324034357,664.324034357,633,878.324034357,784,801,650,630,651,0.423177978827,0.00443454174789,0.0599009546203,0.999999983263,-7.85626333682e-05,-0.000160453664063,-3.94408266151e-05,1793196646165340928
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,712,674.254010348,664.254010348,633,878.254010348,784,801,650,629.745989652,651,0.424134181044,0.00443007412095,0.0599462592282,0.99999999265,-8.01615891172e-05,-8.19975190388e-05,-3.93782729967e-05,1793196646182007808
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,712,674.83027062,664.83027062,633,878.83027062,784,801,650,629.16972938,651,0.425105989904,0.00442406767307,0.0600092009134,0.9999999957,-8.40367088799e-05,1.16007943243e-05,-3.74507626901e-05,1793196646198674432
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743,711.595521728,675,665,633.404478272,878.595521728,784,801,650,629,651,0.426014448532,0.00442249415769,0.0600237116675,0.999999995029,-8.24792404956e-05,4.08729455486e-05,-3.8323383934e-05,1793196646215341056
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743,711.022171092,675,665,633.977828908,878.022171092,784,801,650,629,651,0.426896457959,0.00442277142142,0.0600180021827,0.999999995155,-7.86536304643e-05,4.32884915522e-05,-4.0365078891e-05,1793196646232007936
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,711.568333566,675,665,634,878,784,801,650,629,651,0.427743512134,0.00441897962725,0.0599919007284,0.999999994217,-9.89570270098e-05,5.00309235945e-06,-4.18124206371e-05,1793196646248674560
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.843527169,743,712,675,665,634,878,784,801,650,629.156472831,651,0.428585789163,0.00441574564026,0.0599656366807,0.999999991667,-0.000116887505018,-3.4170646156e-05,-4.28539166181e-05,1793196646265341184
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.263655551,743,712,675,665,634,878,784,801,650,629.736344449,651,0.429418944366,0.0044144639129,0.059941152218,0.999999988629,-0.000125770819241,-7.13180786097e-05,-4.28619291367e-05,1793196646282007808
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.312938877,743,711.687061123,675,665,633.687061123,878.312938877,784,801,650,629.687061123,651,0.430273503717,0.00441219731554,0.0599252381652,0.999999986294,-0.000127863238453,-9.57420300057e-05,-4.35531382034e-05,1793196646298674688
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.886800812,743,711.113199188,675,665,633.113199188,878.886800812,784,801,650,629.113199188,651,0.431145909436,0.00440910955054,0.0599164699741,0.99999998527,-0.000124293525776,-0.000109557359788,-4.48139848396e-05,1793196646315341312
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743,711.459902637,675,665,633,879,784,801,650,629.459902637,651,0.432053680396,0.00440566277517,0.0599551628104,0.99999999026,-0.000125520052417,-4.01904654227e-05,-4.59308946058e-05,1793196646332008192
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743,712,675,665.034208291,633,879,784,801,650,630,651,0.432963647902,0.0044020552938,0.0600024994523,0.999999989808,-0.000127645905692,4.35887221254e-05,-4.6812025807e-05,1793196646348674816
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743,712,675,665.631399234,633,879,784,801,650,630,651,0.433766742691,0.00439725487954,0.0600001533759,0.999999990784,-0.000125175871401,2.81592272885e-05,-4.43949350115e-05,1793196646365341184
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743,711.780290599,675,665.780290599,633,879,784,801.219709401,650,630,651,0.434559847541,0.00439300135381,0.0599847169321,0.999999991212,-0.000125066731087,-3.54173736902e-06,-4.38317151632e-05,1793196646382007808
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743,711.206300558,675,665.206300558,633,879,784,801.793699442,650,630,651,0.435336843776,0.00438962968317,0.0599481723162,0.99999998875,-0.000128764523413,-6.14803926211e-05,-4.62578552651e-05,1793196646398674688
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,743,711.369548265,675.369548265,665.369548265,633,878.630451735,784,801.630451735,650,630,651,0.436115532607,0.0043885247162,0.0599267601746,0.999999985787,-0.000129642063048,-9.6677451158e-05,-4.76792769825e-05,1793196646415341568
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,743,711.946439965,675.946439965,665.946439965,633,878.053560035,784,801.053560035,650,630,651,0.43689517106,0.00438869153493,0.0599138384529,0.999999983416,-0.000128937235845,-0.000119114817715,-4.85369785608e-05,1793196646432008192
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,743,711.464345058,676,666,633,878.535654942,784,801,650,630,651,0.437602508262,0.00439409872923,0.0599049286847,0.999999982189,-0.000112045549277,-0.000145269970505,-4.43274288773e-05,1793196646448674816
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,743.123695163,711.123695163,675.876304837,665.876304837,633,879,784,800.876304837,650,630,651,0.43830987891,0.00440470462978,0.059900599769,0.999999981888,-9.09769080422e-05,-0.000161927188958,-4.15471414151e-05,1793196646465341440
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,743.70276746,711.70276746,675.29723254,665.29723254,633,879,784,800.29723254,650,630,651,0.43904461398,0.00443247484565,0.0599116234127,0.999999986994,-6.06298400209e-05,-0.00014221749934,-4.59378214696e-05,1793196646482008064
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,743.720495799,712,675.279504201,665.279504201,633,879,784,800.279504201,650,630,651,0.439788253684,0.00444628562623,0.0599432489497,0.999999993732,-4.37537396541e-05,-9.13718585952e-05,-4.76633401286e-05,1793196646498674688
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,743.146222206,712,675.853777794,665.853777794,633,879,784,800.853777794,650,630,651,0.440541284305,0.00444537457174,0.0599966015569,0.999999998042,-4.10843289164e-05,-7.68976986115e-06,-4.65781384651e-05,1793196646515341312
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,743,711.571560127,676,665.571560127,633.428439873,879,784,801,650,630,651,0.44121489885,0.00443834817183,0.0600078004331,0.999999997896,-4.5405988819e-05,8.28974546142e-06,-4.5575616729e-05,1793196646532007680
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,743.003330828,711.003330828,675.996669172,665,633.996669172,879,784,801,650,629.996669172,651,0.441860879234,0.00442928733453,0.0600044122472,0.999999997649,-5.2057472806e-05,8.80439068926e-07,-4.46180832575e-05,1793196646548674304
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,743.595206595,711.595206595,675.404793405,665,633.404793405,879,784,801,650,629.404793405,651,0.442417502766,0.00442986761598,0.0599679178973,0.99999999635,-4.8403355294e-05,-5.27606706398e-05,-4.66193011911e-05,1793196646565341184
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.817498447,743.817498447,712,675,665,633.182501553,879,784,801.182501553,650,629.182501553,651,0.442971340846,0.00442845019353,0.0599391098422,0.999999993399,-4.62944122511e-05,-9.3776178787e-05,-4.75852086275e-05,1793196646582007808
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.240114955,743.240114955,712,675,665,633.759885045,879,784,801.759885045,650,629.759885045,651,0.4435191521,0.00442271030286,0.0599269327562,0.999999992023,-4.75287909465e-05,-0.000107473453001,-4.63109964779e-05,1793196646598674432
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.336174572,743.336174572,712,675,665,634,879,784,802,650,630,651,0.444063369953,0.00441919923452,0.0599325142416,0.99999999094,-8.20951907126e-05,-9.63581385041e-05,-4.57665728471e-05,1793196646615341312
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.911685228,743.911685228,712,675,665,634,879,784,802,650,630,651,0.444605029489,0.00441727495403,0.0599507387629,0.999999986816,-0.000140391985153,-6.75777514963e-05,-4.57417146926e-05,1793196646632007936
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,743.502135855,711.502135855,675.497864145,665,633.502135855,879,784,802,650,630,651,0.445081520784,0.00441790658717,0.0599514080317,0.999999985588,-0.000146650267675,-7.16060231056e-05,-4.68093186524e-05,1793196646648674304
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,743,711.084676116,675.915323884,664.915323884,633,879,784,802,650,630,651,0.445533146098,0.00441822478354,0.0599440049032,0.999999984461,-0.000144028818142,-8.96713781222e-05,-4.78792950167e-05,1793196646665340928
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,743,711.663890953,675.336109047,664.336109047,633,879,784,802,650,630,651,0.445908538234,0.00441400647518,0.0599080416778,0.999999976387,-0.000144639256338,-0.000154984084104,-4.78065473256e-05,1793196646682007552
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.758049031,743,712,675.241950969,664,632.758049031,879,784,802,650,630,651,0.446282797163,0.00441179532753,0.0598808283334,0.999999968369,-0.000144748222458,-0.00019979557805,-4.89030717457e-05,1793196646698674432
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.181585676,743,712,675.818414324,664,632.181585676,879,784,802,650,630,651,0.446655489332,0.00441235920575,0.0598657122512,0.999999964891,-0.000144163872588,-0.00021626285623,-5.16161883932e-05,1793196646715341568
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,743,711,675.144432658,663.855567342,632,879,784,801,650,630,650.144432658,0.44800560009,0.00440993033272,0.0598888808453,0.999999975634,-0.000125247114996,-0.000175002902964,-4.91795381417e-05,1793196646782007808
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+221,3.683333333,POSE1_TO_POSE2_PRESS,764,744,711.826903231,676.826903231,662,632,878.173096769,783.173096769,801.173096769,650,630,651,0.450037301288,0.00442758124371,0.0597603531927,0.999999926728,-6.88094737026e-05,-0.000373923531019,-4.4603848143e-05,1793196647098674432
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+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743.674159031,711,676,662,632,879,784,802,650,630,651,0.450052035027,0.00443002533227,0.0597586024105,0.999999926012,-6.53358121696e-05,-0.0003764921651,-4.42893478634e-05,1793196647132008192
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743.098464519,711,676,662,632,879,784,802,650,630,651,0.4500535228,0.00443238319551,0.0597559059149,0.999999924541,-6.37460948882e-05,-0.00038060382908,-4.46716586852e-05,1793196647148675584
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764.923670422,743,712,676,662,631,879,784,801,650,630,651,0.450060110542,0.00443049062552,0.0597545393473,0.999999923817,-6.61399154474e-05,-0.000382143739568,-4.42488767534e-05,1793196647182007552
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+233,3.883333333,POSE1_TO_POSE2_PRESS,765,743,711.863843023,676,662,631,879,784,801.863843023,650,630,651,0.450064334866,0.00443011858872,0.059754251918,0.999999923844,-6.72195459558e-05,-0.000382027211572,-4.30057425933e-05,1793196647298674688
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+242,4.033333333,POSE1_TO_POSE2_PRESS,764.348019274,743,711,676,661.651980726,631,879,783.348019274,801.348019274,650,630,651,0.450065677869,0.00443155463883,0.0597541689551,0.999999923654,-6.62527150714e-05,-0.000382710744099,-4.28270026939e-05,1793196647448674048
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765,743,711,676.510189281,661.510189281,631,879.510189281,784,802,650,630.510189281,650.489810719,0.450065887042,0.00443001291522,0.0597540936258,0.999999923196,-6.85368021429e-05,-0.00038358089821,-4.21576287855e-05,1793196647482007296
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+252,4.200000000,HOLD_POSE2,765,743,711.091624935,676.091624935,661,631.908375065,879,783.091624935,802,650,630,651,0.450067486623,0.0044314333805,0.0597540116284,0.999999923394,-7.07181462339e-05,-0.000382652152027,-4.22780136397e-05,1793196647636900608
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+254,4.233333333,HOLD_POSE2,765,743.060372971,712,676,661,631,878.060372971,784,801.060372971,650,630,651,0.450066232037,0.004433724209,0.0597522030306,0.999999922791,-6.37064486944e-05,-0.000385476210897,-4.20468933889e-05,1793196647670233856
+255,4.250000000,HOLD_POSE2,765,743.648083437,712,676,661,631,878.648083437,784,801.648083437,650,630,651,0.450066751115,0.00443180632834,0.059752231742,0.999999922704,-6.53277998186e-05,-0.000385469715633,-4.16802476193e-05,1793196647686900480
+256,4.266666667,HOLD_POSE2,764.76656049,743.76656049,711.76656049,676,661.23343951,631.23343951,879,784,802,650,630,651.23343951,0.450066948018,0.00443123222536,0.0597524332049,0.999999922689,-6.66112410774e-05,-0.000385305171438,-4.15406786855e-05,1793196647703567360
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+258,4.300000000,HOLD_POSE2,764.392072645,743,711,676,661.607927355,631.607927355,878.607927355,784,801.607927355,650,630.392072645,651.607927355,0.450066215483,0.00443455459756,0.059752107078,0.999999922529,-6.57832909496e-05,-0.000385779635271,-4.22820000143e-05,1793196647736901120
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+260,4.333333333,HOLD_POSE2,764.458608514,743.541391486,711,676,661,631.541391486,878.541391486,784,801.541391486,650,630.458608514,650.458608514,0.450066733506,0.00443445078266,0.0597519043237,0.99999992245,-6.56459024214e-05,-0.000385993099528,-4.24363321328e-05,1793196647770234624
+261,4.350000000,HOLD_POSE2,764.119224188,743.880775812,711,676.119224188,661,631.880775812,879,783.880775812,801.880775812,650,630.119224188,650.119224188,0.450067658799,0.00443224366329,0.059753090194,0.999999922805,-6.80824068882e-05,-0.000384710890755,-4.18601689536e-05,1793196647786900736
+262,4.366666667,HOLD_POSE2,764.708605216,743.291394784,711,676.708605216,661,631.291394784,879,783.291394784,801.291394784,650,630.708605216,650.708605216,0.450067736217,0.00443109465121,0.0597537550578,0.999999923061,-6.86617214973e-05,-0.000383984562242,-4.14738602326e-05,1793196647803567360
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,764.824151102,743,711.175848898,675,664.175848898,633,878,784,800.175848898,649.824151102,630,651,0.423770307591,0.00456860089957,0.0598222427434,0.999999951315,8.78472988607e-05,-0.000297505876889,3.37951970291e-05,1793196649041665536
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,764.017672226,743,711,675,664.982327774,633,878,784,800,649.017672226,630,651,0.422262468242,0.0045709373004,0.0598418279492,0.999999936987,0.00024886234103,-0.000250969775428,3.32853848621e-05,1793196649074998784
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,743,711.558067324,675,665,633,878,784,800.558067324,649.558067324,630,651,0.421458815776,0.00457202532389,0.0598235118532,0.999999930727,0.000238735080945,-0.000283682160162,3.28142471793e-05,1793196649091665408
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,743,711.276425449,675,664.276425449,633,877.276425449,784,801,650,630,651,0.419843150803,0.00457543618859,0.0597465999571,0.99999989072,0.00021552733963,-0.000413663511596,3.14751603156e-05,1793196649124998656
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,743,711.306494127,675,664.612988255,633,877,784,801,649.693505873,630,651,0.419084085003,0.00457693510794,0.0597306332729,0.9999998864,0.000202397196933,-0.00043050576932,2.99888782486e-05,1793196649141665280
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,743,711.885622255,675,665.77124451,633,877,784,801,649.114377745,630,651,0.418369754246,0.00457791242308,0.0597453323733,0.999999907,0.000186901012735,-0.0003876724216,2.78877815111e-05,1793196649158331904
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,743,711.53663786,675,665.53663786,633,877.46336214,784,800.53663786,649.46336214,630,651,0.417668776864,0.00457751833961,0.0597757655178,0.999999924411,0.000176389358758,-0.000345212776639,2.9879663825e-05,1793196649174998784
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.041283296,743,711.041283296,674.958716704,665,633,878,784,800.041283296,650,630,651,0.416970397555,0.00457664813396,0.0598085212997,0.999999938954,0.000167047409443,-0.000305140887685,3.28106939089e-05,1793196649191665664
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.21200814,743,711.21200814,674.78799186,664.21200814,633,877.21200814,784,801,650,630,650.21200814,0.414871354915,0.00457508094667,0.0598182959223,0.999999942411,0.000140580710297,-0.000306913332691,3.49190452761e-05,1793196649241665536
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.632958161,664,633,877.367041839,784,801,650,630,650.367041839,0.414193801504,0.00457551369218,0.0598195408541,0.999999941822,0.000143582253855,-0.000307399117476,3.53040309511e-05,1793196649258331904
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.05396068,664,633,877.94603932,784,801,650,630,650.94603932,0.413523627379,0.00457498625587,0.059825951986,0.999999942535,0.000152527778423,-0.000300562329407,3.64315087709e-05,1793196649274998272
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,743,711.522253626,674,664.522253626,633.522253626,877.477746374,784,800.477746374,650,629.477746374,651,0.412841172857,0.0045752253591,0.059799460164,0.999999922847,0.000179334086876,-0.000347627752068,3.60622812748e-05,1793196649291665152
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,743,711.326842582,674.673157418,664.326842582,633.326842582,877,784,800.673157418,650,629.673157418,651,0.411536649937,0.00457560088408,0.0597481929346,0.999999891667,0.000187451955793,-0.000424759170941,3.32779929538e-05,1793196649324998656
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,743,711.255042619,674.744957381,664,633,877,784,801,650,630,651,0.410942233585,0.00457558981033,0.0597491097713,0.999999897256,0.000177590307846,-0.000415798621993,3.25797982611e-05,1793196649341665280
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,743,711.845841484,674.154158516,664,633,877,784,801,650,630,651,0.410394621267,0.00457543837707,0.0597810238041,0.999999920728,0.000172338370716,-0.000357369875898,3.36060244734e-05,1793196649358331904
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.426098812,743,711.573901188,674.426098812,664.426098812,633,877,784,801,650,630,651,0.409858830144,0.00457415292566,0.0598127168248,0.999999936056,0.000168403817445,-0.000313519745168,3.5115777629e-05,1793196649374999040
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,743,711,675,665,633,877,784,801.002643537,650,630,651,0.40932722095,0.00457247997033,0.0598442030489,0.999999947909,0.000164980780973,-0.000274974292374,3.6788227807e-05,1793196649391665920
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,743,711,675,665,633,877,784,801.581171505,650,630,651,0.408797448019,0.00457361029979,0.0598476373565,0.999999947935,0.000171667294958,-0.000270764212321,3.67145963933e-05,1793196649408332544
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.838239876,743.161760124,711,674.838239876,664.838239876,633,877.161760124,784.161760124,801.838239876,650,630,651,0.408272886622,0.00457366413391,0.059846302533,0.999999946941,0.000175376997198,-0.000272086144045,3.64613498382e-05,1793196649424999168
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.252246855,743.747753145,711,674.252246855,664.252246855,633,877.747753145,784.747753145,801.252246855,650,630,651,0.407761992904,0.00457089474627,0.0598324601635,0.999999943245,0.000171279699742,-0.000287916356174,3.57370437119e-05,1793196649441666304
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,743,711,675,664.360551832,633.360551832,878,784,801,650,630,651,0.405596272712,0.00457127453013,0.0598355057223,0.999999953156,0.000150581916566,-0.000264472508438,3.26622953057e-05,1793196649524998656
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,743,711.221349484,674.778650516,664.221349484,633.221349484,877.778650516,784,801.221349484,650,630,651,0.405201978198,0.00456996914521,0.0598281049965,0.999999951027,0.000143084358532,-0.000276520888126,3.17743066617e-05,1793196649541665536
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,665,633.604790295,877,784,801.604790295,650,630,651,0.404435702408,0.00456854254256,0.0597864281289,0.999999931439,0.000132388585122,-0.000344543607218,2.9743378001e-05,1793196649574999296
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,665,633.028250067,877,784,801.028250067,650,630,651,0.404081314733,0.00456911958005,0.0597646193555,0.999999918378,0.000130017265873,-0.000381424195137,2.92279313809e-05,1793196649591666176
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,743,712,674.547967879,664.452032121,633,877,784,801,650.547967879,630,651,0.403793590865,0.00456899192921,0.0597651736647,0.999999920756,0.000125759429796,-0.000376601925679,2.90379817914e-05,1793196649608332544
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.12620093,743,711.87379907,674.87379907,664,633,877.12620093,784,801,650.87379907,630,651,0.403521191222,0.00456891662673,0.0597708820854,0.999999926018,0.000122273159111,-0.000363549604723,2.90604312095e-05,1793196649624998912
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.711830488,743,711.288169512,674.288169512,664,633,877.711830488,784,801,650.288169512,630,651,0.403292074462,0.00456916407469,0.0597911591561,0.999999938211,0.000121949590014,-0.000328358386786,2.97950556487e-05,1793196649641665536
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,743,711,674,664.295813041,633,877.704186959,784,801,650,630,651,0.403064479936,0.00456805141553,0.0598081397765,0.99999994707,0.000120476172438,-0.000300614695759,3.12370528402e-05,1793196649658332160
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,743,711,674,664.878199995,633,877.121800005,784,801,650,630,651,0.402838360115,0.00456562112948,0.0598219269035,0.99999995327,0.000117888819684,-0.00028008592538,3.3364329388e-05,1793196649674998784
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.545455072,743,711,674,664.545455072,633,877,784,801,650.454544928,630,651,0.40263285778,0.00456353725591,0.0598271177646,0.999999955591,0.0001160318283,-0.000272312045699,3.46549663816e-05,1793196649691665408
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.029256983,743,711.029256983,674,664,633.029256983,877.029256983,784,801,650.970743017,630,651.029256983,0.402433508734,0.00456172152376,0.0598295683,0.999999956695,0.000114487485206,-0.000268759418555,3.56541194517e-05,1793196649708331776
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.603315671,743,711.603315671,674,664,633.603315671,877.603315671,784,801,650.396684329,630,651.603315671,0.402247214893,0.00456319308121,0.0598233211362,0.999999953262,0.000115168525485,-0.000281002883415,3.53453416465e-05,1793196649724998656
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,743,711,674,664,633,877,784,800.359821375,650,630,651,0.401778069687,0.0045568631591,0.0598186927976,0.999999940814,0.000166224078557,-0.000300597243022,1.95736204974e-05,1793196649774999040
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.487496585,743,711,674,664,633,877,784,801.512503415,650,630,651,0.401550856151,0.00455233062622,0.0598246101293,0.999999941496,0.000174760225857,-0.000293340716855,2.04390599976e-05,1793196649808332288
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.087253823,743.087253823,711.087253823,674,664.087253823,633.087253823,877,784,802,650,630,651,0.401452610494,0.00455560014183,0.059825645131,0.999999940827,0.000179517878721,-0.000292713388589,2.09309265257e-05,1793196649824998400
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,743,711.429143593,674,664,633.429143593,877,784,801,650,629.429143593,651,0.401075663193,0.00455099405273,0.0598211511736,0.999999940297,0.000170784652678,-0.000299446423258,2.38820273973e-05,1793196649924999168
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..714414dfd0ea119fa7ee194cb15eae54fa03431c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,423 @@
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+418,6.966666667,pose2_to_pose3_retreat,0.578252452919,0.0100013744021,1.05001167179,0.548823686477,0.0186750359417,1.04966120776
+419,6.983333333,pose2_to_pose3_retreat,0.578252255408,0.0100013663013,1.05001166367,0.548823489617,0.0186750301327,1.04966120167
+420,7.000000000,pose2_to_pose3_retreat,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425995,1.04966118241
+421,7.016666667,pose2_to_pose3_retreat,0.578252143417,0.0100012746401,1.05001163795,0.548823378766,0.0186749425994,1.04966118241
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..008e9bdafc3e7b0dbfaa503cc2a680cb15098c94
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29931ab64ffc894e621b0c1ae777ad6f8ae32d1fed3623c0bd820e4a85ecddcb
+size 26899066
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8abee7cac394aef5b17b797c96d1a7203bd8a318
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_03/franka_data.csv
@@ -0,0 +1,425 @@
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+28,0.466666667,BASELINE,764.759283162,743,711,674.240716838,664,634,877.240716838,784,801.240716838,650,630,651,0.400943235949,0.00454982076259,0.0598337447253,0.99999994793,0.000158900953519,-0.000279949498502,2.27881125585e-05,1793196651093115136
+29,0.483333333,BASELINE,764.167167591,743,711,674.832832409,664,634,877.832832409,784,801.832832409,650,630,651,0.400943608646,0.00454999461014,0.0598333039249,0.999999947767,0.000159241543334,-0.00028032554209,2.2913452974e-05,1793196651109781760
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+53,0.883333333,BASELINE,764.757354229,742.242645771,712,674,664.757354229,633.242645771,877.242645771,784,801,650,630,651,0.400942461903,0.00454796685475,0.0598323068139,0.999999947701,0.000157140421024,-0.000281756453043,2.27584039258e-05,1793196651509782016
+54,0.900000000,BASELINE,764.659047809,742.340952191,711.659047809,674,664.659047809,633,877,784,801,650,630,651,0.400943269552,0.0045472545447,0.0598331129199,0.999999948059,0.000156958784308,-0.000280581997559,2.2797733883e-05,1793196651526448640
+55,0.916666667,BASELINE,764.080089613,742.919910387,711.080089613,674,664.080089613,633,877,784,801,650,630,651,0.400944777375,0.00454679721576,0.0598348660948,0.999999948605,0.000157357114622,-0.000278405732077,2.27976233749e-05,1793196651543115264
+56,0.933333333,BASELINE,764.496952781,743,711.496952781,674,664,633,877.496952781,784,801,650,630,651,0.400943964636,0.00454809538629,0.059834247786,0.999999948398,0.000157668473928,-0.000278974817666,2.27349904042e-05,1793196651559781888
+57,0.950000000,BASELINE,765,743.074799762,711.925200238,674,664,633.074799762,878,784,801,650,630,651.074799762,0.400943011617,0.00454954284465,0.0598334741233,0.999999948132,0.000158021754002,-0.000279737084618,2.26518008206e-05,1793196651576448512
+58,0.966666667,BASELINE,765,743.660238873,711.339761127,674,664,633.660238873,878,784,801,650,630,651.660238873,0.400943644239,0.00455008545431,0.059834239006,0.999999948278,0.00015875653539,-0.000278809292092,2.24967999968e-05,1793196651593115136
+59,0.983333333,BASELINE,764.757633544,743.757633544,711.242366456,674,664,633.757633544,877.757633544,784,801,650,630,651.757633544,0.400943607139,0.00454940765449,0.0598344882755,0.999999948362,0.000158296757599,-0.000278761129838,2.26007219311e-05,1793196651609782016
+60,1.000000000,BASELINE,764.180085566,743.180085566,711.819914434,674,664,633.180085566,877.180085566,784,801,650,630,651.180085566,0.400942643847,0.00454704208526,0.0598340244763,0.999999948357,0.000156184960202,-0.000279929455152,2.30627219593e-05,1793196651626448640
+61,1.016666667,BASELINE,764.399713401,743,711.600286599,674,664,633.399713401,877,784,801,650,629.600286599,651,0.400941918848,0.00454732471219,0.059833508474,0.999999947986,0.000157007507271,-0.000280790858366,2.31023818542e-05,1793196651643115264
+62,1.033333333,BASELINE,764.98053223,743,711.01946777,674,664,633.98053223,877,784,801,650,629.01946777,651,0.400941301816,0.0045488072057,0.0598329688191,0.999999947446,0.000159159571341,-0.000281513198726,2.29506843872e-05,1793196651659781888
+63,1.050000000,BASELINE,765,743,711.555379421,674,664,633.444620579,877.555379421,784,801,650.555379421,629.555379421,651,0.400942390972,0.00454721457316,0.0598337007867,0.999999948192,0.00015689359183,-0.000280118264735,2.31238412574e-05,1793196651676448768
+64,1.066666667,BASELINE,765,743,712,674,664,633.132892895,877.867107105,784.132892895,801.132892895,650.867107105,630,651,0.400943350203,0.00454624130875,0.059834269568,0.999999948748,0.000155580014346,-0.000278857419066,2.31948278692e-05,1793196651693115392
+65,1.083333333,BASELINE,765,743,712,674,664,633.720232279,877.279767721,784.720232279,801.720232279,650.279767721,630,651,0.400943662791,0.00454775075486,0.0598341295032,0.999999948522,0.000158047266976,-0.000278306203906,2.28779027129e-05,1793196651709781760
+66,1.100000000,BASELINE,765,743,711.694915803,674,664,634,877.305084197,784.694915803,801.694915803,650,630,651,0.400944227022,0.00454864614866,0.0598344045821,0.999999948504,0.000158842989699,-0.000277927396952,2.27611636671e-05,1793196651726448384
+67,1.116666667,BASELINE,765,743,711.11232652,674,664,634,877.88767348,784.11232652,801.11232652,650,630,651,0.400945020147,0.0045489829994,0.0598350572764,0.999999948679,0.000158118285947,-0.000277705412815,2.28265142526e-05,1793196651743115008
+68,1.133333333,BASELINE,764.536968551,743,711.463031449,674,664,633.536968551,878,784,801,650,630,651,0.400944873121,0.00454879351093,0.0598350391377,0.99999994887,0.000156938244351,-0.000277700351937,2.2665795251e-05,1793196651759782912
+69,1.150000000,BASELINE,764.036641109,743,711.963358891,674,664,633.036641109,878,784,801,650,630,651,0.400944442068,0.00454848748236,0.0598348167449,0.99999994902,0.000155752338483,-0.000277842955945,2.24768963153e-05,1793196651776450816
+70,1.166666667,BASELINE,764.609941902,743,711.390058098,674,664,633.609941902,878,784,801,650,630,651,0.400943140083,0.00454831591945,0.0598339496264,0.999999948534,0.000156073507171,-0.000279389427329,2.26661501291e-05,1793196651793116928
+71,1.183333333,BASELINE,765,743,711,674,664,633.811135104,877.811135104,784,801,650,630,651,0.400942757151,0.00454828707879,0.0598336785801,0.999999948405,0.000156151159815,-0.000279804991872,2.27132422983e-05,1793196651809783296
+72,1.200000000,BASELINE,765,743,711,674,664,633.220244349,877.220244349,784,801,650,630,651,0.400944330551,0.00454856204277,0.0598346763584,0.999999949035,0.000155710453902,-0.000277813260245,2.24577231723e-05,1793196651826449664
+73,1.216666667,BASELINE,765,743,711,674,664,633.363772087,877,784,801,650,630,651,0.400944662165,0.00454810033507,0.0598353706547,0.999999949369,0.000155393362142,-0.000276781908381,2.25201494409e-05,1793196651843116032
+74,1.233333333,BASELINE,765,743,711,674,664,633.943703651,877,784,801,650,630,651,0.400944255889,0.00454720088467,0.0598358846166,0.999999949528,0.000155149724014,-0.000276321230408,2.27715042135e-05,1793196651859782400
+75,1.250000000,BASELINE,764.480244187,743,711,673.480244187,664,633.480244187,877.519755813,784,801,650,630,651,0.400944957475,0.00454718468646,0.0598356454926,0.999999949448,0.000155059185658,-0.000276648789435,2.29397830395e-05,1793196651876449024
+76,1.266666667,BASELINE,764,743,711,673.0945662,664,633,877.9054338,784.0945662,801,650,630.0945662,651,0.400945132248,0.0045472424968,0.0598351037449,0.999999949215,0.000155101214142,-0.000277457700749,2.30443298986e-05,1793196651893115904
+77,1.283333333,BASELINE,764,743,711,673.665224647,664,633,877.334775353,784.665224647,801,650,630.665224647,651,0.400942055151,0.00454719483243,0.0598334460583,0.999999948339,0.000155727781672,-0.00028026333182,2.28729847866e-05,1793196651909782528
+78,1.300000000,BASELINE,764,743,711,674,664,633,877,784.752638881,801,650,630.752638881,651,0.400940871869,0.00454764859935,0.0598328774986,0.99999994785,0.000156986073241,-0.00028131185589,2.2792628986e-05,1793196651926449152
+79,1.316666667,BASELINE,764,743,711,674,664,633,877,784.154212358,801,650,630.154212358,651,0.400942376371,0.00454881401885,0.059833854674,0.999999947914,0.00015914093434,-0.000279866618843,2.28414090952e-05,1793196651943116288
+80,1.333333333,BASELINE,764,743,711.426125062,674,664,633,877.426125062,784,801.426125062,650.426125062,629.573874938,651,0.400943740722,0.00454834662754,0.0598346088917,0.999999948677,0.000157645707386,-0.000277980438751,2.28257885639e-05,1793196651959782912
+81,1.350000000,BASELINE,764,743,711.999816846,674,664,633,877.999816846,784,801.999816846,650.999816846,629.000183154,651,0.400945055958,0.00454731265931,0.0598352855401,0.999999949674,0.000154884221132,-0.000275941925917,2.27878454669e-05,1793196651976449536
+82,1.366666667,BASELINE,764,743,711.424511408,674,664,633,877.424511408,784,801.424511408,650.424511408,629.575488592,651,0.400944927317,0.00454711384891,0.0598354353847,0.999999949581,0.00015493944345,-0.000276240242364,2.2858594337e-05,1793196651993115904
+83,1.383333333,BASELINE,764.154284703,743,711,674,664,633,877,784.154284703,801,650,630,651,0.400944392538,0.00454694908507,0.0598350342496,0.999999949274,0.000155028222893,-0.000277303558964,2.28163863347e-05,1793196652009782272
+84,1.400000000,BASELINE,764.742907801,743,711,674,664,633,877,784.742907801,801,650,630,651,0.400942714411,0.00454688016821,0.0598330820106,0.999999948357,0.000155211471517,-0.000280520484711,2.24561850183e-05,1793196652026448896
+85,1.416666667,BASELINE,764.672049348,743,711.327950652,674,664,633,877,784.672049348,801,650,630,651,0.400942983527,0.00454701850195,0.0598335139586,0.999999948353,0.000155553117597,-0.00028033531676,2.25698149539e-05,1793196652043115776
+86,1.433333333,BASELINE,764.089782904,743,711.910217096,674,664,633,877,784.089782904,801,650,630,651,0.400944762671,0.00454731755223,0.0598357947715,0.999999949057,0.000156017596094,-0.000277511928067,2.30508866858e-05,1793196652059782912
+87,1.450000000,BASELINE,764.48463648,743,711.51536352,674,664,633,877.48463648,784,801,650,630,651,0.400944681196,0.00454798380339,0.0598360370695,0.99999994912,0.00015635880784,-0.000277096223498,2.30135480735e-05,1793196652076449536
+88,1.466666667,BASELINE,765,743,711,674,664,633,877.942000788,784,801.057999212,650,630,651,0.400944197456,0.00454867841012,0.0598358406967,0.999999949007,0.000156843844879,-0.000277238339076,2.29075011658e-05,1793196652093116160
+89,1.483333333,BASELINE,765,743,711,674,664,633,877.365293954,784,801.634706046,650,630,651,0.400943149728,0.00454902791499,0.059835044792,0.999999948358,0.000158816140717,-0.000278443675804,2.30322038552e-05,1793196652109782784
+90,1.500000000,BASELINE,765,743.21597726,711,673.78402274,664,633.21597726,877.21597726,784,801.78402274,650,630,651.21597726,0.400942748878,0.00454881636393,0.05983464918,0.999999948137,0.000159563153298,-0.000278807859799,2.30792075347e-05,1793196652126449152
+91,1.516666667,BASELINE,765,743.805135069,711,673.194864931,664,633.805135069,877.805135069,784,801.194864931,650,630,651.805135069,0.400943465747,0.00454763538132,0.0598349452216,0.999999948659,0.000158193035937,-0.000277718641402,2.29919574411e-05,1793196652143115520
+92,1.533333333,BASELINE,764.611841736,743.611841736,711,673.388158264,664,633.611841736,878,784,801,650,630,651.611841736,0.40094407521,0.00454726300487,0.0598352823458,0.999999949092,0.000156968508975,-0.000276849797283,2.30345667072e-05,1793196652159782144
+93,1.550000000,BASELINE,764.031850299,743.031850299,711,673.968149701,664,633.031850299,878,784,801,650,630,651.031850299,0.40094463159,0.00454729025264,0.0598356397736,0.99999994948,0.000155815934676,-0.000276089865075,2.31413542538e-05,1793196652176448768
+94,1.566666667,BASELINE,764,743,711,674,664,633.543412311,878,784,801,650,630,651,0.400944073763,0.00454814070455,0.059834739507,0.999999948852,0.000157897683461,-0.00027721054831,2.27650504779e-05,1793196652193115648
+95,1.583333333,BASELINE,764.120767217,743,711,674,664,634,877.879232783,784,801,650,630,651,0.400943765228,0.00454866235393,0.0598342116105,0.999999948435,0.000159146877569,-0.000278019337352,2.25095682448e-05,1793196652209782272
+96,1.600000000,BASELINE,764.707250449,743,711,674,664,634,877.292749551,784,801,650,630,651,0.400944667705,0.0045477315792,0.0598354015066,0.999999949078,0.000156460751473,-0.000277203966847,2.28282600502e-05,1793196652226448896
+97,1.616666667,BASELINE,764.708868576,743,711.291131424,673.708868576,664,633.708868576,877,784,801,650,630,651,0.400944494624,0.00454712722742,0.0598353884801,0.999999949137,0.000155357290851,-0.000277597031622,2.30073447618e-05,1793196652243115520
+98,1.633333333,BASELINE,764.127581173,743,711.872418827,673.127581173,664,633.127581173,877,784,801,650,630,651,0.400943249588,0.00454684820496,0.0598341765613,0.999999948618,0.000155831193085,-0.000279194482821,2.30472901191e-05,1793196652259782144
+99,1.650000000,BASELINE,764,743,711.550287244,673.449712756,664.449712756,633.449712756,877,784,801,650,630,651,0.400943980146,0.00454652954638,0.0598345095426,0.999999949072,0.000153848510292,-0.000278689346729,2.27753178149e-05,1793196652276449024
+100,1.666666667,BASELINE,764.025702866,743,711,674,664.974297134,633.974297134,877.025702866,784,801,650,629.974297134,651,0.400945128285,0.00454627087253,0.0598352052454,0.999999949706,0.000151548121,-0.000277698705525,2.24534550716e-05,1793196652293116672
+101,1.683333333,BASELINE,764.597847995,743,711,674,664.402152005,633.402152005,877.597847995,784,801,650,629.402152005,651,0.400943343574,0.00454752442738,0.0598343765845,0.999999948476,0.00015717939568,-0.000278956045124,2.29356467348e-05,1793196652309782784
+102,1.700000000,BASELINE,765,743,711.176868205,674,664.176868205,633.176868205,878,784,801,650,629.176868205,651,0.400942343916,0.00454801410922,0.0598339990555,0.999999947815,0.000160190835171,-0.000279578571238,2.33179245259e-05,1793196652326448896
+103,1.716666667,BASELINE,765,743,711.772152681,674,664.772152681,633.772152681,878,784,801,650,629.772152681,651,0.40094320145,0.00454669670018,0.059834688767,0.999999948563,0.000157004542254,-0.000278699321948,2.34638364787e-05,1793196652343115520
+104,1.733333333,BASELINE,765,743,712,674,664.644153327,633.644153327,877.644153327,784.355846673,801,650,630,651,0.400943462867,0.00454656281079,0.0598349529676,0.999999948742,0.000156483163073,-0.000278361772904,2.33384077495e-05,1793196652359782400
+105,1.750000000,BASELINE,765,743,712,674,664.067646523,633.067646523,877.067646523,784.932353477,801,650,630,651,0.400943354632,0.00454716282051,0.0598349533092,0.999999948571,0.00015761429366,-0.0002783601315,2.30447209754e-05,1793196652376449536
+106,1.766666667,BASELINE,765,743,712,674,664,633.508484253,877,784.491515747,801,650,630,651,0.400944081745,0.00454764748494,0.059834969773,0.999999948881,0.000157005501018,-0.00027761274793,2.27622345727e-05,1793196652393116416
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,711,674,664,634,878,784,800,650,630,652,0.400942940288,0.00454806826075,0.0598342622208,0.999999948967,0.000155203854356,-0.000278327130306,2.26062254611e-05,1793196652435665664
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,743,711.579857995,674,664,634,878,784.579857995,800.579857995,650,630,651.420142005,0.400944547454,0.00454868064848,0.0598352820437,0.999999949354,0.000155922804386,-0.000276552168013,2.23421833547e-05,1793196652452331520
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,743,711.841540035,673.841540035,664,633.841540035,878,785,801,650,630,651,0.400945163176,0.00454922940417,0.0598356027166,0.999999949385,0.000156566381784,-0.000276083970347,2.22440977366e-05,1793196652468997632
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,743,711.266241984,673.266241984,664,633.266241984,878,785,801,650,630,651,0.400943170847,0.00454961077226,0.0598340842353,0.999999948483,0.00015701168728,-0.000279053292073,2.25825701825e-05,1793196652485664256
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.30871443,743,711.30871443,673.30871443,664,633.30871443,877.69128557,784.69128557,801,650,630,651,0.400942572004,0.00454936590355,0.0598334902626,0.999999948181,0.00015675890624,-0.00028026702404,2.27047958686e-05,1793196652502331136
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.8833765,743,711.8833765,673.8833765,664,633.8833765,877.1166235,784.1166235,801,650,630,651,0.400943173603,0.00454858155179,0.0598336927247,0.999999948399,0.000155904745874,-0.000279968371221,2.26407318447e-05,1793196652518998272
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.528163473,743,711.528163473,674,664,633.528163473,877,784,801,649.528163473,630,651,0.40094383915,0.00454807360122,0.0598344558374,0.999999948494,0.000157265471752,-0.000278840678374,2.29699711851e-05,1793196652535664896
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.062316801,743,711.062316801,674,664,633,877,784,801,649.062316801,630,651,0.400945330543,0.0045477024844,0.05983569699,0.99999994876,0.00015875941773,-0.000277003839547,2.33312327385e-05,1793196652552331264
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.640439969,743,711.640439969,674,664,633,877,784,801,649.640439969,630,651,0.400953522841,0.00454788145009,0.0598397133908,0.999999950724,0.000156688197319,-0.00027104447694,2.3128664424e-05,1793196652568997888
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,743,711.782822589,674,664,633,877,783.782822589,801,650,630,651,0.400969777176,0.00454778131609,0.0598468401936,0.999999954163,0.000155580098854,-0.000258723137299,2.30530393358e-05,1793196652585664512
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,743,711.208364874,674,664,633,877,783.208364874,801,650,630,651,0.400999294431,0.00454722203294,0.0598590839434,0.999999959722,0.000156056440195,-0.000235935658648,2.3186249582e-05,1793196652602330880
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,743,711.366797162,674,664,633,877,783.366797162,801,650,629.633202838,651,0.401045093676,0.00454709136449,0.0598764019256,0.999999966978,0.000155287450381,-0.000203448129898,2.32004337076e-05,1793196652618997504
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,743,711.942360122,674,664,633,877,783.942360122,801,650,629.057639878,651,0.401100159961,0.00454720464578,0.0598966079525,0.999999974218,0.00015380966939,-0.000165439730829,2.31468730702e-05,1793196652635664128
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.466377762,743,712,674,664,633.533622238,877.533622238,783.466377762,801,650,629.533622238,651,0.4011659764,0.00454436485168,0.0599121182796,0.999999977926,0.000150833719728,-0.000144249173842,2.42966601053e-05,1793196652652331264
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.122831324,743,712,674,664,634,877.877168676,783.122831324,801,650,630,651,0.401236428427,0.00454208977478,0.0599257479586,0.999999980852,0.000148067616567,-0.000125472655467,2.50536271087e-05,1793196652668998144
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.698044633,743,712,674,664,634,877.301955367,783.698044633,801,650,630,651,0.40131954688,0.00454310492267,0.0599343759647,0.999999983049,0.000146688432881,-0.000108693669242,2.38706317988e-05,1793196652685665024
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.72679884,743,711.72679884,674.27320116,664,634,877,784,801,650,630,651,0.40141028316,0.0045432492446,0.059938564857,0.999999984181,0.000145100450846,-0.000100340515914,2.26941016685e-05,1793196652702331392
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.15170509,743,711.15170509,674.84829491,664,634,877,784,801,650,630,651,0.401509437282,0.00454243128687,0.0599378484421,0.999999984373,0.000143281742699,-0.000101298072627,2.1524715764e-05,1793196652718997248
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,743,711.432886991,674.567113009,664,633.567113009,877,784,801,650,630,651,0.40163065493,0.00454181217884,0.0599414842125,0.999999985475,0.000141446317374,-9.28914794506e-05,2.03286737636e-05,1793196652735663872
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.020568791,743,711.979431209,674,664,633,877,784,801,650,630,651,0.401760447046,0.00454126198961,0.0599464089285,0.999999986751,0.000139550046421,-8.16016078205e-05,1.9097173849e-05,1793196652752330496
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.599733128,743,711.400266872,674,664,633,877,784,801,650,630,651,0.401908403476,0.00454064848672,0.0599439877431,0.999999987127,0.000136164035867,-8.31301899442e-05,1.71621132425e-05,1793196652768997120
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,711,674,664,633,877,784,801,650,630,651,0.402068442307,0.00453999401974,0.0599423525916,0.999999987774,0.000131896158726,-8.26542851079e-05,1.4953701403e-05,1793196652785664000
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,711,674,664,633,877,784,801,650,630,651,0.402255514389,0.00453924789941,0.05994247612,0.999999989014,0.00012565518582,-7.76935229561e-05,1.21336913216e-05,1793196652802331136
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,711.330629688,674,664.330629688,633,877,784,800.669370312,650,630,651,0.402469196974,0.00453820418479,0.0599428625359,0.999999990133,0.000119746998677,-7.28592935723e-05,9.28173593721e-06,1793196652818998272
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,743,711.907444335,674,664.907444335,633,877,784,800.092555665,650,630,651,0.402702693606,0.00453693888308,0.0599434446962,0.999999991151,0.000114086601238,-6.81192792383e-05,6.40599396927e-06,1793196652835664896
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,743,712,674,664.505515393,633.494484607,877,784,800.494484607,650,630,651,0.402957279071,0.00453504400751,0.0599456602349,0.999999992521,0.000105512697543,-6.17485188048e-05,3.39661094447e-06,1793196652852331264
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,743,711.917833634,674,664,633.917833634,877.082166366,784,801,650,630,651,0.403221162742,0.00453141720017,0.0599475954433,0.999999993919,9.48994364516e-05,-5.61818440212e-05,7.31154826016e-07,1793196652868997120
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,743,711.338102123,674,664,633.338102123,877.661897877,784,801,650,630,651,0.403516944479,0.00451803120251,0.0599459426278,0.999999995518,7.5308750495e-05,-5.73717884295e-05,3.03050268925e-07,1793196652885663744
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,743,711.239093868,674,664.239093868,633,877.760906132,784,801,650,630,651,0.403824926083,0.00450330498697,0.0599403294269,0.999999996435,5.32345428624e-05,-6.55406785744e-05,-2.51778076239e-07,1793196652902330368
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,743,711.812741976,674,664.812741976,633,877.187258024,784,801,650,630,651,0.404149978442,0.00448670346034,0.0599291746212,0.999999996132,2.76852464e-05,-8.34749210853e-05,-9.83925793345e-07,1793196652918997248
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.611290777,743,711.611290777,674.388709223,664.611290777,633,877,784,801,650.388709223,630,651,0.404501140886,0.00448650992583,0.0599144239593,0.999999993853,1.92794680007e-05,-0.000109020023019,-6.06629037235e-06,1793196652935664128
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.034199611,743,711.034199611,674.965800389,664.034199611,633,877,784,801,650.965800389,630,651,0.404864957172,0.0044942682727,0.0598979306215,0.999999990171,1.91820325444e-05,-0.000138253610275,-1.32569205832e-05,1793196652952331008
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.558471478,743,711,674.441528522,664,633,877.558471478,784,801,650.441528522,630,651,0.405285038637,0.0044894027072,0.0598995817551,0.999999990348,2.81027159651e-06,-0.000137829803209,-1.72790019429e-05,1793196652968997632
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743,711,673.852838088,664,633,878,784,800.852838088,650,629.852838088,651,0.405729691606,0.00448394842467,0.0599095846103,0.999999992189,-1.35696629887e-05,-0.000122461295463,-2.09815378705e-05,1793196652985664512
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,743,711,673.278549931,664,633,878,784,800.278549931,650,629.278549931,651,0.406235373943,0.00447909358074,0.0599405101838,0.999999996949,-2.69977357842e-05,-6.91394611766e-05,-2.43359511794e-05,1793196653002330880
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,743,711.296434461,673.296434461,664.296434461,633,878,784,800.592868923,650,629,651,0.40676305946,0.00447763978478,0.0599698242145,0.999999998755,-3.58134099512e-05,-2.05095856385e-05,-2.80628915546e-05,1793196653018997504
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743,711.872074691,673.872074691,664.872074691,633,878,784,801.744149383,650,629,651,0.407311469395,0.0044793893682,0.0599976203684,0.999999998391,-4.02847584625e-05,2.37010327019e-05,-3.21407082239e-05,1793196653035664384
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.539425821,743,711.539425821,674.460574179,664.539425821,633,877.539425821,784,801.539425821,650,629.460574179,651,0.407848634311,0.0044757595124,0.059999356068,0.999999997874,-5.18615767183e-05,1.60098658708e-05,-3.61307036133e-05,1793196653052331520
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.051430519,743.051430519,711.051430519,674.948569481,664.051430519,633.051430519,877.051430519,784,801,650,630,651,0.408385211353,0.00447118075267,0.0599924250811,0.999999997077,-6.45303779501e-05,-8.01940301029e-06,-4.02129406291e-05,1793196653068998656
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.628814711,743.628814711,711.628814711,674.371185289,664.628814711,633.628814711,877.628814711,784,801,650,630,651,0.408948634917,0.00447261680081,0.0599730131813,0.999999995553,-6.76040973997e-05,-4.74726568173e-05,-4.54951029619e-05,1793196653085666048
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.794888573,743.794888573,712,674.205111427,664.794888573,633.794888573,878,784.205111427,801,650.205111427,629.794888573,651,0.409542019017,0.0044728297119,0.059963156919,0.999999996325,-3.57055525894e-05,-6.67568673543e-05,-4.02203551741e-05,1793196653102332928
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.22054949,743.22054949,712,674.77945051,664.22054949,633.22054949,878,784.77945051,801,650.77945051,629.22054949,651,0.410189336004,0.0044708408147,0.0599705020675,0.999999996887,5.91476866321e-05,-4.97341338595e-05,-1.59417745438e-05,1793196653118999040
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.354362539,743,712,674.645637461,664,633,878,784.645637461,801.354362539,650.645637461,629,651,0.41086495103,0.00447421944704,0.0599772334668,0.999999995334,9.02125228417e-05,-3.22191842944e-05,-1.24459881108e-05,1793196653135665152
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.929631718,743,712,674.070368282,664,633,878,784.070368282,801.929631718,650.070368282,629,651,0.411558206794,0.00448094415243,0.0599835822597,0.999999996334,8.15121996685e-05,-1.43973921629e-05,-2.19060224547e-05,1793196653152331008
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743,712,674.521963527,664.521963527,633,877.478036473,784.521963527,802,650,629.521963527,651,0.412251066287,0.00447543893149,0.0599700069244,0.999999996212,7.32632511328e-05,-3.95115694874e-05,-2.54386166091e-05,1793196653168997888
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,743,711.886893896,674.886893896,665,633.113106104,877.113106104,784.886893896,801.886893896,650,630,651,0.412941616451,0.00446991202258,0.0599499769867,0.999999995447,4.63491049859e-05,-7.86593902021e-05,-2.77702827187e-05,1793196653185664256
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,743,711.310367329,674.310367329,665,633.689632671,877.689632671,784.310367329,801.310367329,650,630,651,0.413622930872,0.0044712799269,0.0599148784379,0.999999986582,-5.72981880729e-05,-0.000150788324576,-2.85662371856e-05,1793196653202330880
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.735503473,743.264496527,711,674,664.735503473,633.735503473,878.264496527,784,801,650,630,651,0.414371806327,0.0044700383228,0.0599120083478,0.999999980209,-0.000119402091773,-0.000156346315399,-2.96928341418e-05,1793196653218997504
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.162578423,743.837421577,711,674,664.162578423,633.162578423,878.837421577,784,801,650,630,651,0.415199464569,0.00446575377977,0.0599467197518,0.999999987109,-0.000133062401194,-8.42761609987e-05,-3.12049926064e-05,1793196653235664128
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.421833638,743.578166362,711.421833638,674.421833638,664.421833638,633.421833638,879,784,801,650,629.578166362,651,0.416042352197,0.00446130318529,0.0599833827266,0.999999990652,-0.000131493888814,-2.02176112338e-05,-3.15730328144e-05,1793196653252330752
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.989342055,743,712,674.989342055,665,633.989342055,878.989342055,784.010657945,801,650,629,651,0.416890661316,0.0044568544184,0.0600199550432,0.999999991079,-0.000123761744612,3.91676515273e-05,-3.14908657374e-05,1793196653268997120
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.407952846,743,712,674.407952846,665,633.407952846,878.407952846,784.592047154,801,650,629,651,0.417706181525,0.00445602650604,0.0600102675752,0.999999993387,-0.000109067763659,1.82761725861e-05,-3.15741611942e-05,1793196653285664000
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.171500369,743,712,674.171500369,665,633,878.171500369,784.828499631,801,650,629.171500369,651,0.418522577124,0.0044542713933,0.0599944778877,0.999999994736,-9.68248346902e-05,-1.02322653147e-05,-3.23694642633e-05,1793196653302330624
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.746399753,743,712,674.746399753,665,633,878.746399753,784.253600247,801,650,629.746399753,651,0.419341031741,0.00445033534234,0.059964334708,0.999999993707,-9.03472117178e-05,-5.66571283361e-05,-3.48395343849e-05,1793196653318997248
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.679708297,743,711.679708297,675,665,633.320291703,878.679708297,784,801,650,630,651,0.42016080466,0.00444877025806,0.059937558611,0.999999991557,-8.06766425438e-05,-9.49393206772e-05,-3.6919717115e-05,1793196653335664128
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.106611538,743,711.106611538,675,665,633.893388462,878.106611538,784,801,650,630,651,0.420981618069,0.00444907656922,0.0599134401416,0.999999988868,-6.84858930862e-05,-0.00012679453098,-3.86921630638e-05,1793196653352330752
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.481498979,743,711.481498979,674.518501021,665,634,878.481498979,784,801,650,630,651,0.421815088249,0.00444922939204,0.059886040687,0.999999980379,-6.02677344195e-05,-0.000184670938655,-3.88136046586e-05,1793196653368997376
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743.071595555,712,674.071595555,665,633.928404445,878.928404445,784.071595555,801,650,630,651,0.422669515741,0.00444859679712,0.0598691977035,0.99999997214,-5.44298677507e-05,-0.000226412020453,-3.86585585058e-05,1793196653385664256
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743.651432529,712,674.651432529,665,633.348567471,878.348567471,784.651432529,801,650,630,651,0.423652180256,0.00444263770594,0.0599326158247,0.999999991283,-5.90441679453e-05,-0.000111395818578,-3.92193286037e-05,1793196653402331392
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744,712,675,665,633,878.229286326,784.770713674,801,650,630,651,0.424612137093,0.00443754768838,0.0599873688721,0.999999997147,-6.25695574631e-05,-1.58946534972e-05,-3.92153380484e-05,1793196653418998272
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744,712,675,665,633,878.804151182,784.195848818,801,650,630,651,0.425537869246,0.0044337675308,0.0600290619985,0.999999995927,-6.44537509174e-05,5.01936190236e-05,-3.83601453151e-05,1793196653435664640
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743.621936752,712,674.621936752,665,633,878.621936752,784,801,650,630,651,0.426428848773,0.00443105380203,0.0600297664976,0.999999994928,-7.06179062861e-05,5.99438229914e-05,-3.9542371913e-05,1793196653452331008
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743.048517054,712,674.048517054,665,633,878.048517054,784,801,650,630,651,0.427301870537,0.00442889112875,0.0600092909595,0.999999995184,-7.89936443773e-05,4.05824786873e-05,-4.17773933648e-05,1793196653468997376
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,712,674.543266775,665,633,878.543266775,784,801.543266775,650,630,651,0.428175915609,0.0044257696897,0.0599835674505,0.999999993057,-0.000109875192518,-5.29158806376e-07,-4.2576190647e-05,1793196653485664256
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633,879,784,802,650,630,651,0.429036598069,0.00442323908654,0.0599561025211,0.999999989237,-0.00013211856315,-4.69941113825e-05,-4.31507572262e-05,1793196653502330624
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633,879,784,802,650,630,651,0.429852333964,0.00442297783814,0.0599244414396,0.999999986556,-0.000118562872951,-0.00010462429866,-4.34197853701e-05,1793196653518997504
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743.289765033,712,675,665,633,879,784,801.710234967,650,630,651,0.430707616463,0.00442141515881,0.0599147747035,0.999999986115,-0.000111141032808,-0.000115933785113,-4.44652751838e-05,1793196653535664640
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+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743.551169606,711.551169606,675,665.448830394,633,879,784.448830394,801,650,630,651,0.432498429627,0.00441295861346,0.0599684998828,0.999999992449,-0.000113161850558,-1.34378901469e-05,-4.60018217119e-05,1793196653568998656
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.962800267,743.037199733,711,675,665.962800267,633,879,784.962800267,801,650,630,650.962800267,0.433392115308,0.00440688436798,0.0600152941278,0.999999990379,-0.000117467026769,5.83582035569e-05,-4.51322136321e-05,1793196653585665024
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.381368181,743.618631819,711,675,665.381368181,633,879,784.381368181,801,650,630,650.381368181,0.434228320287,0.00440682440908,0.0599980362472,0.999999992392,-0.000112487858042,2.32612412948e-05,-4.49685195494e-05,1793196653602331392
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743.802545594,711.197454406,675,665,633,878.802545594,783.802545594,801,650,630,650.197454406,0.435042864824,0.00440521787907,0.0599753955171,0.999999992635,-0.000110938184593,-1.88246082627e-05,-4.54790914262e-05,1793196653618997504
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743.228697214,711.771302786,675,665,633,878.228697214,783.228697214,801,650,630,650.771302786,0.43581611967,0.0044006632252,0.0599424938223,0.999999989408,-0.000115925925061,-7.42329068448e-05,-4.72749708436e-05,1793196653635663872
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,711.647301507,675.352698493,665,633,878.352698493,783.352698493,801.352698493,650,630,651,0.436576388468,0.00439710727742,0.059929486791,0.999999987529,-0.000117874280574,-9.35850196801e-05,-4.78524799728e-05,1793196653652330752
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,711.060904976,675.939095024,665,633,878.939095024,783.939095024,801.939095024,650,630,651,0.437328052663,0.0043942130726,0.0599296619667,0.999999987962,-0.000117808739343,-8.9046298969e-05,-4.76226968525e-05,1793196653668997632
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743.519287151,711.519287151,676,665,633,878.480712849,784,801.480712849,650,630,651,0.438045409144,0.00439374426833,0.0599137288074,0.99999998449,-0.000109636563552,-0.000130027552708,-4.57427147888e-05,1793196653685664512
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743.901437166,712,675.901437166,665,633,878,784,801,650,630,651,0.438771869298,0.00439637292875,0.0599047095933,0.999999981603,-9.9174291956e-05,-0.00015815790874,-4.41077502439e-05,1793196653702330880
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743.323122081,712,675.323122081,665,633,878,784,801,650,630,651,0.439561995874,0.00441271014697,0.0599384312831,0.999999990825,-8.21383531846e-05,-9.80569514593e-05,-4.45963547918e-05,1793196653718997504
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765,743,712,676,665.586047394,633,878.586047394,784,801.586047394,651,630.413952606,651,0.441679755556,0.0044514071312,0.0600111312472,0.99999999858,-2.25144232554e-05,1.5527203681e-05,-4.5736655029e-05,1793196653768997376
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,743,711.993691484,676,665,633,878,784,801.012617031,650.993691484,630.993691484,651,0.442291515644,0.00444065776749,0.0599916064347,0.999999998462,-3.04803915559e-05,-1.27697715129e-05,-4.45312751314e-05,1793196653785664000
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,743,711.413937146,676,665,633,878,784,802.172125709,650.413937146,630.413937146,651,0.442863781327,0.00443661471108,0.0599579712438,0.999999996935,-3.15422728459e-05,-5.55779938372e-05,-4.52446996509e-05,1793196653802330880
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.836311939,743,711,676,665.163688061,633,878,784,802.836311939,650,630,651,0.443438258942,0.00443351962641,0.0599345289856,0.999999994683,-3.34998939501e-05,-8.59771270578e-05,-4.60417706183e-05,1793196653818998016
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764.309729312,743.309729312,711.309729312,676,665.690270688,633,878.309729312,784.309729312,801.690270688,650,630,651,0.444566133161,0.00442893918495,0.0599431491897,0.999999992898,-7.77789031041e-05,-7.68663027068e-05,-4.73829900353e-05,1793196653852332032
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.884676789,743.884676789,711.884676789,676,665.115323211,633,878.884676789,784.884676789,801.115323211,650,630,651,0.44508649976,0.00442241299424,0.0599537179459,0.999999985956,-0.000148597846681,-6.15225210797e-05,-4.71441468466e-05,1793196653868998912
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.524546349,743.524546349,712,675.524546349,664.524546349,633,879,784.524546349,801.475453651,650,630,650.524546349,0.445530774748,0.00442156482541,0.0599376948545,0.999999981381,-0.000159463952455,-9.74470788601e-05,-4.80866146204e-05,1793196653885665024
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743.643256601,711.356743399,675,664,633,879,784,802,650,630,650,0.446348412868,0.00441920558665,0.0598859263997,0.999999968189,-0.000159869460493,-0.000188223589272,-5.13376240954e-05,1793196653918997760
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764.793198093,743.206801907,711,675.793198093,664.793198093,632.206801907,879,784,801.206801907,650,630,650.793198093,0.447144879844,0.00441272582206,0.0598690981345,0.999999962912,-0.000165533462565,-0.000209207345788,-5.48347194496e-05,1793196653952330752
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764.957130507,743,711.957130507,677,661.957130507,631,879.042869493,784,802,650,630,651,0.450564222633,0.00443661235214,0.0597561343811,0.999999927655,-5.75936618851e-05,-0.000373749192273,-4.10406748226e-05,1793196654502330368
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,743,712,676.462969879,661.462969879,631,879,784,801.462969879,650,630,651,0.450565334473,0.00443458598108,0.0597565284264,0.999999927787,-5.87713182486e-05,-0.000373283045534,-4.03858064894e-05,1793196654518996992
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.884859838,743,712,676,661.115140162,631,879,784,801.115140162,650,630,651,0.450566126804,0.00443287428103,0.0597566840378,0.999999927807,-5.94857988507e-05,-0.000373185170088,-3.97597697808e-05,1793196654535664128
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.310593704,743,712,676,661.689406296,631,879,784,801.689406296,650,630,651,0.450565462428,0.0044335748164,0.0597557120032,0.999999927391,-5.78361307966e-05,-0.000374570017701,-3.96190661753e-05,1793196654552331008
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.269857103,743.269857103,712,676,661.730142897,631,879,783.730142897,802,650,630.269857103,651,0.450565064004,0.00443418294478,0.0597551189826,0.999999927036,-5.68363804478e-05,-0.000375661258823,-3.97131451171e-05,1793196654568997888
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.857593241,743.857593241,712,676,661.142406759,631,879,783.142406759,802,650,630.857593241,651,0.450564978859,0.00443468222214,0.0597549724226,0.999999926754,-5.6602202518e-05,-0.000376406645426,-4.00837868914e-05,1793196654585664768
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,744,712,676,661,631,879,783.439117022,802,650,630.560882978,651,0.450564727592,0.00443581189379,0.0597539647867,0.99999992664,-5.60140115793e-05,-0.000376797267527,-4.00786843963e-05,1793196654602331136
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.981369611,743.981369611,711.981369611,676,661,631,878.981369611,783.981369611,801.981369611,650,630,651,0.450564463888,0.00443703195508,0.0597527715215,0.999999926595,-5.53691175597e-05,-0.00037702700084,-3.9942755061e-05,1793196654618997760
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.402571821,743.402571821,711.402571821,676,661,631,878.402571821,783.402571821,801.402571821,650,630,651,0.450565423488,0.00443490861758,0.0597542760338,0.999999927004,-5.64231106263e-05,-0.000375830255026,-3.94859490997e-05,1793196654635664128
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743.17473831,711,676,661,631,878.17473831,783.17473831,801,650,630,651,0.450566143692,0.00443407435577,0.059755356645,0.999999927336,-5.67614317297e-05,-0.000374910384726,-3.93530206762e-05,1793196654652330752
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743.748649988,711,676,661,631,878.748649988,783.748649988,801,650,630,651,0.450566317019,0.00443618486723,0.0597554688932,0.999999927492,-5.54648669372e-05,-0.000374623010781,-3.99599603003e-05,1793196654668997632
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.330195213,743.669804787,711.330195213,676,661,631,879,783.669804787,801,650,630,651,0.450566515812,0.00443643294773,0.0597553714939,0.999999927418,-5.57446219607e-05,-0.000374788623135,-3.98792481462e-05,1793196654685664256
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.917688709,743.082311291,711.917688709,676,661,631,879,783.082311291,801,650,630,651,0.450566734449,0.00443522976456,0.0597551107308,0.999999927163,-5.72526940027e-05,-0.00037530721638,-3.92626965154e-05,1793196654702330880
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.501550173,743,712,676,661,631,879,783,801.498449827,650,630,651,0.450566775211,0.0044366767481,0.0597554282844,0.999999927165,-5.61445717962e-05,-0.000375433160705,-3.96048048797e-05,1793196654718997760
+245,4.083333333,POSE1_TO_POSE2_PRESS,764.077703265,743,711.922296735,676,661,631,879,783.077703265,802,650,630,651,0.450566796369,0.00443790606121,0.0597557244952,0.999999927205,-5.50765152655e-05,-0.000375449077048,-3.99421303644e-05,1793196654735664384
+246,4.100000000,POSE1_TO_POSE2_PRESS,764.65431913,743,711.34568087,676,661,631,879,783.65431913,802,650,630,651,0.450566877739,0.00443496527921,0.0597552786597,0.999999927229,-5.70026589052e-05,-0.000375169304253,-3.9245837789e-05,1793196654752330752
+247,4.116666667,HOLD_POSE2,764,743,712,677,661,631,879,784,802,650,630,651,0.450566518502,0.00443712604077,0.0597535269685,0.999999926274,-5.76192924236e-05,-0.000377500368449,-4.03286075887e-05,1793196654791282688
+248,4.133333333,HOLD_POSE2,764.589292608,743,711.410707392,677,661,631,879,783.410707392,802.589292608,650,630,651,0.450568238534,0.00443600938755,0.0597549070316,0.999999927122,-5.54973309536e-05,-0.000375655537202,-3.94797052995e-05,1793196654807949312
+249,4.150000000,HOLD_POSE2,764.824568414,743,711,676.824568414,661,631,878.824568414,783,802.649136828,650,630,651,0.450569189825,0.00443588214975,0.0597557095908,0.999999927665,-5.33136940978e-05,-0.000374574646356,-3.90146791921e-05,1793196654824615936
+250,4.166666667,HOLD_POSE2,764.245681988,743,711,676.245681988,661,631,878.245681988,783,801.491363976,650,630,651,0.450568373178,0.00443803035401,0.0597551840157,0.999999927516,-5.09882167266e-05,-0.000375250653438,-3.94324854061e-05,1793196654841282816
+251,4.183333333,HOLD_POSE2,764,743,711,676,661,631,878.331578935,783.331578935,801.331578935,650,630,651,0.450568472154,0.00443833712934,0.059755129938,0.999999927549,-5.14016899332e-05,-0.000375102277701,-3.946297825e-05,1793196654857949440
+252,4.200000000,HOLD_POSE2,764,743,711,676,661,631,878.90764129,783.90764129,801.90764129,650,630,651,0.450569246247,0.00443728616195,0.0597554235098,0.999999927715,-5.38346763759e-05,-0.000374346058934,-3.92078929245e-05,1793196654874616064
+253,4.216666667,HOLD_POSE2,764,743,711.491116397,676,661,631,879,784,801.508883603,650,630,651,0.450567777304,0.00443718853754,0.0597542629924,0.999999926992,-5.55572923133e-05,-0.000375996036283,-3.94553126522e-05,1793196654891282688
+254,4.233333333,HOLD_POSE2,764,743,711.924598673,676,661,631,879,784,801.075401327,650,630,651,0.450566275224,0.00443698515857,0.0597532337962,0.999999926287,-5.70455596711e-05,-0.000377625115423,-3.96438132451e-05,1793196654907949056
+255,4.250000000,HOLD_POSE2,764,743,711.34436818,676,661,631,879,784,801.65563182,650,630,651,0.450567418764,0.0044348549828,0.0597549427216,0.99999992687,-5.78729413724e-05,-0.000376038215134,-3.87954384355e-05,1793196654924615936
+256,4.266666667,HOLD_POSE2,764.226128058,743,711,676,661,631,879,784,802,650,630,651,0.450568370996,0.00443392348588,0.0597556543217,0.999999927116,-5.78417635898e-05,-0.000375420117603,-3.84869638955e-05,1793196654941282304
+257,4.283333333,HOLD_POSE2,764.782411855,743,711,676,661,631,879,784,802,650,630,651,0.450569043911,0.00443474210679,0.0597549097882,0.999999926872,-5.65570555673e-05,-0.000376216509835,-3.89667647771e-05,1793196654957948928
+258,4.300000000,HOLD_POSE2,765,743,711.364635967,676,661,631,879,783.635364033,802,650,630,651,0.450568995617,0.00443659583453,0.0597546744652,0.999999927073,-5.43650699843e-05,-0.000375974702408,-3.92730150298e-05,1793196654974615808
+259,4.316666667,HOLD_POSE2,765,743,711.963524966,676,661,631,879,783.036475034,802,650,630,651,0.450568483996,0.00443911454587,0.0597547662742,0.999999927553,-5.15902220823e-05,-0.000375065924599,-3.94677712242e-05,1793196654991282432
+260,4.333333333,HOLD_POSE2,765,743,711.447663129,676.552336871,661,631,879,783.552336871,802,650,630,651,0.450569853356,0.0044391713696,0.059755789638,0.999999928189,-5.05971975643e-05,-0.000373503109077,-3.94579125496e-05,1793196655007949312
+261,4.350000000,HOLD_POSE2,765,743,711.139060612,676.860939388,660.860939388,631,879,783.860939388,802,650,630,651,0.450570329312,0.00443891304288,0.0597560450176,0.999999928275,-4.9838539112e-05,-0.000373375983653,-3.94614581035e-05,1793196655024616192
+262,4.366666667,HOLD_POSE2,765,743,711.72121334,676.27878666,660.27878666,631,879,783.27878666,802,650,630,651,0.4505675699,0.00443815928696,0.059753660848,0.999999926568,-4.94584377831e-05,-0.000377958586163,-3.95499969484e-05,1793196655041282816
+263,4.383333333,HOLD_POSE2,764.700764807,743.299235193,712,676,660.299235193,631,879,783,802,650,630,651,0.450567419623,0.0044379927876,0.0597535914464,0.999999926432,-5.0179741578e-05,-0.000378218399273,-3.96065613803e-05,1793196655057949696
+264,4.400000000,HOLD_POSE2,764.126539169,743.873460831,712,676,660.873460831,631,879,783,802,650,630,651,0.450569667083,0.00443836596392,0.0597556492649,0.99999992774,-5.19132120491e-05,-0.000374505665416,-3.9633742037e-05,1793196655074616320
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,676,661,631,879,784,802,650,630,651,0.450570924371,0.00443824119477,0.0597553345597,0.999999927874,-5.0877009662e-05,-0.000374338149626,-3.91755487956e-05,1793196655107453696
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.596942442,743,711,676.596942442,661,631,879,783.403057558,802,650,630,651,0.45056984717,0.00443860493647,0.0597544922628,0.999999927237,-5.29543255111e-05,-0.000375733918772,-3.93243081193e-05,1793196655124120576
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,743,711.187260779,676.812739221,661,631,878.812739221,783,802.187260779,650,630,651,0.450569072805,0.00443881116888,0.0597539034794,0.999999926762,-5.42327705046e-05,-0.000376794906818,-3.95058885635e-05,1793196655140786944
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,743,711.763808706,676.236191294,661,631,878.236191294,783,802.763808706,650,630,651,0.450568927994,0.00443868996311,0.0597538417125,0.999999926635,-5.3850482881e-05,-0.000377159935297,-3.97556992356e-05,1793196655157453568
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,743,711.661106693,676.338893307,661,631,878.338893307,783.338893307,802.661106693,650,630,651,0.450568296161,0.00443779505887,0.0597536135603,0.999999926352,-5.43319780773e-05,-0.000377869268223,-3.94752452674e-05,1793196655174120192
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,743,711.087037603,676.912962397,661,631,878.912962397,783.912962397,802.087037603,650,630,651,0.450567326358,0.00443636324483,0.0597532699447,0.99999992596,-5.54128973494e-05,-0.00037881753198,-3.88268129309e-05,1793196655190786816
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.499141547,743,711.500858453,676.499141547,661,631,879.500858453,784,802,650,630,651,0.450567947496,0.00443763109412,0.059753635488,0.99999992645,-5.43215792959e-05,-0.000377652864443,-3.90762119128e-05,1793196655207452928
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.089524952,743,712,676,661,631.089524952,879.910475048,783.910475048,802,650.089524952,630,651,0.450568221472,0.00443914004249,0.0597536930092,0.999999926798,-5.31188043143e-05,-0.000376865354794,-3.94240354999e-05,1793196655224119552
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.668886711,743,712,676,661,631.668886711,879.331113289,783.331113289,802,650.668886711,630,651,0.450565040294,0.00443932839281,0.0597513717569,0.999999925516,-5.34302401853e-05,-0.00038020752719,-3.94324764934e-05,1793196655240786432
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.753525073,743,711.753525073,676,661,631.753525073,879,783,801.753525073,650.753525073,630,650.753525073,0.450556988475,0.00443872565673,0.0597474980346,0.999999923041,-5.35017695677e-05,-0.000386677232523,-3.92072738318e-05,1793196655257453056
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.178302454,743,711.178302454,676,661,631.178302454,879,783,801.178302454,650.178302454,630,650.178302454,0.450542440205,0.00443706777139,0.0597415536316,0.999999918903,-5.32533121958e-05,-0.000397318433839,-3.86704377941e-05,1793196655274119680
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711.396230298,676,661,631,879,783,801,650,629.603769702,650.396230298,0.450515337448,0.00443792857597,0.0597291876152,0.999999910567,-5.17002519028e-05,-0.000417930882643,-3.90833621625e-05,1793196655290786560
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,711.9704532,676,661,631,879,783,801,650,629.0295468,650.9704532,0.450482595027,0.00443992081376,0.0597139369129,0.99999989984,-4.95611443239e-05,-0.000443022566386,-3.99229331122e-05,1793196655307453440
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.561867649,743,712,676,661,631,879.561867649,783,801.561867649,650,630.123735298,651,0.450433784454,0.00443964394126,0.0596963027487,0.999999885755,-4.92555230999e-05,-0.000473787236124,-3.98809703539e-05,1793196655324120320
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.849110138,743,712,676,661,631,879.849110138,783.150889862,802,650,630.849110138,651,0.450382945291,0.00443993268472,0.0596806372706,0.999999873711,-4.85988930265e-05,-0.000498621115717,-3.99234008657e-05,1793196655340786944
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.269533778,743,712,676,661,631,879.269533778,783.730466222,802,650,630.269533778,651,0.450328819162,0.00444217808409,0.0596709322684,0.999999870216,-4.66624550608e-05,-0.000505730992378,-4.03414571685e-05,1793196655357453056
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711.694370738,676,661,631,879,783.694370738,802,650,630,650.694370738,0.450267293333,0.00444310328795,0.0596629569995,0.999999865404,-4.52423065671e-05,-0.000515282039008,-4.0371974657e-05,1793196655374119424
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,711.123044427,676,661,631,879,783.123044427,802,650,630,650.123044427,0.450199334623,0.00444288078728,0.0596564854649,0.999999859376,-4.42709914811e-05,-0.000526955302304,-4.00655874699e-05,1793196655390786048
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.463267124,743,711,676.463267124,661.463267124,631,878.536732876,783,801.536732876,650,630,650.926534248,0.450123758543,0.00444276366762,0.0596564453669,0.999999860091,-4.36670233193e-05,-0.000525701155275,-3.93599658246e-05,1793196655407452672
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.947304548,743,711,676.947304548,661.947304548,631,878.052695452,783.052695452,801.052695452,650,630,651.894609097,0.450044053356,0.00444292821839,0.0596579485044,0.999999862349,-4.26252032375e-05,-0.000521534872002,-3.85648059971e-05,1793196655424119552
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.367836453,743,711,676.367836453,661.367836453,631,878.632163547,783.632163547,801.632163547,650,630,650.735672906,0.449943972289,0.00444561935138,0.0596572317549,0.999999861478,-3.61984291265e-05,-0.00052372819045,-3.79700139629e-05,1793196655440786688
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,711.21067491,676,661,631.21067491,878.78932509,783.78932509,801.78932509,650,630,650.21067491,0.449835815437,0.00444735920114,0.0596557970124,0.999999860379,-3.21406759595e-05,-0.000526147333407,-3.71111269507e-05,1793196655457453568
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,711.63713405,676,661,631.63713405,878.36286595,783.36286595,801.36286595,650,630,651,0.449577734452,0.00444868128665,0.059652530603,0.999999859483,-2.85397413013e-05,-0.000528229253437,-3.45509001996e-05,1793196655490786560
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,743,711.495425865,674,664,633,877,784,800.495425865,650,630,651,0.412269808563,0.00457309065962,0.0597719291296,0.999999904705,0.000181301480398,-0.00039559953984,3.49434300504e-05,1793196656557453056
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,664.094557686,633,877,784,800.094557686,650,630,651,0.411613225568,0.00457329158707,0.0597373780262,0.999999876826,0.000199301121365,-0.000453285854132,3.4040813128e-05,1793196656574119936
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,665,633,877.823949002,784,801,650,630,651,0.409950677399,0.00457028098632,0.0598044778502,0.999999930821,0.000166032717281,-0.000331110702892,3.40043809371e-05,1793196656624120576
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.465278137,743,711,674,664,633,877,784,801,650,630,651,0.406068133963,0.00456680049893,0.0598314423584,0.999999950916,0.000149913865597,-0.000273233358646,3.21934248822e-05,1793196656757454336
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,664,633,877.052237467,784,801,650,630,651,0.405661916146,0.00456492398453,0.0598351641055,0.99999995337,0.000140546595726,-0.000269192730329,3.22667601946e-05,1793196656774120448
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,743,711,674.790023227,664.790023227,633,877.209976773,784,801,650,630,651,0.404492893681,0.00456736545236,0.0597824387176,0.999999927814,0.000132759463893,-0.000354845174834,2.88562106864e-05,1793196656824119552
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.154376336,743,711,674.845623664,664,633,877,784,801,650,629.845623664,651,0.402674715397,0.00456196142586,0.0598260431258,0.999999953159,0.000135023066734,-0.000272369689564,3.5562720654e-05,1793196656940787200
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.578462824,664,633,877.421537176,784,800.578462824,650,630,651,0.402475657802,0.00456108825041,0.0598272095455,0.999999952938,0.000136510683024,-0.000272257798382,3.69307502614e-05,1793196656957453568
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,664,633,877.40857043,784,800,650,629.40857043,651,0.402102545378,0.00456138136437,0.0598183470305,0.999999946783,0.000140382855169,-0.000291954878702,3.85746715739e-05,1793196656990786048
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,743,711.1792552,674,664,633,877,784,800.1792552,650,629.1792552,651,0.401937725655,0.00456175394267,0.0598143832767,0.999999943602,0.000142325731114,-0.000301672547849,3.91523287523e-05,1793196657007452672
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,743,711.755003945,674,664,633,877,784,800.755003945,650,629.755003945,651,0.401801125707,0.00456035708454,0.0598182738452,0.999999944232,0.000141608492287,-0.000299794283936,4.0088464401e-05,1793196657024119296
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,743,711.669733928,674,663.669733928,633.330266072,877,784,801,650,630,651,0.401681845088,0.00455943869376,0.0598224278101,0.999999945755,0.000140329467182,-0.000295271103478,4.01590356829e-05,1793196657040786176
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,743,711.09483219,674,663.09483219,633.90516781,877,784,801,650,630,651,0.401575393279,0.0045588747146,0.0598267768791,0.999999947907,0.000138634313991,-0.000288788772363,3.95884636496e-05,1793196657057453056
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.917399004,743,711.917399004,674,664,633.082600996,877,784,801,650.917399004,629.082600996,651,0.401390018571,0.00454457208759,0.05982904427,0.999999958081,2.31859762256e-05,-0.000288256825657,1.44677216084e-05,1793196657090786816
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,664,633.763344652,877,784,801,650,629.763344652,651,0.401249886813,0.0045484435752,0.0598329249086,0.999999956726,8.74003566562e-05,-0.000280465965492,1.5748812785e-05,1793196657124120064
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,664,633.189986679,877,784,801,650,629.189986679,651,0.401185467541,0.00454953775647,0.0598285954397,0.99999994606,0.000154121525006,-0.000289577397063,1.64886887233e-05,1793196657140786432
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.394780301,743,711,674,664,633,877.394780301,784,801,650.394780301,629.394780301,651,0.401133429868,0.00454834504058,0.0598261590518,0.999999941406,0.000174378141829,-0.000294075124951,1.73083795887e-05,1793196657157452800
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.71899218,743,711.71899218,674,663.28100782,633.71899218,877,784,801,650,630,651,0.401005263539,0.00454578307349,0.059825528059,0.999999941447,0.000174760821404,-0.000293570145002,1.9540925009e-05,1793196657224119808
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,743,711.130001588,674,663.869998412,633.130001588,877.869998412,784,801,650,630,651,0.400973991059,0.00454741873051,0.0598261129594,0.999999941443,0.000176229920965,-0.00029272185242,1.92441372077e-05,1793196657257453056
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.542365899,743,711,674,664,633,877.542365899,784,801,650,630,651,0.400966718665,0.00454722412043,0.0598274097556,0.999999942013,0.00017645137409,-0.000290604613948,1.96695086537e-05,1793196657274119424
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,743,711.352901722,674,664,633.352901722,877,784,801,650,630,651,0.400951108414,0.00454543352514,0.0598314072704,0.999999944118,0.000176229759275,-0.000283365211637,2.02693099612e-05,1793196657357453056
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1a4bb4040e1b854f9c7277e4ad63d82f64f802da
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,425 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f0804bb3e53b535699375de7098e454d6f87bffc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c338deb0aeeb4ccaf43010539a1b4d771eb676adf7a83c2a03b1d9de875cf5f
+size 27034479
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bc2acac291e2b589ad7ed386373db57517562360
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_04/franka_data.csv
@@ -0,0 +1,427 @@
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+5,0.083333333,BASELINE,764,743,711,673.923297401,664.923297401,633.923297401,877,784,801,650,630,651,0.400948245784,0.0045431989566,0.0598356813997,0.999999946887,0.000172029904729,-0.000276065746156,2.04814329374e-05,1793196657947993600
+6,0.100000000,BASELINE,764,743,711,674,664.500904042,633.500904042,877,784,801,650,630,651,0.400949769134,0.00454470483458,0.059837212838,0.999999946971,0.000174112443072,-0.000274457279203,2.04000886397e-05,1793196657964659968
+7,0.116666667,BASELINE,764,743,711,674,664,633,877,784,801,650,629.923476488,651,0.400951233944,0.00454615632971,0.0598386950832,0.999999947147,0.000175726867492,-0.000272787245537,2.0310488193e-05,1793196657981326592
+8,0.133333333,BASELINE,764,743,711,674,664,633,877,784,801,650,629.334215481,651,0.40095027755,0.00454524728404,0.059837511863,0.999999947413,0.000172759332653,-0.000273704679316,2.03477883968e-05,1793196657997992960
+9,0.150000000,BASELINE,764.250507216,743,711,674,664,633.250507216,877,784,801,650,629.250507216,651,0.400949426533,0.00454444040721,0.0598367911376,0.999999947496,0.00017111151548,-0.000274440104791,2.02963491002e-05,1793196658014659584
+10,0.166666667,BASELINE,764.829282796,743,711,674,664,633.829282796,877,784,801,650,629.829282796,651,0.400948713604,0.00454376741399,0.0598366764726,0.999999947349,0.000171193076108,-0.00027493702382,2.01286242461e-05,1793196658031326208
+11,0.183333333,BASELINE,764.593884963,743,711.406115037,674,664,634,877,784,801,650,630,651,0.400948549497,0.00454474050455,0.0598372623117,0.999999947344,0.000171704073385,-0.000274638070144,2.00978670179e-05,1793196658047992832
+12,0.200000000,BASELINE,764.017865698,743,711.982134302,674,664,634,877,784,801,650,630,651,0.400948614998,0.00454640225852,0.0598381412171,0.999999947398,0.000172394731838,-0.000274006151397,2.01244122064e-05,1793196658064659456
+13,0.216666667,BASELINE,764.567879655,743,712,674,664,634,878.13575931,784,801,650.567879655,630,651,0.400947839796,0.00454528175062,0.0598370686882,0.99999994727,0.000171791710971,-0.000274844626278,2.01783609219e-05,1793196658081326080
+14,0.233333333,BASELINE,765,743,712,674.152196111,664,633.847803889,878.695607778,784,801,650.847803889,630,651,0.400947738207,0.00454436361261,0.0598366084746,0.99999994732,0.000171409257719,-0.000274897584974,2.02350868885e-05,1793196658097992960
+15,0.250000000,BASELINE,765,743,712,674.731627677,664,633.268372323,877.536744646,784,801,650.268372323,630,651,0.400949603079,0.00454426354758,0.0598380424552,0.999999947884,0.000171762208283,-0.000272613373214,2.029714672e-05,1793196658114659584
+16,0.266666667,BASELINE,765,743,712,674.379794366,664,633.310102817,877,784,800.689897183,650,630,651,0.400949566597,0.00454454116976,0.0598380447861,0.999999947794,0.000171995649675,-0.000272793001545,2.03232896285e-05,1793196658131326208
+17,0.283333333,BASELINE,765,743,712,673.224494505,664,633.887752748,877,784,800.112247252,650,630,651,0.400947889685,0.00454514464878,0.0598368119337,0.99999994714,0.000172125982231,-0.000275098354995,2.03184445236e-05,1793196658147992832
+18,0.300000000,BASELINE,764.536231169,743,711.536231169,673.463768831,664,633.536231169,877,784,800.463768831,650,630,651,0.400947647193,0.00454528962653,0.0598367530979,0.999999947046,0.000172784557164,-0.000275022009713,2.04229082245e-05,1793196658164659200
+19,0.316666667,BASELINE,764,743,711.040239355,674,664,633,877,784,801,650,630,651,0.400947799792,0.00454523537811,0.0598369735344,0.999999947112,0.000173407827984,-0.000274381189519,2.05210660709e-05,1793196658181325824
+20,0.333333333,BASELINE,764,743,711.628260621,674,664,633,877,784,801,650,630,651,0.400948621248,0.00454397441888,0.0598371411437,0.999999947532,0.000171816150864,-0.000273875826683,2.01744940085e-05,1793196658197992704
+21,0.350000000,BASELINE,764,743,711.786936495,674,664,633,877.213063505,784,801,650,629.786936495,651,0.400948939717,0.0045435735103,0.0598372707091,0.999999947767,0.000170955160212,-0.000273568912759,2.00017206708e-05,1793196658214659584
+22,0.366666667,BASELINE,764,743,711.207665335,674,664,633,877.792334665,784,801,650,629.207665335,651,0.400948393664,0.00454465083309,0.0598373348857,0.999999947688,0.000171350053399,-0.000273603087386,2.01276678058e-05,1793196658231326464
+23,0.383333333,BASELINE,764.369881992,743,711,674,664,633,877.630118008,784,801,650,629.369881992,651,0.400948181223,0.00454549790892,0.0598371376,0.999999947417,0.000172070706955,-0.000274138694764,2.01433041416e-05,1793196658247993088
+24,0.400000000,BASELINE,764.94646604,743,711,674,664,633,877.05353396,784,801,650,629.94646604,651,0.400948155216,0.00454621631537,0.0598367942006,0.999999947038,0.000172973406011,-0.000274954519035,2.0097295236e-05,1793196658264659712
+25,0.416666667,BASELINE,765,743,711,674.521906335,664,633.521906335,877,784,801,650,630,651,0.400949007176,0.00454506198055,0.0598374754109,0.999999947485,0.00017199678635,-0.000273947032105,1.99909620715e-05,1793196658281326336
+26,0.433333333,BASELINE,765,743,711.099629622,674.900370378,664,633.900370378,877,784,801,650,630,651.099629622,0.400949744843,0.0045441364273,0.0598381103821,0.999999947877,0.000171368134314,-0.000272915515297,1.99009820788e-05,1793196658297992960
+27,0.450000000,BASELINE,765,743,711.689154579,674.310845421,664,633.310845421,877,784,801,650,630,651.689154579,0.400949478652,0.00454527832466,0.0598380023332,0.99999994759,0.000173396300705,-0.000272683456726,1.99217726789e-05,1793196658314659328
+28,0.466666667,BASELINE,764.726316863,743,712,674.273683137,664,633,877,784,801,650,630,651.726316863,0.400949531167,0.00454529996498,0.0598378112558,0.999999947634,0.0001731659056,-0.000272665281979,1.99666744598e-05,1793196658331326208
+29,0.483333333,BASELINE,764.147361438,743,712,674.852638562,664,633,877,784,801,650,630,651.147361438,0.400949939176,0.00454407204547,0.0598375275664,0.999999948045,0.000170416260388,-0.000272885678043,2.00384703894e-05,1793196658347992832
+30,0.500000000,BASELINE,764.429078025,743,712,675,664,633,877,784,801,650.429078025,629.570921975,651,0.400948703698,0.00454383687754,0.0598367351175,0.99999994779,0.000169757613572,-0.000274231795311,1.99910988988e-05,1793196658364659712
+31,0.516666667,BASELINE,764.995251426,743,711.995251426,674.995251426,664,633,877,784,801,650.995251426,629.004748574,651,0.40094693004,0.00454394752339,0.0598357857652,0.999999947309,0.000169834200637,-0.000275938187241,1.99037014594e-05,1793196658381326592
+32,0.533333333,BASELINE,764.408534,743,711.408534,674.408534,664,633,877,784,801,650.408534,629.591466,651,0.400947970724,0.00454489808684,0.0598368959976,0.999999947192,0.000172520402026,-0.00027469264545,1.98974386009e-05,1793196658397993216
+33,0.550000000,BASELINE,764,743,711.175997867,674,664,633.175997867,877,784,801.175997867,650,630,651,0.400948625591,0.00454509141084,0.0598375949899,0.999999947242,0.000173785674661,-0.000273709944102,1.992034297e-05,1793196658414660096
+34,0.566666667,BASELINE,764,743,711.755518666,674,664,633.755518666,877,784,801.755518666,650,630,651,0.400948395866,0.00454354855751,0.0598373511024,0.999999947689,0.000171793081662,-0.000273329876065,2.0010121135e-05,1793196658431326720
+35,0.583333333,BASELINE,764,742.666078232,712,674.333921768,664,633.666078232,877,784.333921768,801.666078232,650,629.666078232,651,0.400948168761,0.00454319579306,0.0598372621395,0.999999947961,0.000169965033084,-0.000273474574958,2.0023295833e-05,1793196658447993344
+36,0.600000000,BASELINE,764,742.088490665,712,674.911509335,664,633.088490665,877,784.911509335,801.088490665,650,629.088490665,651,0.400947943566,0.00454371144731,0.0598372862264,0.999999948107,0.000168257053884,-0.000274002201092,1.99805722826e-05,1793196658464659968
+37,0.616666667,BASELINE,764.486488168,742.486488168,711.513511832,674.513511832,664,633.486488168,877,784.513511832,801.486488168,650,629.486488168,651.486488168,0.400949019584,0.00454501393855,0.0598378546538,0.999999948001,0.000170404161598,-0.000273079280138,1.96938872938e-05,1793196658481326336
+38,0.633333333,BASELINE,764.937436012,743,711.062563988,674,664,633.937436012,877,784,801.937436012,650,630,651.937436012,0.400950066921,0.00454618814404,0.0598383264172,0.99999994784,0.000172788816945,-0.000272188069119,1.94479969095e-05,1793196658497992704
+39,0.650000000,BASELINE,764.348150781,743,711.651849219,674,664,633.348150781,877,784,801.348150781,650,630,651.348150781,0.400948890782,0.004545083807,0.0598371552307,0.999999947654,0.000171301272777,-0.000273773304498,1.99171566736e-05,1793196658514659584
+40,0.666666667,BASELINE,764.23721794,743,712,674,664,633,877.23721794,784,801,650,630,651,0.400947819487,0.00454454265395,0.059836797883,0.999999947634,0.000170241706249,-0.000274490761372,2.00893608498e-05,1793196658531326208
+41,0.683333333,BASELINE,764.816931954,743,712,674,664,633,877.816931954,784,801,650,630,651,0.400946899569,0.00454481462795,0.0598376155583,0.999999947862,0.00016980005539,-0.000273955316583,1.98328195053e-05,1793196658547993088
+42,0.700000000,BASELINE,764.606463043,743,712,674,664,633.393536957,877.606463043,784,801.393536957,650,630,651,0.40094770611,0.00454528005092,0.0598382291575,0.999999947903,0.000170631501029,-0.000273284962419,1.98720631116e-05,1793196658564659456
+43,0.716666667,BASELINE,764.031292989,743,712,674,664,633.968707011,877.031292989,784,801.968707011,650,630,651,0.400949309482,0.00454583475836,0.0598387485673,0.999999947856,0.000172050531801,-0.000272552342177,2.00478233492e-05,1793196658581325824
+44,0.733333333,BASELINE,764,743,711.455116596,674,664,633.455116596,877,784.544883404,801.455116596,650,630,651,0.400948378773,0.00454468278487,0.0598377205776,0.999999947772,0.00017072837993,-0.000273694163234,1.99775078109e-05,1793196658597992704
+45,0.750000000,BASELINE,764.124655787,743,711.124655787,674,664,633,877.124655787,784.875344213,801,650,630,651,0.400947706879,0.0045437615603,0.059836953137,0.99999994773,0.000169648908625,-0.000274521114365,1.9951306401e-05,1793196658614659584
+46,0.766666667,BASELINE,764.717722887,743,711.717722887,674,664,633,877.717722887,784.282277113,801,650,630,651,0.400948555391,0.00454407639601,0.0598374992975,0.999999947862,0.000170073994626,-0.000273759638635,2.01440721955e-05,1793196658631325952
+47,0.783333333,BASELINE,765,743,712,674.301499819,664,633,877.698500181,784,801,650.301499819,630,651,0.400948613959,0.00454382879095,0.0598376044834,0.999999947781,0.000170633722693,-0.000273696759891,2.03000009118e-05,1793196658647992576
+48,0.800000000,BASELINE,765,743,712,674.876838959,664,633,877.123161041,784,801,650.876838959,630,651,0.400947955056,0.00454307034517,0.0598373091512,0.999999947505,0.000171315740408,-0.000274268386659,2.04224721162e-05,1793196658664659200
+49,0.816666667,BASELINE,765,743,712,674.547806572,663.547806572,633,877,784,801,650.547806572,630,651,0.400948847521,0.00454390093534,0.0598382655095,0.999999947671,0.000172438940715,-0.000272963452551,2.03587128255e-05,1793196658681325824
+50,0.833333333,BASELINE,765,743,712,674,663.027606384,633.027606384,876.972393616,784,801.027606384,650.027606384,630,651,0.400950018479,0.00454508202168,0.0598394455479,0.999999947923,0.000173573225546,-0.000271323366674,2.02523694872e-05,1793196658697992704
+51,0.850000000,BASELINE,765,743,712,674,663.604099927,633.604099927,876.395900073,784,801.604099927,650.604099927,630,651,0.400948325218,0.0045446264901,0.0598382944197,0.999999947595,0.000172538683509,-0.000273182071878,2.030787218e-05,1793196658714659328
+52,0.866666667,BASELINE,764.814175586,743,711.814175586,674,664,633.814175586,876.185824414,784,801.814175586,650.814175586,630,651,0.400947406399,0.0045441733866,0.059837660692,0.999999947536,0.000171255899305,-0.000274200477452,2.03416294471e-05,1793196658731325952
+53,0.883333333,BASELINE,764.220983772,743,711.220983772,674,664,633.220983772,876.779016228,784,801.220983772,650.220983772,630,651,0.400948185327,0.00454372560605,0.0598381612184,0.999999948073,0.000169428914513,-0.000273376763957,2.03277160235e-05,1793196658747992320
+54,0.900000000,BASELINE,764,743,711,674,664,633,877,784,801,650,630,651,0.40094840553,0.00454394232119,0.0598382417235,0.999999948118,0.000169369481303,-0.00027325719262,2.01971522682e-05,1793196658764659200
+55,0.916666667,BASELINE,764,743,711,674,664,633,877,784,801,650,630,651,0.400948294012,0.00454455355428,0.0598380728577,0.999999947873,0.000170359461752,-0.000273555677769,1.9997332009e-05,1793196658781325824
+56,0.933333333,BASELINE,764,743,711,674,664.511377108,633.511377108,877,784,801,650,630,651,0.40095022478,0.00454518826411,0.0598387691474,0.999999948233,0.000171692594093,-0.000271398314072,1.99479572399e-05,1793196658797992448
+57,0.950000000,BASELINE,764,743,711.087724329,674,664.912275671,634,877.087724329,784.087724329,801,650,630,651,0.400952048478,0.00454559301523,0.0598394872508,0.999999948669,0.000172507157517,-0.000269268762541,1.9934861746e-05,1793196658814659072
+58,0.966666667,BASELINE,764,743,711.676599243,674,664.323400757,634,877.676599243,784.676599243,801,650,630,651,0.400951828234,0.00454466759618,0.0598397232307,0.999999949143,0.000170118590585,-0.00026902040237,2.00235135504e-05,1793196658831325696
+59,0.983333333,BASELINE,764,743,712,673.737663216,664,634,877.737663216,784.737663216,800.737663216,650,630,651,0.400951211538,0.00454420481454,0.0598397566155,0.999999949207,0.000169574845818,-0.000269122841935,2.00605282919e-05,1793196658847992320
+60,1.000000000,BASELINE,764,743,712,673.155747549,664,634,877.155747549,784.155747549,800.155747549,650,630,651,0.400950111884,0.00454430561805,0.0598395431989,0.999999948775,0.000171278464598,-0.000269652625995,2.00346387333e-05,1793196658864658944
+61,1.016666667,BASELINE,764,743,711.579605926,673.420394074,664,633.579605926,877,784.420394074,800.420394074,650,630,651,0.400949684553,0.00454335584545,0.0598389748396,0.999999948846,0.000168932277877,-0.00027086965538,1.99824879754e-05,1793196658881325568
+62,1.033333333,BASELINE,764,743,711.005574523,673.994425477,664,633.005574523,877,784.994425477,800.994425477,650,630,651,0.400949502928,0.00454202212901,0.059838276763,0.999999949088,0.000165106048055,-0.000272337845587,1.9920739794e-05,1793196658897992192
+63,1.050000000,BASELINE,764,743,711.577012191,674,664,633.577012191,877,784.422987809,801.577012191,650.577012191,630,651,0.400948718335,0.0045427903761,0.059838543594,0.999999948635,0.000167309738781,-0.000272655021591,1.99294135884e-05,1793196658914659072
+64,1.066666667,BASELINE,764.160366704,743,711.839633296,674,664,634,877,784,801.839633296,650.839633296,630,651,0.40094854189,0.00454375131729,0.0598388470633,0.999999948315,0.000169438666563,-0.000272515612324,1.99122768992e-05,1793196658931325696
+65,1.083333333,BASELINE,764.745532792,743,711.254467208,674,664,634,877,784,801.254467208,650.254467208,630,651,0.400949992046,0.00454516808913,0.0598392225198,0.999999948373,0.000171212916841,-0.000271196642134,1.98249408593e-05,1793196658947992320
+66,1.100000000,BASELINE,764.673413693,743,711.326586307,674,664,634,877.326586307,784,801,650,630,651,0.400951282829,0.00454527543318,0.0598398684498,0.999999948603,0.000171762931853,-0.000269990286686,1.99010086881e-05,1793196658964658944
+67,1.116666667,BASELINE,764.095524761,743,711.904475239,674,664,634,877.904475239,784,801,650,630,651,0.400952450976,0.00454437519468,0.0598407225046,0.999999948968,0.000171370918506,-0.000268870586437,2.01028130269e-05,1793196658981325568
+68,1.133333333,BASELINE,764,743.477048989,711.522951011,674,664,634,878,784,801,650,630,651,0.400950469081,0.00454416965961,0.0598393301325,0.999999948352,0.000171339979969,-0.000271156720395,2.02934381307e-05,1793196658997993216
+69,1.150000000,BASELINE,764,743.951135478,711,674,664.048864522,634,877.951135478,784,801,650,630,651,0.40094821028,0.00454403212824,0.0598377330658,0.999999947685,0.000171120713207,-0.000273732374391,2.04397813155e-05,1793196659014660864
+70,1.166666667,BASELINE,764,743.376150915,711,674,664.623849085,634,877.376150915,784,801,650,630,651,0.400949686654,0.00454314552612,0.0598387219493,0.999999948631,0.000168103841777,-0.0002721632736,2.01331813917e-05,1793196659031326720
+71,1.183333333,BASELINE,764,743,711.20613859,674,664.79386141,634,877.412277179,784,801,650,629.79386141,651,0.40095048595,0.00454352759995,0.0598393118395,0.999999948933,0.000167882649006,-0.000271210947928,1.98279490492e-05,1793196659047992832
+72,1.200000000,BASELINE,764,743,711.802247591,674,664.197752409,634,878.604495182,784,801,650,629.197752409,651,0.400950004359,0.00454630973895,0.0598391469194,0.999999948018,0.00017295028571,-0.000271425429457,1.95253038264e-05,1793196659064659456
+73,1.216666667,BASELINE,764,743,712,674,664,634,878.230937172,784,801,650,629.384531414,651,0.400949799176,0.00454619666223,0.0598390578097,0.999999948041,0.000172464040503,-0.00027164563899,1.95904670637e-05,1793196659081326080
+74,1.233333333,BASELINE,764,743,712,674,664,634,877.080095801,784,801,650,629.9599521,651,0.400949731207,0.00454464634094,0.0598390063337,0.999999948529,0.000169220734227,-0.000271868692009,1.98382179742e-05,1793196659097992704
+75,1.250000000,BASELINE,764.534780882,743,712,674,664,633.465219118,877,784,801,650,630,651,0.400946838478,0.00454466149983,0.0598371945699,0.999999947484,0.000170237063148,-0.000275055052723,1.99183625333e-05,1793196659114659584
+76,1.266666667,BASELINE,764.887111778,743,712,674,664,633.112888222,877,784,801,650.112888222,630,651.112888222,0.400945088749,0.00454452267193,0.0598361306017,0.999999946907,0.000170649732081,-0.000276887984288,1.99418960532e-05,1793196659131326720
+77,1.283333333,BASELINE,764.294895575,743,712,674,664,633.705104425,877,784,801,650.705104425,630,651.705104425,0.400949089443,0.00454323278229,0.0598388009059,0.999999948834,0.000167146291482,-0.0002720329952,1.97782918966e-05,1793196659147993088
+78,1.300000000,BASELINE,764,743,712,674,664,634,877.289441862,784,801.289441862,650.710558138,630,651.710558138,0.400950315509,0.00454259345211,0.0598395533414,0.999999949374,0.000166104328683,-0.000270683707682,1.98060590294e-05,1793196659164659712
+79,1.316666667,BASELINE,764,743,712,674,664,634,877.865964759,784,801.865964759,650.134035241,630,651.134035241,0.400948789578,0.00454259937519,0.059838403551,0.999999948558,0.000167503766905,-0.000272811527845,2.00236365456e-05,1793196659181326080
+80,1.333333333,BASELINE,764.441766528,743,711.558233472,674,664,633.558233472,878,784.441766528,801.558233472,650,630,651,0.400947911347,0.0045438574291,0.0598380241,0.999999948101,0.000169044653231,-0.000273538661415,1.99706788733e-05,1793196659197992704
+81,1.350000000,BASELINE,764.982229528,743,711.017770472,674,664,633,877.982229528,784.982229528,801,650,630,651,0.400947264519,0.00454543977956,0.0598378890892,0.999999947765,0.000170598371221,-0.000273811503816,1.98343347191e-05,1793196659214659328
+82,1.366666667,BASELINE,764.392693727,743,711.607306273,674,664,633,877.392693727,784.392693727,801,650,630,651,0.40094775045,0.00454525281794,0.0598381110391,0.999999947858,0.00017118635834,-0.000273118931873,1.96517273927e-05,1793196659231326208
+83,1.383333333,BASELINE,764,743.193354819,711.806645181,674,664,633.193354819,877.193354819,784,801,650.193354819,630,651,0.400948008921,0.00454548535373,0.0598380519942,0.99999994777,0.000171882407993,-0.000273011726789,1.95282537283e-05,1793196659247992576
+84,1.400000000,BASELINE,764,743.772446505,711.227553495,674,664,633.772446505,877.772446505,784,801,650.772446505,630,651,0.400947813621,0.00454655477383,0.0598374323737,0.999999947323,0.000172794039154,-0.000274072310313,1.95227498531e-05,1793196659264659456
+85,1.416666667,BASELINE,764,743.650271602,711.349728398,674,664,634,877.650271602,784.349728398,801,650.650271602,630,651,0.400948669688,0.00454571075164,0.0598377605485,0.999999947586,0.000172109508747,-0.000273533783017,1.96387781114e-05,1793196659281326336
+86,1.433333333,BASELINE,764,743.074161238,711.925838762,674,664,634,877.074161238,784.925838762,801,650.074161238,630,651,0.400950206315,0.00454362814302,0.0598387022388,0.999999948305,0.000170391770242,-0.000271960138539,1.98334750835e-05,1793196659297992960
+87,1.450000000,BASELINE,764,743,712,674,664,633.489015361,877.510984639,784.489015361,801,650,630,651,0.400949393301,0.0045445071561,0.0598383656507,0.999999948264,0.000169823376122,-0.000272468878118,1.98242270151e-05,1793196659314659840
+88,1.466666667,BASELINE,764,743,712,674,664,633.096257935,877.903742065,784,801,650,630,651,0.400948460843,0.00454545001891,0.0598380428889,0.999999948154,0.000169520073609,-0.000273060651638,1.97984204007e-05,1793196659331326464
+89,1.483333333,BASELINE,764,743,712,674,664,633.675472571,877.324527429,784,801,650,630,651,0.400948670866,0.00454451781162,0.0598387370743,0.99999994827,0.000169694821045,-0.000272525379596,1.98407169833e-05,1793196659347993088
+90,1.500000000,BASELINE,764.254463983,743.254463983,712,674.254463983,664,633.745536017,877,784.254463983,801.254463983,650,630,651,0.400948488062,0.00454430510485,0.0598388529278,0.999999948089,0.000170674894213,-0.000272577407705,1.9827103877e-05,1793196659364659456
+91,1.516666667,BASELINE,764.833170913,743.833170913,712,674.833170913,664,633.166829087,877,784.833170913,801.833170913,650,630,651,0.40094780471,0.00454500919971,0.0598382318595,0.999999947528,0.000172681129048,-0.000273377785109,1.97422495563e-05,1793196659381326336
+92,1.533333333,BASELINE,764.591620913,743.591620913,711.591620913,674.591620913,664,633,877.408379087,785,801.591620913,650,630,651.408379087,0.400947935338,0.00454587559553,0.0598389393205,0.999999947583,0.000173607538976,-0.000272585339271,1.97930013266e-05,1793196659397992960
+93,1.550000000,BASELINE,764.017829846,743.017829846,711.017829846,674.017829846,664,633,877.982170154,785,801.017829846,650,630,651.982170154,0.400948395663,0.00454680773064,0.059840184896,0.999999947887,0.0001740965712,-0.000271147728125,1.98986796832e-05,1793196659414659840
+94,1.566666667,BASELINE,764.570964214,743,711.570964214,674,664,633,878,784.429035786,801,650.570964214,630,652,0.400949614217,0.00454451698283,0.0598400403092,0.99999994864,0.000170675463554,-0.000270535469501,2.00042667178e-05,1793196659431326464
+95,1.583333333,BASELINE,764.842527152,743,711.842527152,674,664,633,877.842527152,784,801,650.842527152,630,651.842527152,0.400950525984,0.0045430168479,0.0598399029492,0.999999949127,0.00016863291789,-0.000270009101754,2.00884327879e-05,1793196659447993088
+96,1.600000000,BASELINE,764.263425807,743,711.263425807,674,664,633,877.263425807,784,801,650.263425807,630,651.263425807,0.400950551228,0.00454391029305,0.059839904308,0.999999948889,0.000170617179708,-0.00026964183324,2.01152527785e-05,1793196659464659968
+97,1.616666667,BASELINE,764.314335026,743,711.314335026,674,664,633,877.314335026,784,801.314335026,650,630,651.314335026,0.400950405767,0.00454424244004,0.0598396624085,0.999999948756,0.00017076498427,-0.000270045653076,2.00434028665e-05,1793196659481326592
+98,1.633333333,BASELINE,764.890977191,743,711.890977191,674,664,633,877.890977191,784,801.890977191,650,630,651.890977191,0.400950117855,0.0045441061934,0.0598392175142,0.999999948712,0.000169380296917,-0.000271092932815,1.98892146269e-05,1793196659497992704
+99,1.650000000,BASELINE,764.533630867,743,711.533630867,673.533630867,664,633.466369133,877.533630867,784,801.533630867,650,630,651.533630867,0.400949642358,0.00454418774822,0.0598387195533,0.999999948571,0.000169261217865,-0.000271702026066,1.96774718285e-05,1793196659514659584
+100,1.666666667,BASELINE,764.042556161,743,711.042556161,673.042556161,664,634,877.042556161,784,801.042556161,650,629.957443839,651,0.400949130608,0.00454426910598,0.0598382330643,0.999999948423,0.000169326897085,-0.000272218216569,1.94858696351e-05,1793196659531326208
+101,1.683333333,BASELINE,764.632725228,743,711.632725228,673.632725228,664,634,877.632725228,784,801.632725228,650,629.367274772,651,0.400948715132,0.00454369450099,0.0598380534001,0.999999948473,0.000167973091831,-0.000272853538559,1.97261064181e-05,1793196659547992832
+102,1.700000000,BASELINE,764.563474075,743,712,674,664,633.781737037,877.781737037,784,802,650,629.218262963,651,0.400948467193,0.004543498953,0.0598380418909,0.999999948504,0.00016737137287,-0.000273103347868,1.98551192958e-05,1793196659564659712
+103,1.716666667,BASELINE,763.407661305,743,712,674,664,633.203830652,877.203830652,784,802,650,629.796169348,651,0.400948495312,0.00454392799733,0.0598383074596,0.999999948503,0.00016800890639,-0.000272717927493,1.98008626407e-05,1793196659581326336
+104,1.733333333,BASELINE,763.744550002,743,711.627724999,674,664,633,877,784,801.627724999,650,630,651,0.400948816059,0.00454433964898,0.0598385233092,0.999999948422,0.000169720679445,-0.000271953593492,1.9797250259e-05,1793196659597993472
+105,1.750000000,BASELINE,764.89479901,743,711.052600495,674,664,633,877,784,801.052600495,650,630,651,0.400949296255,0.00454474182354,0.0598387120673,0.999999948293,0.000172017796604,-0.000270982792622,1.98212335086e-05,1793196659614660608
+106,1.766666667,BASELINE,765,743,711,673.478807728,663.478807728,633.521192272,877,784,801,650,630,651,0.400948713964,0.00454382965242,0.0598384914939,0.999999948296,0.000170162330327,-0.000272143812461,1.97679151753e-05,1793196659631326976
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,712,674,664,633,877,784,801,650,630,651,0.400948613275,0.0045441208522,0.0598384871725,0.99999994852,0.000168034175123,-0.000272662597398,1.95088419116e-05,1793196659674135552
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,743,712,674,664.592978098,633.592978098,877,784,801,650.592978098,630,651,0.40094782931,0.0045450420454,0.0598378516214,0.999999948111,0.000169827155587,-0.00027304701036,1.95601931398e-05,1793196659690802432
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,743,711.8191209,674,664.8191209,633.8191209,877,784,801,650.8191209,630,651,0.400947572479,0.00454530929045,0.0598376289565,0.999999947927,0.000170805639889,-0.000273107303248,1.96099146466e-05,1793196659707469568
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,743,711.242332562,674,664.242332562,633.242332562,877,784,801,650.242332562,630,651,0.400948469445,0.0045441451701,0.0598383100194,0.99999994824,0.000170001350549,-0.000272458160288,1.96560690195e-05,1793196659724136192
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,711,674,664,633,877.341498248,784,801,650,629.658501752,651,0.400948393254,0.00454416610581,0.0598379652278,0.999999948203,0.000169172959868,-0.000273121127172,1.94875315438e-05,1793196659740802816
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,711,674,664,633,877.930431703,784,801,650,629.069568297,651,0.400947611956,0.00454504568315,0.0598368771455,0.99999994791,0.00016832710642,-0.000274734793467,1.91634374198e-05,1793196659757469184
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.489324898,743,711,674,664,633,877.489324898,784,801.510675102,650,629.510675102,651,0.400950263621,0.00454517678949,0.0598391163307,0.999999948789,0.000169012763141,-0.000271073682747,1.93716180616e-05,1793196659774135808
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.089541939,743,711,674,664,633,877,784,801.910458061,650,630,651,0.400953180866,0.00454495352504,0.0598414885653,0.9999999497,0.000169731515876,-0.000267216223173,1.96899225494e-05,1793196659790802432
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.667250036,743,711,674,664,633,877,784,801.332749964,650,630,651,0.400955039033,0.00454334487755,0.0598421563775,0.999999950013,0.000169512295652,-0.000266140284277,2.02199009969e-05,1793196659807469056
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.243107678,743,711.243107678,674.243107678,664,633,877,784,801,650,630,651,0.400961861121,0.00454259183387,0.0598452506218,0.99999995151,0.000168729355329,-0.000260952925092,2.03449864362e-05,1793196659824135680
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.816451623,743,711.816451623,674.816451623,664,633,877,784,801,650,630,651,0.400975426174,0.0045430010383,0.0598516409192,0.999999954532,0.000167180660413,-0.000250180632988,1.9920067171e-05,1793196659840802560
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.598212186,743,712,674.598212186,664,633.401787814,877,784,801,650,630,651,0.401005948671,0.00454284089784,0.0598638165244,0.999999959906,0.000167126674188,-0.000227715954427,2.00758009193e-05,1793196659857469184
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.007228989,743,712,674.007228989,664,633.992771011,877,784,801,650,630,651,0.401044456156,0.00454241266211,0.0598787163379,0.999999965766,0.000167776521869,-0.000199745519104,2.05049547301e-05,1793196659874136064
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,743,712,674,664,633.429499154,877,784,801,650,630,651,0.401108452505,0.00454226091256,0.0598978920432,0.999999972073,0.000168021280939,-0.00016489934423,2.07477900117e-05,1793196659890802432
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,743,712,674,664,633.146421449,877,784,801.146421449,650.146421449,630,651,0.401174480089,0.00454186227426,0.0599147922455,0.999999976479,0.00016774411578,-0.000135878371976,2.10036847714e-05,1793196659907469056
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,743,712,674,664,633.717570195,877,784,801.717570195,650.717570195,630,651,0.401245484135,0.00454073754957,0.0599249382642,0.999999978312,0.000165967547633,-0.0001240016468,2.1304154328e-05,1793196659924135680
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.299951916,743,712,674,664,634,877.299951916,784,801.700048084,650.700048084,630,651,0.401323601584,0.00454086082425,0.0599309652579,0.999999979608,0.000164585150759,-0.00011517939059,2.07305572233e-05,1793196659940802304
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.893321889,743,712,674,664,634,877.893321889,784,801.106678111,650.106678111,630,651,0.401408677481,0.00454220491319,0.0599329629507,0.999999980455,0.00016358833904,-0.000109345068513,1.93019332513e-05,1793196659957468928
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.52520336,743,712,674,664,633.52520336,877.52520336,784,801,650,630,651,0.401517143769,0.00454180250319,0.0599363662658,0.999999981759,0.000160002730505,-0.000102761618493,1.79412740146e-05,1793196659974135808
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,743,712,674,664,633,877.053674653,784,801,650,630,651,0.401633506459,0.00454090907381,0.0599398719642,0.999999983104,0.000155842880101,-9.60780607295e-05,1.65782417875e-05,1793196659990802944
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,743,712,674,664,633,877.632656244,784,801,650,630,651,0.401776973475,0.00453895666742,0.0599413643518,0.999999984341,0.000151616450895,-9.00217803355e-05,1.50461882651e-05,1793196660007469568
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.209368276,743,712,674,664,633,877.790631724,784,801,650,629.790631724,651,0.401928724586,0.00453750723675,0.0599425150245,0.999999985474,0.000147579669547,-8.42206021328e-05,1.33528351454e-05,1793196660024136192
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.782140931,743,712,674,664,633,877.217859069,784,801,650,629.217859069,651,0.402094854539,0.00453693083053,0.0599430725761,0.999999986476,0.000143872063932,-7.88622101434e-05,1.13795115003e-05,1793196660040802816
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,712,674,664,633,877.365399744,784,801,650,629.365399744,651,0.402281696966,0.00453758739893,0.0599435592666,0.999999987332,0.000140817342944,-7.37270460086e-05,8.46297748945e-06,1793196660057469184
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,743,712,674,664,633,877.955095407,784,801,650,629.955095407,651,0.402481253495,0.00453900081283,0.0599440024599,0.999999988081,0.000138163386398,-6.87289068918e-05,4.96746577456e-06,1793196660074135808
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.465105062,743,711.465105062,674,664,633,877.465105062,784,801,650,630,651,0.402721413432,0.00453567448039,0.0599437637206,0.999999989705,0.000128059406291,-6.46935198224e-05,2.21049109661e-06,1793196660090802432
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,743,711,674,663.886843217,633.113156783,877,784,801.113156783,650,629.886843217,651,0.402973565963,0.00453270370977,0.0599444665706,0.999999991247,0.000118084393338,-5.96733605095e-05,-6.30972165217e-07,1793196660107469056
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,743,711,674,663.311529974,633.688470026,877,784,801.688470026,650,629.311529974,651,0.403261030038,0.00453278072944,0.0599492446398,0.99999999255,0.000111144102671,-5.03070764782e-05,-4.06612877256e-06,1793196660124135680
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743,711,674,663.263329396,633.736670604,877,784,801.736670604,650,629.263329396,651,0.403553799361,0.00453114621675,0.0599468185786,0.99999999325,0.000102598195298,-5.40002989392e-05,-7.5645472221e-06,1793196660140802048
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,743,711,674,663.837652704,633.162347296,877,784,801.162347296,650,629.837652704,651,0.403852834204,0.00452749037199,0.059935884387,0.999999993019,9.21560434223e-05,-7.31168931995e-05,-1.11376781553e-05,1793196660157468672
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,743,711,674,664,633,877,784,801,650,630,651,0.404174458768,0.00452504511466,0.0599239913017,0.999999992273,7.96966817099e-05,-9.41961054488e-05,-1.51530764045e-05,1793196660174135552
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,743,711,674,664,633,877,784,801,650,630,651,0.404506720362,0.0045226687675,0.0599117968994,0.999999990915,6.60627183469e-05,-0.000115907577814,-1.92476362811e-05,1793196660190802176
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,743,711,674,664,633,877,784,801,650,630,651,0.404893099142,0.0045075625786,0.0599019901682,0.999999990095,4.05867306744e-05,-0.000133216728167,-2.03753792328e-05,1793196660207468800
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,743,711,673.825801725,664,633,877,784,801,650,630,651,0.405305153693,0.00449103723586,0.0598991158531,0.999999989992,1.39960354755e-05,-0.000139161135744,-2.13129460385e-05,1793196660224135680
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,743,711,673.251980175,664,633,877,784,801,650,630,651,0.405776110244,0.004471256255,0.0599121449969,0.999999992563,-1.51518747801e-05,-0.000119034010106,-2.18142350592e-05,1793196660240802304
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,743,711,673.330258166,664,633.330258166,877.330258166,784,801,650.330258166,630,651,0.406276475276,0.00446752306482,0.0599362665211,0.999999996368,-2.61742676349e-05,-7.70518292763e-05,-2.53290081651e-05,1793196660257468672
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,743,711,673.919086353,664,633.919086353,877.919086353,784,801,650.919086353,630,651,0.406799865231,0.00447635421756,0.0599690726375,0.999999999087,-2.30055976621e-05,-1.79586020008e-05,-3.12031374371e-05,1793196660274135296
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.499910303,743,711,674,664,633.500089697,877.500089697,784,801,650.500089697,630,651,0.407347142411,0.00447111043545,0.0599922631867,0.999999998639,-3.67279063738e-05,1.38816003498e-05,-3.43448666414e-05,1793196660290802176
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.921096573,743,711,674,664.078903427,633,877.078903427,784,801,650,629.921096573,651,0.407895685772,0.00446440227706,0.0600086677332,0.99999999743,-5.23389813617e-05,3.17047061454e-05,-3.73455579252e-05,1793196660307468544
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.345600628,743,711,674,664.654399372,633,877.654399372,784,801,650,629.345600628,651,0.408428248547,0.00446258958824,0.0599920041351,0.999999997067,-6.29021476702e-05,-1.13668547903e-05,-4.21981567535e-05,1793196660324135424
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.234347012,743,711.234347012,674,664.765652988,633.234347012,877.765652988,784,801.234347012,650,629.234347012,651,0.408984846134,0.00446247944084,0.0599764441366,0.999999995312,-6.95370750122e-05,-4.79642411719e-05,-4.73310427745e-05,1793196660340802048
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.820986829,743,711.820986829,674,664.179013171,633.820986829,877.179013171,784,801.820986829,650,629.820986829,651,0.409577575115,0.00446492871638,0.0599625431756,0.999999993333,-7.02666979218e-05,-7.48290275907e-05,-5.2885283055e-05,1793196660357468672
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.597481843,743,712,674,664.402518157,633.597481843,877.402518157,784,801.597481843,650,630,651,0.410235076463,0.00446790703429,0.0599656994171,0.999999997689,1.20198040378e-05,-5.67602185029e-05,-3.54238192106e-05,1793196660374135296
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.018193972,743,712,674,664.981806028,633.018193972,877.981806028,784,801.018193972,650,630,651,0.410921023202,0.00447111768617,0.0599763464933,0.99999999124,0.000130763634164,-1.89583880497e-05,-7.85478728994e-06,1793196660390801920
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.561340557,743.561340557,712,673.438659443,664.438659443,633,878,784.561340557,801,650,630,651,0.411617196407,0.00447223228133,0.0599811087972,0.999999992499,0.000120594722579,-1.56406263542e-05,-1.46720532062e-05,1793196660407468544
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,743.860484863,711.860484863,673.279030273,664,633.139515137,878,784.860484863,801.139515137,650,630,651,0.41230535305,0.00447071083589,0.059976103552,0.999999993754,0.000105376504017,-3.04372316598e-05,-2.14956894725e-05,1793196660424135424
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,743.286569693,711.286569693,674.426860614,664,633.713430307,878,784.286569693,801.713430307,650,630,651,0.412967516378,0.00446119332983,0.0599412798077,0.99999999105,8.74519237371e-05,-9.81538702331e-05,-2.48674293715e-05,1793196660440802048
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,743,711,674.705531702,664,633.705531702,878,784,801.411063403,650.294468298,630,651,0.413668077133,0.00445736296766,0.0599154836098,0.999999988997,2.60203798493e-06,-0.000145748700004,-2.74984250687e-05,1793196660457468928
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,743,711,674.117390049,664,633.117390049,878,784,800.234780097,650.882609951,630,651,0.414406931738,0.00445920439529,0.0598986905834,0.999999973456,-0.000148992484706,-0.000173276047667,-2.93906762862e-05,1793196660474135552
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.536167683,743,711.463832317,674.463832317,664,633,878,784,800.463832317,650.536167683,630,651,0.415254062058,0.00445601813877,0.0599407839244,0.999999980284,-0.000171137786837,-9.62127955009e-05,-2.97765902957e-05,1793196660490801920
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.043131408,743,712,674.956868592,664.043131408,633,878,784,801,650,630,651,0.416124387834,0.00445179334775,0.059994752904,0.999999986612,-0.000160891801171,1.20232685641e-06,-2.98095757513e-05,1793196660507468544
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.619982949,743,712,674.380017051,664.619982949,633,878,784,801,650,630,651,0.416947630603,0.00445023156561,0.0600139663531,0.999999988021,-0.000149273665423,2.77178093729e-05,-3.01234923944e-05,1793196660524135168
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,712,674.19615933,665,633.19615933,878.19615933,784,801,650,630,651,0.417767564894,0.00444887083362,0.0600174624173,0.999999989663,-0.00013674202901,3.18722423383e-05,-3.09646926946e-05,1793196660540801792
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743,712,674.771032181,665,633.771032181,878.771032181,784,801,650,630,651,0.418581111644,0.00444789825767,0.0599906138307,0.999999991939,-0.000122446750194,-7.14451706245e-06,-3.28238891755e-05,1793196660557468416
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,743.354854094,712,674.645145906,665.354854094,633.645145906,878.645145906,784,801,650,630,651,0.419407742464,0.00444509453259,0.0599636170746,0.999999991752,-0.000113231130958,-4.96909985767e-05,-3.47234603625e-05,1793196660574135040
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743.944599711,712,674.055400289,665.944599711,633.055400289,878.055400289,784,801,650,630,651,0.4202430341,0.00444107869976,0.0599365222406,0.999999989091,-0.000107377933523,-9.45739368062e-05,-3.66497570109e-05,1793196660590801664
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.473284751,743.473284751,711.473284751,674.526715249,664.946569501,633,878,784,801,650,630,651,0.421060767907,0.00444190347584,0.059904002556,0.999999983387,-8.97527403589e-05,-0.000154277502417,-3.70066969459e-05,1793196660607468544
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,711,675,664.106494744,633,878.106494744,784,800.893505256,650,630,650.893505256,0.421889978834,0.00444282978973,0.0598781004893,0.999999976338,-7.31255248764e-05,-0.000201438526253,-3.74073574324e-05,1793196660624135168
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,711,675,664.679506109,633,878.679506109,784,800.320493891,650,630,650.320493891,0.422777441249,0.00444200239267,0.0598836517905,0.999999979588,-6.62167278121e-05,-0.00018692375243,-3.87123150163e-05,1793196660640802304
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.253457344,743,711.253457344,675,665,633,879,784,800.506914688,650,630,650.253457344,0.423703419121,0.00443957496536,0.0599172756711,0.999999988933,-6.12065899659e-05,-0.000129942354846,-3.87626276034e-05,1793196660657469440
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.828601536,743,711.828601536,675,665,633,879,784,801.657203072,650,630,650.828601536,0.424678280745,0.00443511678721,0.0599865291358,0.999999997408,-5.86062198368e-05,-1.90625183167e-05,-3.72205506073e-05,1793196660674135808
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633,878.585346991,784,801.585346991,650,630,650.585346991,0.425610440246,0.00443361552129,0.0600147732215,0.999999995695,-8.03344341687e-05,2.74833920254e-05,-3.74276777192e-05,1793196660690802176
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.994774074,743,712,675,665,633.005225926,878,784,801,650,630,650.005225926,0.426524243412,0.00443338664468,0.0600252925689,0.999999991911,-0.000112069326368,4.63062053929e-05,-3.83853450462e-05,1793196660707468800
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.416148493,743,712,675,665,633.583851507,878,784,801,650,630,650.583851507,0.427412992853,0.00443503604747,0.0600012052666,0.999999993101,-0.000108549328638,1.99229277436e-05,-4.02171294488e-05,1793196660724136192
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.161590413,743,712,675.161590413,665,633.838409587,878.161590413,784.161590413,801,650,630,651,0.428291106588,0.00443598028914,0.0599792268615,0.999999993746,-0.000103635302853,-5.4946732287e-06,-4.16944394438e-05,1793196660740803328
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.737058266,743,712,675.737058266,665,633.262941734,878.737058266,784.737058266,801,650,630,651,0.42914197931,0.00443511841936,0.0599626499231,0.999999994176,-9.51507885857e-05,-2.84389093231e-05,-4.2263843035e-05,1793196660757469440
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743,712,675.680862536,664.680862536,633,879,784.680862536,801,650,630,651,0.42998497018,0.00443549071406,0.0599379981796,0.99999999261,-8.88228238211e-05,-7.0879824461e-05,-4.32097036067e-05,1793196660774135808
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743,712,675.093220955,664.093220955,633,879,784.093220955,801,650,630,651,0.430821329667,0.00443690136461,0.0599065527551,0.999999987043,-8.43092574062e-05,-0.000129724135434,-4.44722935473e-05,1793196660790802432
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743.490269234,712,675.490269234,664.490269234,633,878.509730766,784,801,650,630,651,0.431755423485,0.00443289184632,0.0599410688159,0.999999993349,-8.67377899606e-05,-6.12026063355e-05,-4.50833253889e-05,1793196660807468800
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.928208699,743.928208699,712,676,665.071791301,633,878.071791301,784,801,650,630,651,0.432695153646,0.0044281932278,0.0599839399474,0.999999994736,-8.96119318097e-05,2.11774298712e-05,-4.52789905227e-05,1793196660824135424
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.354966706,743.354966706,712,676,665.645033294,633,878.645033294,784,801,650,630,651,0.433545539836,0.0044258195161,0.059998301085,0.999999994787,-8.64561018776e-05,3.26208365959e-05,-4.3431465478e-05,1793196660840802048
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.219457896,743,712,675.780542104,666,633.219457896,879,784.219457896,801,650,630,651,0.434373624731,0.00442399394468,0.0599942001684,0.999999995312,-8.48150542379e-05,1.79793232212e-05,-4.31095078762e-05,1793196660857468672
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.79580579,743,712,675.20419421,666,633.79580579,879,784.79580579,801,650,630,651,0.435165442624,0.00442305977749,0.0599600756251,0.999999994545,-8.56373971123e-05,-3.90823847633e-05,-4.52684802653e-05,1793196660874135040
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.619952709,743.380047291,712,675.380047291,665.619952709,633.619952709,879,784.619952709,801,650,630,651,0.435953615614,0.00442123212595,0.0599338007672,0.999999991668,-8.65593837218e-05,-8.36660123133e-05,-4.65955165012e-05,1793196660890801920
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.031380159,743.968619841,712,675.968619841,665.031380159,633.031380159,879,784.031380159,801,650,630,651,0.436739788663,0.00441891423534,0.0599118328957,0.999999987673,-8.75360430486e-05,-0.000121403133303,-4.7466083884e-05,1793196660907468544
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.54844896,743.45155104,711.45155104,676,665,633.54844896,879,784.54844896,801,650,630,651,0.437491561933,0.004419317101,0.0599061269777,0.999999985892,-7.94396761362e-05,-0.000140932628874,-4.52085374731e-05,1793196660924135168
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.87315326,743.12684674,711.12684674,675.87315326,665,633.87315326,879,784.87315326,801.12684674,650,630,651,0.438242654139,0.00442075158942,0.0599036362569,0.999999984856,-7.0885552529e-05,-0.000152892546305,-4.34388182286e-05,1793196660940801792
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764.211601744,743,711.211601744,676,661,631,879,784,801.788398256,650,630,651,0.451046097739,0.00443534520727,0.0597463681494,0.999999921062,-7.14522926767e-05,-0.000388907704268,-3.90002091739e-05,1793196661907468800
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.370964538,743,711.370964538,676,661,631,878.629035462,784,802,650,630,651,0.451045650297,0.00443496123932,0.0597457133976,0.999999920676,-7.22774312206e-05,-0.000389770103128,-3.8758726518e-05,1793196661924135424
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.950642979,743,711.950642979,676,661,631,878.049357021,784,802,650,630,651,0.45104362516,0.0044352359945,0.0597440386957,0.99999991962,-7.25236582441e-05,-0.000392464687362,-3.83674186826e-05,1793196661940801792
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.472211221,743.527788779,712,676,661,631,878.527788779,783.472211221,802,650,630,651,0.451043333595,0.0044349502602,0.0597437238354,0.999999919408,-7.2213715924e-05,-0.000393037785098,-3.86101984118e-05,1793196661957469696
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,743.895521205,711.895521205,676,661,631,879,783.104478795,802,650,630,651,0.451043372567,0.00443499143367,0.0597436535369,0.999999919406,-7.14106142144e-05,-0.000393168000015,-3.88349683031e-05,1793196661974136832
+246,4.100000000,POSE1_TO_POSE2_PRESS,764,743.319823929,711.319823929,676,661,631,879,783.680176071,802,650,630,651,0.451044174633,0.00443674229377,0.0597441154456,0.99999991999,-6.86167327198e-05,-0.000392191253356,-3.87123440759e-05,1793196661990802432
+247,4.116666667,POSE1_TO_POSE2_PRESS,764,743,711.261666381,676.261666381,661,631,879,784,802,650,630,651,0.451044979639,0.00443700063214,0.0597446385224,0.999999920405,-6.81334785189e-05,-0.000391244017825,-3.8428418136e-05,1793196662007468544
+248,4.133333333,POSE1_TO_POSE2_PRESS,764,743,711.850397662,676.850397662,661,631,879,784,802,650,630,651,0.45104578832,0.00443539342168,0.059745238055,0.999999920612,-7.05383484302e-05,-0.000390333669035,-3.79428761821e-05,1793196662024135168
+249,4.150000000,HOLD_POSE2,765,743,712,676,661,631,879,784,801,650,630,651,0.45104371163,0.00443980840577,0.059743087742,0.999999919919,-6.56716678041e-05,-0.000392844413148,-3.90197045502e-05,1793196662057171456
+250,4.166666667,HOLD_POSE2,765,743,711.424954274,676,660.424954274,631,879,784,801.575045726,650.575045726,630,651,0.451045766463,0.00443780460222,0.0597450912261,0.999999920836,-6.55382607203e-05,-0.000390623793066,-3.80114498807e-05,1793196662073838080
+251,4.183333333,HOLD_POSE2,765,743,711,676,660,631,879,783.84999066,802,650.84999066,630,651,0.451046819466,0.00443639377387,0.059746176481,0.999999921182,-6.59007812457e-05,-0.000389732436478,-3.74484620084e-05,1793196662090504704
+252,4.200000000,HOLD_POSE2,765,743,711,676,660,631,879,783.275259395,802,650.275259395,630,651,0.451045035983,0.00443666183764,0.0597446619513,0.999999919914,-6.76674231688e-05,-0.000392604627367,-3.81461592132e-05,1793196662107171072
+253,4.216666667,HOLD_POSE2,764.69148765,743.30851235,711.30851235,676,660.30851235,631,878.69148765,783,801.69148765,650.30851235,630,650.69148765,0.451044448565,0.00443718951609,0.0597438643461,0.999999919436,-6.86726727431e-05,-0.000393629529079,-3.8314327619e-05,1793196662123837440
+254,4.233333333,HOLD_POSE2,764.099406386,743.900593614,711.900593614,676,660.900593614,631,878.099406386,783,801.099406386,650.900593614,630,650.099406386,0.451044960509,0.00443795581919,0.0597437257017,0.999999919692,-6.89780889619e-05,-0.000392956496057,-3.79957799547e-05,1793196662140504320
+255,4.250000000,HOLD_POSE2,764,743.518104682,712,676.481895318,660.518104682,631,878,783.481895318,801.481895318,650.518104682,630,650.481895318,0.451045443866,0.00443731885641,0.0597437973311,0.999999920102,-6.7592555776e-05,-0.000392170746103,-3.77961313571e-05,1793196662157170944
+256,4.266666667,HOLD_POSE2,764,743,712,676.939390311,660.060609689,631,878.060609689,784,802,650,630,651,0.451045849331,0.00443651948265,0.0597438313777,0.999999920452,-6.62434626674e-05,-0.000391523442377,-3.76558169202e-05,1793196662173837824
+257,4.283333333,HOLD_POSE2,764,743,712,676.364176997,660.635823003,631,878.635823003,784,802,650,630,651,0.451045642424,0.00443674511175,0.0597431861074,0.999999920038,-6.81005405872e-05,-0.000392244705872,-3.78155893907e-05,1793196662190504704
+258,4.300000000,HOLD_POSE2,764.215547784,743,712,676,661,631,879,783.784452216,802.215547784,650,630,651,0.451045883714,0.00443693390884,0.0597433341488,0.999999920124,-6.83567245953e-05,-0.000391987200007,-3.77541339749e-05,1793196662207171328
+259,4.316666667,HOLD_POSE2,764.803057764,743,712,676,661,631,879,783.196942236,802.803057764,650,630,651,0.451046898437,0.00443705914635,0.0597448511766,0.99999992107,-6.58503097699e-05,-0.000390040670905,-3.73109144212e-05,1793196662223837696
+260,4.333333333,HOLD_POSE2,765,743.385060326,712,676,661,631,879,783.385060326,802.614939674,650,630,651,0.451046437693,0.00443754733301,0.0597450005927,0.99999992085,-6.49564419085e-05,-0.00039075544647,-3.7286300849e-05,1793196662240504320
+261,4.350000000,HOLD_POSE2,765,743.964285847,712,676,661,631,879,783.964285847,802.035714153,650,630,651,0.451045232952,0.00443821853541,0.0597444603959,0.999999920043,-6.4875694453e-05,-0.000392812174547,-3.74727677e-05,1793196662257170944
+262,4.366666667,HOLD_POSE2,764.456584382,743.456584382,712,676,660.456584382,631,879,784,802,650,630,651,0.451046705274,0.00443724244164,0.0597447785856,0.999999920359,-6.67314243547e-05,-0.000391696098532,-3.74658884042e-05,1793196662273837568
+263,4.383333333,HOLD_POSE2,764,743.121271505,712,676.121271505,660.121271505,631,879,783.878728495,801.878728495,650,630,651,0.451047900918,0.00443630425102,0.0597450488372,0.999999920611,-6.84159118642e-05,-0.000390756937872,-3.75042190295e-05,1793196662290504192
+264,4.400000000,HOLD_POSE2,764,743.694404467,712,676.694404467,660.694404467,631,879,783.305595533,801.305595533,650,630,651,0.451047410212,0.00443591060863,0.0597449303042,0.999999920368,-6.8988222757e-05,-0.000391253791033,-3.77583416657e-05,1793196662307170816
+265,4.416666667,HOLD_POSE2,764,743.725035835,712,676.725035835,661,631,878.725035835,783,801.274964165,650,630,651,0.451046675521,0.0044365932741,0.0597445329549,0.999999919968,-6.86610103043e-05,-0.00039232093994,-3.78571903046e-05,1793196662323837696
+266,4.433333333,HOLD_POSE2,764,743.135992959,712,676.135992959,661,631,878.135992959,783,801.864007041,650,630,651,0.451045662139,0.00443850535574,0.0597438171269,0.999999919388,-6.73063143544e-05,-0.000394039510983,-3.77786767005e-05,1793196662340504320
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,743,711,676,661,631,879,784,802,650,630,651,0.451047537739,0.00443744441998,0.0597441597496,0.999999920033,-6.74475438805e-05,-0.000392397492745,-3.75461771827e-05,1793196662373158656
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.42604882,743,711,676,661,631,878.42604882,783.42604882,801.42604882,650,630,651,0.451047997988,0.0044379280611,0.0597455554787,0.999999920577,-6.80300170708e-05,-0.000390877603038,-3.78604760041e-05,1793196662389825280
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711.148671362,676,660.851328638,631.148671362,878.148671362,783,801.148671362,650,630,651,0.451048277939,0.00443845381639,0.0597462705216,0.999999920933,-6.77362058071e-05,-0.000389998809151,-3.80254123945e-05,1793196662406491904
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711.72560687,676,660.27439313,631.72560687,878.72560687,783,801.72560687,650,630,651,0.451048038521,0.00443910088631,0.0597450247737,0.999999920752,-6.4918161306e-05,-0.000390966761661,-3.77600940114e-05,1793196662423158528
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.309933013,743,712,676,660,631.690066987,879,783.309933013,802,650,630,651,0.451047651746,0.0044381881218,0.0597441799133,0.999999920434,-6.41369664076e-05,-0.000391953375955,-3.73021215948e-05,1793196662439825408
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.900962113,743,712,676,660,631.099037887,879,783.900962113,802,650,630,651,0.451047131323,0.00443586065363,0.0597436986411,0.999999919994,-6.5203107812e-05,-0.00039295691564,-3.66694201636e-05,1793196662456492032
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,743.479676201,711.520323799,676.479676201,660.479676201,631,879,783.520323799,801.520323799,650,630,651,0.451046795624,0.00443697993339,0.0597438838818,0.999999919939,-6.5030358454e-05,-0.000393097732308,-3.69737847912e-05,1793196662473158656
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,743.943980881,711.056019119,676.943980881,660.943980881,631,879,783.056019119,801.056019119,650,630,651,0.45104648581,0.00443851548942,0.0597441536128,0.999999919957,-6.47953702633e-05,-0.000393046189936,-3.7440387039e-05,1793196662489825536
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,743.366634326,711.633365674,676.366634326,660.366634326,631,879,783.633365674,801.633365674,650,630,651,0.451046070846,0.00443746805665,0.0597439610213,0.999999919939,-6.63020452931e-05,-0.000392820687872,-3.7661361453e-05,1793196662506492160
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.790228332,743,711.790228332,676,660,631,879,784,802,650,630,651,0.451040812186,0.00443723798802,0.0597412422003,0.999999918265,-6.64940230691e-05,-0.000397018006685,-3.77398401675e-05,1793196662523158784
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.215458953,743,711.215458953,676,660,631,879,784,802,650,630,651,0.45102712561,0.00443843011366,0.0597341278001,0.999999913617,-6.43984587384e-05,-0.000408910928582,-3.75703797286e-05,1793196662539825152
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,711.371003556,676.371003556,660,631,879,784,802,650.371003556,630,651,0.451005861174,0.00443915893442,0.0597241048683,0.999999906913,-6.50004256829e-05,-0.0004248703933,-3.7872478579e-05,1793196662556491776
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711.964477858,676.964477858,660,631,879,784,802,650.964477858,630,651,0.450980052705,0.00443960993646,0.0597123378468,0.999999898758,-6.72199558669e-05,-0.000443268344626,-3.84573459792e-05,1793196662573158656
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.542850805,743.542850805,711.457149195,676.457149195,660,631,879,784,802,650.457149195,630,651,0.450932081108,0.00443906942808,0.0596943507122,0.999999884471,-6.56552359815e-05,-0.000474657077363,-3.8056752996e-05,1793196662589825024
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,743.880961158,711.119038842,676,660,631,879,784,802.119038842,650,630,651,0.450882618047,0.00443864128057,0.0596778343306,0.999999871466,-6.39643065464e-05,-0.000501549114788,-3.77601811751e-05,1793196662606491904
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,743.309423728,711.690576272,676,660,631,879,784,802.690576272,650,630,651,0.450832849187,0.00443888020068,0.0596684139911,0.999999868172,-6.27094413428e-05,-0.00050820413702,-3.80975115525e-05,1793196662623159040
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.727132111,743,711.727132111,676,660.272867889,631.272867889,878.727132111,783.727132111,802.727132111,650,630,651,0.450778829461,0.00444050870983,0.0596621533168,0.999999865117,-6.06916042741e-05,-0.000514403977648,-3.83455013798e-05,1793196662639825664
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.132145273,743,711.132145273,676,660.867854727,631.867854727,878.132145273,783.132145273,802.132145273,650,630,651,0.450719791615,0.0044437776207,0.0596596226093,0.999999862356,-5.77730834489e-05,-0.000520066478657,-3.84880251895e-05,1793196662656492288
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.448880825,743,711.448880825,676,661,631.551119175,878.448880825,783,801.551119175,650.448880825,630,651,0.450647234241,0.00444506849834,0.0596604570806,0.999999863063,-5.47589295015e-05,-0.000519076542774,-3.78900271704e-05,1793196662673158656
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.974224676,743.025775324,712,676.025775324,661,631,879,783.025775324,801.025775324,650.974224676,630,651,0.450569830483,0.00444578263991,0.0596621307882,0.999999864648,-5.17567058473e-05,-0.000516382164946,-3.70805103628e-05,1793196662689825280
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.400427539,743.599572461,712,676.599572461,661,631,879,783.599572461,801.599572461,650.400427539,630,651,0.450471453509,0.0044462418463,0.0596612201349,0.999999864038,-4.95886626214e-05,-0.000517831361111,-3.62690075678e-05,1793196662706491648
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743.82174883,712,677,661,631,879,784,802.17825117,650,630,651,0.450366643544,0.00444697224081,0.0596596475534,0.999999862968,-4.73759409227e-05,-0.000520151439933,-3.55266447326e-05,1793196662723158528
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743.231795358,712,677,661,631,879,784,802.768204642,650,630,651,0.450246975472,0.00444832899168,0.059656546133,0.999999860833,-4.50600267647e-05,-0.000524482974615,-3.49439728585e-05,1793196662739825152
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.351740477,743,712,677,661,631,879,784,802.648259523,650,630,651,0.450113486627,0.00444952653101,0.0596538209957,0.999999858811,-4.23889564457e-05,-0.000528604585449,-3.40236798347e-05,1793196662756491776
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.931122954,743,712,677,661,631,879,784,802.068877046,650,630,651,0.449971053139,0.00445062103077,0.0596513393837,0.999999856853,-3.94880333081e-05,-0.00053259033664,-3.28848826017e-05,1793196662773158656
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,743.50798239,712,676.49201761,661,631,879,784,802,650.50798239,630,651,0.449805875386,0.00445287223407,0.0596482929132,0.99999985476,-3.1732874824e-05,-0.000537110905064,-3.13799180116e-05,1793196662789825536
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,743.915739374,712,676,661,631.084260626,879,784,802,650.915739374,630,651,0.449634090204,0.00445501746494,0.0596462477632,0.999999853651,-2.3848755743e-05,-0.000539670718588,-2.97379652599e-05,1793196662806492160
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,743.340862938,712,676,661,631.659137062,879,784,802,650.340862938,630,651,0.449441700015,0.00445563697749,0.0596504766424,0.99999985878,-1.90271427258e-05,-0.000530393703076,-2.75860389349e-05,1793196662823158784
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764.759976888,743,712,676.240023112,661,631.759976888,879,784,802,650,630.240023112,651,0.449241187885,0.00445659194953,0.0596557944573,0.99999986332,-1.4110443814e-05,-0.000522028216125,-2.54450017913e-05,1793196662839825152
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.170337297,743,712,676.829662703,661,631.170337297,879,784,802,650,630.829662703,651,0.449028845389,0.00445803555016,0.0596626984104,0.999999867079,-9.05524354874e-06,-0.000514990457771,-2.33198259071e-05,1793196662856491776
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,743.671577923,711,674.328422077,664,633,878,784,801,649.328422077,629.671577923,651,0.414247417408,0.00455698112411,0.0598211355046,0.999999940526,0.000159260971379,-0.000303903065733,3.50188919369e-05,1793196663789825280
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,743.092745251,711,674.907254749,664,633,878,784,801,649.907254749,629.092745251,651,0.413577493685,0.00455976245101,0.0598285010155,0.999999944597,0.000151869454841,-0.000294059081857,3.56463500774e-05,1793196663806492160
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,743,711.480169267,674.519830733,664,633,877.519830733,784,801,650,629,651,0.412877362406,0.00456348514206,0.0598019869131,0.999999929301,0.000151012780755,-0.000342542359337,3.54751572812e-05,1793196663823158784
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,743,711.947116567,674,664,633,877.052883433,784,801.052883433,650,629.052883433,651,0.412178217566,0.00456689478867,0.0597699065341,0.999999907943,0.000152945875024,-0.000399372000363,3.49935985352e-05,1793196663839825408
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,743,711.365109004,674,664,633,877.634890996,784,801.634890996,650,629.634890996,651,0.411546609945,0.00456537517301,0.0597468104511,0.999999893207,0.00017031666408,-0.000428361901907,3.29313378199e-05,1793196663856491776
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,743,711.22033096,674,664,633,877.77966904,784,801.55933808,650,630,651,0.410952887912,0.00456276803265,0.0597443072366,0.999999894078,0.000175672754887,-0.000424216874662,3.19948474889e-05,1793196663873158656
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,743,711.811548681,674,664,633,877.188451319,784,800.376902638,650,630,651,0.410422939381,0.00455833024411,0.0597764683417,0.999999920173,0.000160804302827,-0.000364295268594,3.29533853013e-05,1793196663889825280
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.39234297,743,711.60765703,674,664,633,877,784,800.39234297,650,630,651.39234297,0.409891056135,0.00455893465892,0.0598085688116,0.999999937032,0.000154161518477,-0.000317846309106,3.38265499771e-05,1793196663906491904
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764.968260265,743,711.031739735,674,664,633,877,784,800.968260265,650,630,651.968260265,0.409358267606,0.00456189828237,0.0598406409137,0.999999949384,0.000151367460856,-0.000277701094327,3.46597692819e-05,1793196663923158528
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.459044896,743,711.540955104,674.540955104,664,633,877.540955104,784,801,650,630,651.459044896,0.408814263458,0.0045605608387,0.0598428757726,0.999999949308,0.000151586702181,-0.000277707453739,3.58197432747e-05,1793196663939825408
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,743,711.882456513,675,664,633,877.882456513,784,801.117543487,650,630,651,0.408278337567,0.00455911798989,0.0598405736794,0.99999994786,0.000151317548616,-0.000282936093834,3.64730490931e-05,1793196663956492288
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,743,711.289355012,675,664,633,877.289355012,784,801.710644988,650,630,651,0.407777741181,0.00455826364004,0.0598269568328,0.999999943436,0.000148361378837,-0.000299818260694,3.49993684472e-05,1793196663973158912
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,743,711.294967947,675,664.294967947,633,877.294967947,784,801.705032053,650,630,651,0.407301724121,0.00455852017778,0.0598191549494,0.999999941444,0.000147165571419,-0.000307106162169,3.37633975089e-05,1793196663989825536
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,743,711.870928257,675,664.870928257,633,877.870928257,784,801.129071743,650,630,651,0.40684912185,0.0045598349693,0.0598168925168,0.999999941974,0.00014764672058,-0.000305254373734,3.2753873685e-05,1793196664006491904
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,743,711.556611719,674.556611719,664.556611719,633.443388281,877.556611719,784,800.556611719,650,630,651,0.406431418167,0.00455920360912,0.0598243952084,0.999999947636,0.000143062122726,-0.00028849437099,3.21299188912e-05,1793196664023158272
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.01503033,664,633.98496967,877,784.01503033,800.01503033,650,630,651,0.406023779025,0.00455799511524,0.0598344458881,0.999999954198,0.00013703915291,-0.000267998450881,3.16348494184e-05,1793196664039824896
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,743,711,674.593912539,664,633.406087461,877,784.593912539,800.593912539,650,630,651,0.405615577801,0.00455622240146,0.0598342774864,0.999999954641,0.00013194401528,-0.000268882632976,3.17971831302e-05,1793196664056491776
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.822660879,664,633,877,785,801,650,629.822660879,651,0.405215416353,0.00455523316745,0.059828498721,0.99999995271,0.000127743634568,-0.000277970274196,3.15445512578e-05,1793196664073158400
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.228554587,664,633,877,785,801,650,629.228554587,651,0.404834149353,0.00455608520052,0.0598095349609,0.999999944726,0.000125646035384,-0.000306336980297,3.03167028671e-05,1793196664089825280
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.644142917,664,633.355857083,877,784.644142917,800.644142917,650,629,651,0.404467665017,0.00455749628518,0.0597885040756,0.999999933002,0.000126640940211,-0.00034217751577,2.95437921015e-05,1793196664106491904
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.065792578,664,633.934207422,877,784.065792578,800.065792578,650,629,651,0.404110423239,0.00455925690689,0.0597661807554,0.999999917958,0.000129569377361,-0.000382690931396,2.90553227752e-05,1793196664123158784
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,743,711.507465147,673.507465147,664,633.492534853,877.507465147,784,800.507465147,650,629.507465147,651,0.403820769653,0.00455748391857,0.0597664269231,0.999999919961,0.000129639637508,-0.000377346265028,2.96717069584e-05,1793196664139825408
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,743.08263748,711.91736252,674.08263748,664,633,877.91736252,784,801,650,630,651.08263748,0.40354609963,0.00455542247808,0.0597720210536,0.99999992543,0.000129286580617,-0.000362626973656,3.04358564481e-05,1793196664156492032
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,743.673608627,711.326391373,674.673608627,664,633,877.326391373,784,801,650,630,651.673608627,0.403310231434,0.00455437679129,0.0597926916644,0.99999993796,0.000128586354127,-0.000326450333592,3.12365753882e-05,1793196664173158400
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,743.740708041,711,674.740708041,664,633.259291959,877,784,801.259291959,650,630,651.740708041,0.403080759608,0.00455405816682,0.0598091930213,0.999999946194,0.00013079851747,-0.000299084158794,3.24458162152e-05,1793196664189825024
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,743.16154791,711,674.16154791,664,633.83845209,877,784,801.83845209,650,630,651.16154791,0.402859178498,0.00455463646224,0.0598205510952,0.999999950159,0.000136603468124,-0.000282586767152,3.41590184683e-05,1793196664206491648
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,743,711.41395661,674,664,634,877.41395661,784,801.58604339,650.41395661,630,651,0.40265663691,0.004553721398,0.0598279807937,0.999999952999,0.000138794519761,-0.000271067775765,3.54872399127e-05,1793196664223158528
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,743,711.988046991,674,664,634,877.988046991,784,801.011953009,650.988046991,630,651,0.40246146052,0.00455222864684,0.0598338908506,0.999999955401,0.000139587581079,-0.000261474614636,3.66665364609e-05,1793196664239825664
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,743,711.436974511,674,664,633.436974511,877.436974511,784,801.563025489,650.436974511,630,651,0.402274976955,0.00455104973672,0.0598287127613,0.999999952278,0.000141745739562,-0.000271871547077,3.7922094218e-05,1793196664256492032
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.142167095,743,711.142167095,674,663.857832905,633,877,784,802,650,630,651,0.40209363353,0.00454975331068,0.0598234461214,0.999999948753,0.000142960455249,-0.000283765949061,3.91508258868e-05,1793196664273158656
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.734429023,743,711.734429023,674,663.265570977,633,877,784,802,650,630,651,0.401927978408,0.00454806370701,0.0598186455823,0.999999944517,0.00014109637431,-0.00029905555281,4.02894932383e-05,1793196664289825280
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.680432203,743,711.680432203,674,663.319567797,633,877,784,801.680432203,650,630,651,0.401786947034,0.00454859473637,0.0598184714095,0.999999943176,0.000142410141506,-0.00030278234515,4.11001495339e-05,1793196664306491904
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.101083862,743,711.101083862,674,663.898916138,633,877,784,801.101083862,650,630,651,0.401665932587,0.00455093094509,0.0598220580657,0.999999944293,0.000146307219864,-0.000297109589331,4.16441617859e-05,1793196664323159040
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,743,711.475289553,674,664,633,877,784,801,650,629.524710447,651,0.401564744072,0.0045496762523,0.0598262561437,0.999999946664,0.000144726952012,-0.000289775043772,4.18993141075e-05,1793196664339825408
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.949027384,743,711.949027384,674,664.050972616,633,877,784,801,650.050972616,629.050972616,651,0.401468955393,0.00454776356982,0.0598302081231,0.999999949869,0.000136508039435,-0.000282813653083,4.05429887144e-05,1793196664356491776
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.373977115,743,711.373977115,674,664.626022885,633,877,784,801,650.626022885,629.626022885,651,0.401385602341,0.0045468889871,0.0598303011722,0.999999957013,7.19361680374e-05,-0.000283300042918,2.32458807357e-05,1793196664373158656
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.20654506,743,711.20654506,674.20654506,664.79345494,633,877.20654506,784,801,650.79345494,630,651.20654506,0.401308118364,0.00454297160412,0.0598308592559,0.999999959409,2.40292524057e-05,-0.000283641873419,1.23554128068e-05,1793196664389825536
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.79724443,743,711.79724443,674.79724443,664.20275557,633,877.79724443,784,801,650.20275557,630,651.79724443,0.401241550317,0.00453339490002,0.0598322822604,0.999999959638,7.11758523329e-06,-0.000283714839067,1.33806916081e-05,1793196664406492416
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,743,711.61959329,674.61959329,664,633,877.61959329,784,801,650.38040671,629.61959329,651.61959329,0.40118319776,0.00453514413194,0.0598308442409,0.9999999588,9.67358914588e-06,-0.000286588038882,1.32009800388e-05,1793196664423158528
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,743,711.040370225,674.040370225,664,633,877.040370225,784,801,650.959629775,629.040370225,651.040370225,0.401129138963,0.004542812769,0.0598279109312,0.999999957354,2.24042075282e-05,-0.000290924757426,1.23914903923e-05,1793196664439824896
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,664,633.535223579,877,784,801,650.464776421,629,651,0.401088311336,0.00453921450585,0.059825469437,0.999999956418,1.91323092803e-05,-0.000294318359207,1.32299465026e-05,1793196664456491520
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,743.1128185,711,674,664,634,877,784,801,650,629.1128185,651,0.401051064803,0.00453525216001,0.0598237000691,0.999999955648,1.5207793148e-05,-0.000297104604575,1.4192911783e-05,1793196664473158144
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,743.699969918,711,674,664,634,877,784,801,650,629.699969918,651,0.401024706937,0.00453330800767,0.0598246016667,0.9999999555,1.35800183098e-05,-0.000297634356572,1.51602788004e-05,1793196664489825024
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.283323798,743.716676202,711,674,664,633.716676202,877,784,801,650.283323798,630,651,0.401002651902,0.00453353757674,0.0598251853314,0.999999955537,1.49610943353e-05,-0.000297424244324,1.55529738415e-05,1793196664506491392
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.862709479,743.137290521,711,674,664,633.137290521,877,784,801,650.862709479,630,651,0.40098509315,0.00453603859633,0.0598254367693,0.999999955754,1.94862973202e-05,-0.000296441004,1.53451600857e-05,1793196664523158272
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.561065612,743,711,674,664,633,877.438934388,784,801,650.561065612,630,651,0.400974681851,0.00453613678713,0.0598262993078,0.999999956502,2.08805172845e-05,-0.000293799328743,1.5585176945e-05,1793196664539825152
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,743,711.014156412,674,664,633.014156412,877.985843588,784,801,650,630,651.014156412,0.400966543979,0.004535510025,0.0598273335136,0.999999957391,2.12927474597e-05,-0.000290706060337,1.59525820833e-05,1793196664556492032
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,743,711.588536006,674,664,633.588536006,877.411463994,784,801,650,630,651.588536006,0.400960535897,0.00453572357018,0.0598276511506,0.999999957561,2.13219793413e-05,-0.000290122786015,1.58576330341e-05,1793196664573158656
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,743,711.832055651,674,664,633.832055651,877.167944349,784.167944349,801,650.167944349,630,651.832055651,0.400954987422,0.0045356169736,0.0598278986115,0.999999957617,2.08393758284e-05,-0.000289962038392,1.59044156104e-05,1793196664589825024
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,743,711.239946601,674,664,633.239946601,877.760053399,784.760053399,801,650.760053399,630,651.239946601,0.400950599742,0.00453470181853,0.0598279688342,0.999999957383,1.90640672718e-05,-0.000290868435436,1.63091593422e-05,1793196664606491648
+402,6.700000000,POSE2_TO_POSE3_RETREAT,763.65545612,743,711,673.65545612,664,633,877.65545612,784.65545612,801,650.65545612,630,651,0.400947894824,0.00453478845984,0.0598279140862,0.999999957309,1.79324944137e-05,-0.000291197552873,1.6246670644e-05,1793196664623158528
+403,6.716666667,POSE2_TO_POSE3_RETREAT,763.076156591,743,711,673.076156591,664,633,877.076156591,784.076156591,801,650.076156591,630,651,0.400946336461,0.00453555767714,0.0598277741892,0.999999957346,1.7239532211e-05,-0.000291133339679,1.58658321954e-05,1793196664639825152
+404,6.733333333,POSE2_TO_POSE3_RETREAT,763.498373495,743,711.498373495,673,664,633,877,784,801,650,630,651,0.400947431111,0.00453474100307,0.0598291514641,0.999999958103,1.89405790605e-05,-0.0002883901252,1.62911810159e-05,1793196664656491520
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,664,633,877,784,801.073805139,650,629.926194861,651,0.400948647802,0.00453358146191,0.0598305563088,0.999999958838,2.04679585948e-05,-0.000285696798831,1.67977817029e-05,1793196664673158400
+406,6.766666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,664,633,877,784,801.660518799,650,629.339481201,651,0.400947921947,0.00453170734751,0.0598305568539,0.999999958742,1.82702078329e-05,-0.00028616818006,1.70210230776e-05,1793196664689825024
+407,6.783333333,POSE2_TO_POSE3_RETREAT,763.75512477,743,712,673,664,633,877,784,801.75512477,650,629.24487523,651,0.400947947993,0.00453251595889,0.0598310119434,0.999999958949,1.88663161951e-05,-0.000285410753342,1.69377006907e-05,1793196664706491648
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b97870c92aee508d1d4146b90038212a2f51886c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_04/simulation_data.csv
@@ -0,0 +1,427 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f0fbd2cc4820b27871cb8744d48a49c29aec6e5c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6d2d6f18f96d7fc3906b819638a661a73b3969b5bb8f958d61b1f5a9bc742f2
+size 27158005
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9974c06e5e68a016f7db870cb69a23c19ccecb25
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_05/franka_data.csv
@@ -0,0 +1,429 @@
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+6,0.100000000,BASELINE,764,743,711.482012255,674,664,633.517987745,878.482012255,784,801.482012255,650.517987745,630,651.482012255,0.400948250489,0.00453433054717,0.0598353816188,0.99999996114,2.25983402726e-05,-0.000277350103277,1.68991655497e-05,1793196665259033600
+7,0.116666667,BASELINE,764,743,712,674,664,633,878.880185184,784,801.940092592,650,630,651.940092592,0.40094751372,0.00453478624334,0.0598348364473,0.999999960726,2.25020864304e-05,-0.000278869896934,1.65303045965e-05,1793196665275700480
+8,0.133333333,BASELINE,764,743,712,674,664,633,877.72995232,784,801.36497616,650,630,651.36497616,0.400947324917,0.00453334341477,0.0598350331177,0.99999996084,2.20503639653e-05,-0.000278465669492,1.70394750963e-05,1793196665292366848
+9,0.150000000,BASELINE,764,743,711.785083011,674,664,633,877,784,800.785083011,650,630,651,0.400947464862,0.00453298131672,0.0598353239998,0.999999960957,2.25692676212e-05,-0.000277983422953,1.73580582383e-05,1793196665309033216
+10,0.166666667,BASELINE,764,743,711.196893619,674,664,633,877,784,800.196893619,650,630,651,0.400948175784,0.00453449625459,0.0598357785107,0.999999961077,2.47739754479e-05,-0.000277365671224,1.7345625144e-05,1793196665325699840
+11,0.183333333,BASELINE,764,743,711.386775284,674,663.613224716,633,877,784,800.386775284,650,629.613224716,651,0.400947993491,0.00453545167934,0.0598354911153,0.999999960888,2.68006894447e-05,-0.000277865557843,1.72415101463e-05,1793196665342366464
+12,0.200000000,BASELINE,764,743,711.968169604,674,663.031830396,633,877,784,800.968169604,650,629.031830396,651,0.400947361747,0.00453612556631,0.0598348304049,0.999999960541,2.87378400389e-05,-0.000278927821853,1.7091262304e-05,1793196665359033088
+13,0.216666667,BASELINE,764.541465285,743,711.458534715,674,663.541465285,633,877,784,801,650,629.541465285,651,0.400948752753,0.00453512646709,0.0598354269527,0.999999960968,2.67450600715e-05,-0.000277596268072,1.69984379993e-05,1793196665375699968
+14,0.233333333,BASELINE,765,743,711,674,664,633,877,784,801,650,630,651,0.400949929588,0.00453415494987,0.0598360688905,0.999999961358,2.49825790499e-05,-0.000276353501887,1.69872670368e-05,1793196665392366592
+15,0.250000000,BASELINE,765,743,711,674,664,633,877,784,801,650,630,651,0.400949777148,0.00453368284276,0.0598366007815,0.999999961442,2.50572477059e-05,-0.000276023200174,1.72903427192e-05,1793196665409033216
+16,0.266666667,BASELINE,764.723613164,743,711,674.276386836,664,633,877,784,801,650,630,651,0.400949702772,0.0045337717354,0.0598372011623,0.999999961549,2.55575983747e-05,-0.00027558008568,1.74322877997e-05,1793196665425699840
+17,0.283333333,BASELINE,764.129755261,743,711,674.870244739,664,633,877,784,801,650,630,651,0.400949718062,0.00453450501909,0.0598378802138,0.999999961682,2.65469076483e-05,-0.00027500738908,1.73891505879e-05,1793196665442366208
+18,0.300000000,BASELINE,764,743,711,674.54997787,664,633,877,784.45002213,801,650,630,651,0.400949110333,0.00453517074932,0.0598367872922,0.999999961294,2.65451924398e-05,-0.000276424726226,1.72364944674e-05,1793196665459032832
+19,0.316666667,BASELINE,764,743,711,674,664.025903095,633.025903095,877,784.974096905,801,650.025903095,630,651,0.400948373972,0.00453578747786,0.0598352743675,0.999999960788,2.62616935294e-05,-0.000278288088292,1.70590736254e-05,1793196665475699456
+20,0.333333333,BASELINE,764,743,711,674,664.602640122,633.602640122,877,784.397359878,801,650.602640122,630,651,0.400948606302,0.00453576380839,0.0598353650609,0.999999960933,2.58780356864e-05,-0.000277804734168,1.70061585606e-05,1793196665492366336
+21,0.350000000,BASELINE,764,743,711,674,664.817944052,634,877,784,801,650.817944052,630,651,0.400948497085,0.00453547209291,0.0598354229174,0.999999961003,2.55062939039e-05,-0.000277588028643,1.69703040404e-05,1793196665509032960
+22,0.366666667,BASELINE,764,743,711,674,664.232594177,634,877,784,801,650.232594177,630,651,0.400947631266,0.00453458659664,0.0598354080329,0.999999960908,2.51609488648e-05,-0.000277962008421,1.69722423823e-05,1793196665525699584
+23,0.383333333,BASELINE,764,743,711,674,664,633.648847235,877,784,801,650.351152765,630,651,0.400946983528,0.00453338750652,0.0598350963807,0.999999960702,2.44491755811e-05,-0.000278739547755,1.73772624142e-05,1793196665542366464
+24,0.400000000,BASELINE,764,743,711,674,664,633.066157151,877,784,801,650.933842849,630,651,0.400946479585,0.00453198164397,0.0598345890508,0.999999960422,2.34957928498e-05,-0.00027978317957,1.80480598037e-05,1793196665559033088
+25,0.416666667,BASELINE,764,743,711,673.491064577,664,633,877.508935423,784,801,650.491064577,630,651,0.400947651185,0.00453348620683,0.0598356721895,0.999999960931,2.34712710064e-05,-0.000277978186613,1.77346390087e-05,1793196665575700480
+26,0.433333333,BASELINE,764,743,711,673.083380852,664,633,877.916619148,784,801,650,629.916619148,651,0.400948714725,0.0045349036762,0.0598366056226,0.999999961378,2.35337694634e-05,-0.000276381707925,1.74151431613e-05,1793196665592367616
+27,0.450000000,BASELINE,764,743,711,673.65975364,664,633,877.34024636,784,801,650,629.34024636,651,0.40094787052,0.00453360221775,0.0598354494986,0.999999960877,2.34073773207e-05,-0.000278175261145,1.7805049686e-05,1793196665609033728
+28,0.466666667,BASELINE,764,743,711.240973979,674,663.759026021,633,877,784,801,650,629,651.240973979,0.400947187443,0.00453325778919,0.0598350006575,0.999999960648,2.36003414788e-05,-0.000278980465317,1.77948130514e-05,1793196665625699584
+29,0.483333333,BASELINE,764,743,711.829179362,674,663.170820638,633,877,784,801,650,629,651.829179362,0.400946736543,0.00453429239272,0.0598355709756,0.999999960815,2.42534820377e-05,-0.000278361508034,1.72079901943e-05,1793196665642366208
+30,0.500000000,BASELINE,764,743,711.588369579,674,663.411630421,633.411630421,877,784,801,650,629.411630421,651.588369579,0.40094720877,0.004533326676,0.0598359783421,0.999999961066,2.32763785701e-05,-0.000277529678176,1.73936876556e-05,1793196665659032832
+31,0.516666667,BASELINE,764,743,711.008273573,674,663.991726427,633.991726427,877,784,801,650,629.991726427,651.008273573,0.400948058802,0.00453154229985,0.0598363190184,0.999999961349,2.1632074609e-05,-0.000276610727212,1.78955500225e-05,1793196665675699712
+32,0.533333333,BASELINE,764.566703856,743,711,674,664,634,876.433296144,784,801,650,630,651,0.40094782501,0.00453254495454,0.0598360127723,0.999999961118,2.2846894248e-05,-0.000277363384982,1.76362787718e-05,1793196665692366336
+33,0.550000000,BASELINE,765,743,711.144428075,674,664,633.855571925,876.144428075,784,801,650,629.855571925,651,0.40094756904,0.00453337989431,0.0598357466903,0.999999960938,2.39522473797e-05,-0.000277929272556,1.74668499789e-05,1793196665709032960
+34,0.566666667,BASELINE,765,743,711.730783546,674,664,633.269216454,876.730783546,784,801,650,629.269216454,651,0.40094729319,0.00453357826434,0.0598356321453,0.999999960942,2.45960701068e-05,-0.00027784966649,1.76060222208e-05,1793196665725699584
+35,0.583333333,BASELINE,764.686544398,743,711.686544398,674,664,633.313455602,877.313455602,784,801,650.313455602,629.313455602,651,0.400948109224,0.0045339961907,0.0598361513202,0.999999961221,2.52196948783e-05,-0.000276790852517,1.75513237659e-05,1793196665742366464
+36,0.600000000,BASELINE,764.106999094,743,711.106999094,674,664,633.893000906,877.893000906,784,801,650.893000906,629.893000906,651,0.400949852151,0.00453460049653,0.0598372084544,0.999999961731,2.58261738544e-05,-0.000274900797564,1.73320501983e-05,1793196665759033088
+37,0.616666667,BASELINE,764.469513541,743,711.469513541,674,664,633.530486459,877.530486459,784,801,650.530486459,630,651,0.40095012521,0.00453406419549,0.0598373584306,0.999999961911,2.57908644146e-05,-0.000274238076171,1.74974258264e-05,1793196665775699712
+38,0.633333333,BASELINE,764.954676723,743.045323277,711.954676723,674,663.954676723,633,877,784,801,650,630,651,0.40095000587,0.00453337043609,0.0598372374221,0.999999961975,2.56943073331e-05,-0.000274001335052,1.76998852627e-05,1793196665792366336
+39,0.650000000,BASELINE,764.379056195,743.620943805,711.379056195,674,663.379056195,633,877,784,801,650,630,651,0.400949189484,0.00453385619017,0.0598363491542,0.999999961547,2.6581433375e-05,-0.000275497107575,1.73171800816e-05,1793196665809032960
+40,0.666666667,BASELINE,764,743.798455679,711.201544321,674,663.201544321,633,877,784,801,650,630,651,0.400948722067,0.0045339191205,0.0598358826667,0.99999996135,2.6339123869e-05,-0.00027625251426,1.70658837003e-05,1793196665825699584
+41,0.683333333,BASELINE,764,743.208251752,711.791748248,674,663.791748248,633,877,784,801,650,630,651,0.400948927604,0.00453316667424,0.0598362295441,0.999999961596,2.39188021774e-05,-0.000275580193724,1.70679970747e-05,1793196665842366464
+42,0.700000000,BASELINE,764,743,711.625022776,674,664,633,877,784,801,650,630,651,0.40094850479,0.00453353415414,0.0598363124086,0.999999961488,2.35513276858e-05,-0.000275996188108,1.71964199989e-05,1793196665859033088
+43,0.716666667,BASELINE,764,743,711.04559677,674,664,633,877,784,801,650,630,651,0.400947739379,0.00453451225126,0.0598362513254,0.999999961187,2.43031268778e-05,-0.000277005564314,1.7393710662e-05,1793196665875699712
+44,0.733333333,BASELINE,764,743,711,673.471610779,664,633,877.528389221,784,801,650,630,651,0.400947885324,0.00453285847565,0.0598362202005,0.999999961343,2.24632856366e-05,-0.000276582123522,1.76504753553e-05,1793196665892366336
+45,0.750000000,BASELINE,764.101766923,743,711,673.101766923,664,633,877.898233077,784,801,650,630,651,0.400948151579,0.00453170063211,0.0598362598296,0.999999961503,2.15147850961e-05,-0.000276069239478,1.78184909439e-05,1793196665909032960
+46,0.766666667,BASELINE,764.674479764,743,711,673.674479764,664,633,877.325520236,784,801,650,630,651,0.400948614357,0.00453387811542,0.0598366150449,0.999999961508,2.57155379291e-05,-0.000275708792354,1.75522945611e-05,1793196665925699584
+47,0.783333333,BASELINE,764.74281177,743,711,674,664,633,876.74281177,784,801,650.25718823,630,651,0.400948308168,0.00453437353909,0.0598365060497,0.999999961385,2.64438383872e-05,-0.000276094474699,1.74080530526e-05,1793196665942366208
+48,0.800000000,BASELINE,764.146940294,743,711,674,664,633,876.146940294,784,801,650.853059706,630,651,0.400946989348,0.0045326539106,0.0598357857503,0.9999999611,2.25993740157e-05,-0.000277462711878,1.74244101189e-05,1793196665959032832
+49,0.816666667,BASELINE,764,743,711.434545081,674,664,633.434545081,876.434545081,784,801,650.565454919,630,651,0.400947138817,0.00453358880104,0.0598356961617,0.999999961222,2.25981004311e-05,-0.000277038191507,1.71929467569e-05,1793196665975699712
+50,0.833333333,BASELINE,764,743,711.988675345,674,663.988675345,633.988675345,877,784,801,650,630,651,0.400947765671,0.00453534551695,0.0598358264853,0.999999961476,2.38420598156e-05,-0.000276034444436,1.68910328345e-05,1793196665992366336
+51,0.850000000,BASELINE,764,743,711.411747486,674,663.411747486,633.411747486,877,784,801,650,630,651,0.400948232567,0.00453475341128,0.0598366297295,0.99999996163,2.44523687092e-05,-0.000275408438218,1.71217197089e-05,1793196666009032960
+52,0.866666667,BASELINE,764,743,711,674,663.168529971,633,877,784,801,650,630,651,0.400948228266,0.00453418881139,0.0598368907525,0.999999961633,2.45988180585e-05,-0.000275372849902,1.72916380122e-05,1793196666025699584
+53,0.883333333,BASELINE,764,743,711,674,663.757156984,633,877,784,801,650,630,651,0.400947049408,0.00453369277561,0.0598358001731,0.99999996126,2.35889981313e-05,-0.000276809004669,1.73100776263e-05,1793196666042366208
+54,0.900000000,BASELINE,764,743,711,673.65974039,664,633,877.34025961,784,801,650,630,651,0.400945864557,0.00453389440042,0.0598352560459,0.999999960886,2.36350358502e-05,-0.000278159976178,1.71898612243e-05,1793196666059032832
+55,0.916666667,BASELINE,764,743,711,673.080517546,664,633,877.919482454,784,801,650,630,651,0.400944675497,0.00453458599005,0.0598350956902,0.999999960511,2.44225990506e-05,-0.000279451123702,1.69722671461e-05,1793196666075699456
+56,0.933333333,BASELINE,764,743,711,673.496413399,663.503586601,633,877.503586601,784,801,650,630,651,0.400946901693,0.00453434285814,0.0598361806461,0.999999961202,2.50033784076e-05,-0.000276897337862,1.72634729056e-05,1793196666092366080
+57,0.950000000,BASELINE,764,743,711,674,663.072381842,633,877.072381842,784,801,650,630,651,0.400949140042,0.0045338778432,0.0598371790562,0.999999961864,2.52923026939e-05,-0.000274452167222,1.75630118308e-05,1793196666109032960
+58,0.966666667,BASELINE,764,743,711,674,663.644261464,633,877.644261464,784,801,650,630,651,0.400947657087,0.00453292307852,0.0598361927394,0.999999961191,2.37975642435e-05,-0.000277040437394,1.73531684455e-05,1793196666125700352
+59,0.983333333,BASELINE,764,743,711,674,664,633,877.775787831,784,801,650,630,651,0.400946728596,0.00453273921956,0.0598356412136,0.999999960866,2.28988933276e-05,-0.00027829525874,1.7187214699e-05,1793196666142367488
+60,1.000000000,BASELINE,764,743,711,674,664,633,877.182553141,784,801,650,630,651,0.400946712678,0.00453382416568,0.0598358052939,0.999999961127,2.29812676987e-05,-0.000277355406361,1.70934972538e-05,1793196666159033856
+61,1.016666667,BASELINE,764.401021984,743,711,673.598978016,664,633.401021984,876.598978016,784,801,650,629.598978016,651,0.400947968662,0.00453401625905,0.0598364048316,0.999999961555,2.29595934321e-05,-0.00027581850872,1.69216272795e-05,1793196666175700480
+62,1.033333333,BASELINE,764.980303277,743,711,673.019696723,664,633.980303277,876.019696723,784,801,650,629.019696723,651,0.400949790023,0.0045338114681,0.0598371979356,0.999999962056,2.28916682342e-05,-0.000274016217021,1.67150175302e-05,1793196666192366592
+63,1.050000000,BASELINE,764.444265554,743,711,673.555734446,664,633.444265554,876.555734446,784,801,650,629.555734446,651,0.400948634568,0.0045328456688,0.059836140273,0.999999961724,2.21791824944e-05,-0.000275259249627,1.71076567754e-05,1793196666209033216
+64,1.066666667,BASELINE,764,743,711,674,663.866375929,633,877,784,801,650,630,651,0.400947614031,0.00453260922582,0.0598353251166,0.9999999614,2.22999739606e-05,-0.000276404365858,1.7398759698e-05,1793196666225699584
+65,1.083333333,BASELINE,764,743,711,674,663.279691301,633,877,784,801,650,630,651,0.400947406204,0.00453493653159,0.0598355530699,0.999999961206,2.53229669249e-05,-0.000276854050048,1.72740808638e-05,1793196666242366208
+66,1.100000000,BASELINE,764,743,711,674,663,633,877,784,801,650,630,651,0.400947078687,0.00453532539794,0.0598357793695,0.999999961196,2.57838857618e-05,-0.00027684818738,1.72806341802e-05,1793196666259033088
+67,1.116666667,BASELINE,764,743,711,674,663,633,877,784,801,650,630,651,0.400946642126,0.0045339482174,0.0598360041623,0.999999961357,2.39105850951e-05,-0.000276427291307,1.74067486905e-05,1793196666275699968
+68,1.133333333,BASELINE,764,743,711,673.539723832,663.460276168,633,877,784,800.539723832,650,630,651,0.400946827536,0.00453376520239,0.0598361121403,0.999999961423,2.4338965052e-05,-0.0002761409839,1.75326289207e-05,1793196666292366336
+69,1.150000000,BASELINE,764,743,711.037037337,673,664,633,877,784,800.037037337,650,630,651,0.400947025862,0.00453384918351,0.0598361698557,0.999999961431,2.52275644636e-05,-0.000276026689572,1.76483021896e-05,1793196666309032960
+70,1.166666667,BASELINE,764,743,711.613366576,673,664,633,877,784,800.613366576,650,630,651,0.40094511972,0.00453341923156,0.059835926281,0.999999960929,2.43334952219e-05,-0.000277920954035,1.76162177064e-05,1793196666325699584
+71,1.183333333,BASELINE,764,743,711.806242062,673.193757938,664,633,877,784,800.806242062,650,630,651,0.400944577947,0.00453290692957,0.0598359665872,0.999999960821,2.32601205749e-05,-0.000278401367256,1.76171336787e-05,1793196666342366208
+72,1.200000000,BASELINE,764,743,711.217571272,673.782428728,664,633,877,784,800.217571272,650,630,651,0.400946816998,0.0045322267836,0.0598365854926,0.999999961518,2.18212897215e-05,-0.000276000102605,1.7685310394e-05,1793196666359032832
+73,1.216666667,BASELINE,764,743,711,674,664,633.365193998,877,784,800.365193998,650,630,651,0.400947894127,0.00453233907475,0.0598368595583,0.999999961736,2.26652579266e-05,-0.000275138036051,1.77082231966e-05,1793196666375699456
+74,1.233333333,BASELINE,764,743,711,674,664,633.944496895,877,784,800.944496895,650,630,651,0.400948290035,0.00453291596239,0.0598369314485,0.999999961673,2.48476041688e-05,-0.000275178383186,1.77045983013e-05,1793196666392366080
+75,1.250000000,BASELINE,764,742.479651324,711,673.479651324,663.479651324,634,877,784,801.520348676,650,630,651,0.400946771344,0.0045320037877,0.0598362237369,0.99999996142,2.24568811639e-05,-0.000276309037173,1.7585934526e-05,1793196666409032704
+76,1.266666667,BASELINE,764,742.097711429,711.097711429,673,663.097711429,633.902288571,877,784,801.902288571,650,630,651.097711429,0.400945581981,0.00453126858539,0.0598358055535,0.999999961257,2.04036893496e-05,-0.000277059571106,1.75195873545e-05,1793196666425699328
+77,1.283333333,BASELINE,764,742.684466819,711.684466819,673,663.684466819,633.315533181,877,784,801.315533181,650,630,651.684466819,0.400947056292,0.00453220883625,0.059837249908,0.999999961687,2.24651174156e-05,-0.000275329377421,1.77760935946e-05,1793196666442365952
+78,1.300000000,BASELINE,764,743,711.732303338,673.267696662,663.732303338,633,877,784,800.732303338,650,629.732303338,651.732303338,0.400948186104,0.0045334362492,0.059837959436,0.999999961953,2.48384266799e-05,-0.0002741582864,1.77435851544e-05,1793196666459032832
+79,1.316666667,BASELINE,764,743,711.153175069,673.846824931,663.153175069,633,877,784,800.153175069,650,629.153175069,651.153175069,0.400948915136,0.00453499773927,0.059837814085,0.99999996203,2.75745705912e-05,-0.000273637641564,1.73748442408e-05,1793196666475699456
+80,1.333333333,BASELINE,764,743,711.42515158,673.57484842,663,633,877,784,800,650,629.42515158,651,0.400949308267,0.00453510436656,0.0598378714419,0.999999962102,2.69545619541e-05,-0.000273441881713,1.72959873707e-05,1793196666492366080
+81,1.350000000,BASELINE,764,743,711.996826237,673,663.003173763,633.003173763,877,783.996826237,800.003173763,650,630,651,0.400949569235,0.00453468427424,0.0598379942607,0.999999962168,2.51369088752e-05,-0.000273372585352,1.73222161675e-05,1793196666509032448
+82,1.366666667,BASELINE,764,743,711.42173166,673,663.57826834,633.57826834,877,783.42173166,800.57826834,650,630,651,0.400947781329,0.00453362570972,0.0598367776509,0.999999961711,2.49854596416e-05,-0.000275039200808,1.7500139389e-05,1793196666525700352
+83,1.383333333,BASELINE,764,743,711.156869183,673.156869183,664,633.843130817,877,783.156869183,801,650,630,651,0.400946730128,0.00453259235066,0.0598361917219,0.999999961511,2.38485154544e-05,-0.000275862351688,1.75599519487e-05,1793196666542367744
+84,1.400000000,BASELINE,764,743,711.745112011,673.745112011,664,633.254887989,877,783.745112011,801,650,630,651,0.400947704788,0.0045316283037,0.0598373400978,0.999999962012,2.00015644346e-05,-0.000274366064648,1.72949727321e-05,1793196666559033600
+85,1.416666667,BASELINE,764,743,711.671916332,673.671916332,664,633,877,784,801,650,629.671916332,651,0.400948404839,0.00453222304278,0.0598379932207,0.999999962194,2.13966265205e-05,-0.000273605305137,1.71584425953e-05,1793196666575700224
+86,1.433333333,BASELINE,764,743,711.092975125,673.092975125,664,633,877,784,801,650,629.092975125,651,0.400948894922,0.00453400965236,0.059838267666,0.999999962119,2.67998082205e-05,-0.000273406940747,1.71201265067e-05,1793196666592367104
+87,1.450000000,BASELINE,764,743,711,673.483758684,664,633,877,784,801,650,629.483758684,651,0.400948157197,0.00453527179964,0.0598372789698,0.999999961837,2.66517130473e-05,-0.00027446406943,1.68597731027e-05,1793196666609033472
+88,1.466666667,BASELINE,764,743,711,673.940188448,664,633,877,784,801,650,629.940188448,651,0.400947132497,0.00453624624348,0.059836157074,0.999999961495,2.55873854197e-05,-0.000275823985669,1.66364691398e-05,1793196666625699840
+89,1.483333333,BASELINE,764,743,711,673.366358141,664,633,877,784,801,650,629.366358141,651,0.4009456603,0.00453561049333,0.0598359673228,0.999999960957,2.5776393137e-05,-0.000277721767488,1.70966408026e-05,1793196666642366208
+90,1.500000000,BASELINE,764,743,711,673,663.786141722,633,877,784,801,650,629.213858278,651,0.400945135804,0.0045346424925,0.0598360214321,0.999999960742,2.51227451426e-05,-0.000278530245338,1.74715194515e-05,1793196666659032832
+91,1.516666667,BASELINE,764,743,711,673,663.194648653,633,877,784,801,650,629.805351347,651,0.400946284776,0.0045330877975,0.0598365061549,0.9999999611,2.29811205256e-05,-0.000277415210463,1.76957861146e-05,1793196666675699456
+92,1.533333333,BASELINE,764,743,711,673.389165018,663.389165018,633,877,784,801,650,629.610834982,651,0.400946678937,0.00453330705556,0.0598370692051,0.99999996152,2.37038649878e-05,-0.000275840077421,1.76180903886e-05,1793196666692366336
+93,1.550000000,BASELINE,764,743,711,673.969212066,663.969212066,633,877,784,801,650,629.030787934,651,0.400946702869,0.0045343964219,0.0598376706743,0.999999961966,2.58315571784e-05,-0.00027403927016,1.73922847783e-05,1793196666709032960
+94,1.566666667,BASELINE,764,743,711,674,664,633,877,784,801,650,629.544439831,651,0.400948899841,0.00453429773197,0.0598391325613,0.99999996249,2.53522614258e-05,-0.000272153237409,1.75757792591e-05,1793196666725699840
+95,1.583333333,BASELINE,764,743,711,674,664,633,877,784,801,650,630,651,0.400950098251,0.00453401182671,0.0598398211391,0.999999962717,2.44626449663e-05,-0.000271394400861,1.76973639663e-05,1793196666742366720
+96,1.600000000,BASELINE,764,743,711,674,664,633,877,784,801,650,630,651,0.400947021903,0.0045332656944,0.059837375141,0.999999961792,2.25650138922e-05,-0.000274954601954,1.74951944734e-05,1793196666759033344
+97,1.616666667,BASELINE,764,743,711,674,664,633,876.724055957,784,801,650.275944043,629.724055957,651,0.400945582253,0.00453312163044,0.0598361909535,0.999999961292,2.24016866142e-05,-0.000276783102302,1.74845673605e-05,1793196666775700224
+98,1.633333333,BASELINE,764,743,711,674,664,633,876.130822358,784,801,650.869177642,629.130822358,651,0.400946024531,0.00453366984455,0.0598364576375,0.99999996129,2.42325191144e-05,-0.000276620435848,1.76941820013e-05,1793196666792366592
+99,1.650000000,BASELINE,764,743,711.449904291,674,664,633,876.449904291,783.550095709,801,650.550095709,629.449904291,651,0.400946927946,0.00453421140019,0.0598370853848,0.999999961608,2.44784219569e-05,-0.000275458368934,1.75247373481e-05,1793196666809032960
+100,1.666666667,BASELINE,764,743,711.973097566,674,664,633,877,783.026902434,801.026902434,650,630,651,0.400947972673,0.00453465567187,0.059837807337,0.99999996201,2.42781969012e-05,-0.000274028992858,1.72776681527e-05,1793196666825699584
+101,1.683333333,BASELINE,764,743,711.399959573,674,664,633,877,783.600040427,801.600040427,650,630,651,0.400949237707,0.00453316290795,0.0598383679772,0.999999962313,2.41240628895e-05,-0.000272913006743,1.76319402702e-05,1793196666842366464
+102,1.700000000,BASELINE,764.178780076,743,711,674,664,633,877,784,801.642439848,650,629.821219924,651,0.400949972462,0.00453182659188,0.0598388513756,0.999999962549,2.3102339637e-05,-0.000272121486129,1.78426234479e-05,1793196666859033088
+103,1.716666667,BASELINE,764.770456796,743,711,674,664,633,877,784,800.459086408,650,629.229543204,651,0.400949482524,0.00453085159588,0.0598391563824,0.999999962628,2.00768993525e-05,-0.000272079326109,1.7721684659e-05,1793196666875699968
+104,1.733333333,BASELINE,765,743,711,674,664,633,876.645374779,784,800.354625221,650,629.354625221,651,0.400948975002,0.004532417213,0.0598388221778,0.999999962545,2.06045012184e-05,-0.000272363253602,1.74329780127e-05,1793196666892366592
+105,1.750000000,BASELINE,765,743,711,674,664,633,876.065965533,784,800.934034467,650,629.934034467,651,0.400948456335,0.00453559323225,0.0598380828003,0.999999962357,2.33842469476e-05,-0.000272853876102,1.70379294134e-05,1793196666909033216
+106,1.766666667,BASELINE,763.980658341,743,711,674,664,633,877.019341659,784,801,650.509670829,630,651,0.400948798669,0.00453467006794,0.0598377971287,0.999999962169,2.45756915762e-05,-0.000273429977352,1.7166694407e-05,1793196666925699840
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,712,674,664,633,877,784,801,650,629,651,0.400946493211,0.00453438921467,0.0598366330372,0.999999961426,2.51816662224e-05,-0.000276094357953,1.69096694047e-05,1793196666968269312
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,743,711.421015859,673.421015859,664,633,877,784,801,650,629.578984141,651,0.400950470365,0.00453444424663,0.0598385160565,0.999999962468,2.57782646064e-05,-0.000272200749541,1.7485075776e-05,1793196666984935424
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,743,711,673.157465862,664.157465862,633.157465862,877.157465862,784,801,650,630,651,0.400952576923,0.00453395475488,0.0598395258006,0.999999963083,2.52044334329e-05,-0.000269967497997,1.77725026696e-05,1793196667001601792
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,743,711,673.734608667,664.734608667,633.734608667,877.734608667,784,801,650,630,651,0.400949697982,0.00453201400229,0.0598382080981,0.999999962584,2.15111815095e-05,-0.000272159417412,1.72924087487e-05,1793196667018268672
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,711,674,664.379256601,633.689628301,877.689628301,784,801,650,630,651,0.400948981942,0.00453244824432,0.0598380044935,0.999999962416,2.16331775782e-05,-0.000272772342756,1.71630545385e-05,1793196667034935552
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,711,674,663.23007978,633.11503989,877.11503989,784,801,650,630,651,0.400950107162,0.00453490429863,0.0598387493108,0.999999962534,2.5003061093e-05,-0.000272041084137,1.73322820032e-05,1793196667051602176
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,743,711.47250249,674,663.47250249,633,877,784,801,650,630,651,0.400949983905,0.00453475259481,0.0598387975027,0.999999962455,2.49932721063e-05,-0.00027232840899,1.74221116401e-05,1793196667068268288
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,743,711.937986343,673.937986343,664,633,877,784,801,650,629.937986343,651,0.400950116284,0.00453398912835,0.0598388989609,0.99999996243,2.42395842337e-05,-0.000272481055893,1.75108630824e-05,1793196667084934656
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,743,711.35909392,673.35909392,664,633,877,784,801,650,629.35909392,651,0.400954984308,0.00453356775811,0.0598408978979,0.999999963262,2.43372472734e-05,-0.00026938589845,1.77562914497e-05,1793196667101601536
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,743,711,673.218599101,664,633.218599101,877,784,801,650,629.218599101,651,0.400966890703,0.0045334518655,0.0598461327269,0.999999965603,2.421759706e-05,-0.000260546723106,1.79484742217e-05,1793196667118268160
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,743,711,673.794332551,664,633.794332551,877,784,801,650,629.794332551,651,0.400990295974,0.00453383504431,0.0598566541654,0.999999970195,2.37429132249e-05,-0.00024232330952,1.80536674449e-05,1793196667134935040
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,743,711,674,664,633.631106903,877,784,801,650,630,651,0.401032016286,0.00453231875806,0.0598727120391,0.999999977151,2.21408964272e-05,-0.000211832201081,1.83267442247e-05,1793196667151601920
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,743,711,674,664,633.057198155,877,784,801,650,630,651,0.401083915349,0.0045297468271,0.0598918468373,0.999999984398,1.99123541493e-05,-0.000174523209192,1.8693123789e-05,1793196667168268544
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,743,711,674,664,633.530631908,877.530631908,784,801,650,630,651,0.401151701678,0.00453091625674,0.0599089290385,0.99999998858,2.05828309363e-05,-0.000148548737865,1.87161056572e-05,1793196667184935168
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.118264106,743,711.118264106,674,664,634,877.881735894,784,801,650.118264106,630,651,0.401222880662,0.00453202781019,0.0599234556603,0.999999991552,2.08614457408e-05,-0.00012695945145,1.85205123071e-05,1793196667201602048
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.699095075,743,711.699095075,674,664,634,877.300904925,784,801,650.699095075,630,651,0.401300450683,0.00453129310176,0.0599288753497,0.99999999276,1.83521858664e-05,-0.000117614459475,1.76186852333e-05,1793196667218268416
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.723173882,743,711.723173882,674,664,633.723173882,877,784,801,650.723173882,630.276826118,651,0.401387623795,0.0045300987113,0.0599327367597,0.999999993706,1.48255449787e-05,-0.000109958069357,1.66464233752e-05,1793196667234935040
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.148775121,743,711.148775121,674,664,633.148775121,877,784,801,650.148775121,630.851224879,651,0.401485119689,0.00452841018832,0.0599349231059,0.999999994406,1.02052763715e-05,-0.000104116832664,1.55984481055e-05,1793196667251601664
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,743,711.42567687,674,664,633,877.42567687,784,801,650,630.57432313,651,0.401601950662,0.00452843284123,0.0599380331675,0.999999995082,7.56612305478e-06,-9.78448429124e-05,1.43216754839e-05,1793196667268268288
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,743,711.999848026,674,664,633,878,784,801,650,630,651,0.401725546668,0.00452905284036,0.059941464834,0.999999995721,5.61913115346e-06,-9.1423617263e-05,1.29648094121e-05,1793196667284934912
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,743,711.407771895,674,664,633,878,784,801,650,630,651,0.401874586451,0.00452660065169,0.0599399252177,0.999999995868,2.38712123409e-06,-9.01906282512e-05,1.11474254907e-05,1793196667301601792
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,743,711,673.819855153,664,633.180144847,877.819855153,784,801,650,630,651,0.402034100358,0.00452492285263,0.0599389505421,0.999999996086,-1.32518857357e-06,-8.79878997865e-05,9.14645351404e-06,1793196667318268416
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,743,711,673.241141109,664,633.758858891,877.241141109,784,801,650,630,651,0.402216788173,0.00452495838543,0.0599392257938,0.999999996461,-6.10015804925e-06,-8.36396298217e-05,6.73929450829e-06,1793196667334935040
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,743,711,673.335301413,664,633.664698587,877,784,801,650,630,651,0.402421164001,0.00452484668028,0.059939234147,0.999999996723,-1.18349350736e-05,-8.0004510309e-05,3.7588767606e-06,1793196667351601920
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,743,711,673.910121362,664,633.089878638,877,784,801,650,630,651,0.40264103242,0.00452462979746,0.0599390518444,0.999999996878,-1.82553395761e-05,-7.68788208017e-05,3.68958272362e-07,1793196667368268288
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,743,711.49634787,674,664,633,877,784,801,650,630,651,0.402892009726,0.0045215126382,0.0599430755569,0.99999999744,-2.46442949553e-05,-6.7152041571e-05,-1.891624627e-06,1793196667384934912
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,743,711.916472652,674,664,633,877,784,801,650,629.916472652,651,0.403154508317,0.00451847463452,0.0599468849026,0.999999997809,-3.1116598433e-05,-5.82731343008e-05,-4.24462124688e-06,1793196667401601536
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,743,711.336198206,674,664,633,877,784,801,650,629.336198206,651,0.40345123619,0.00451910416138,0.0599447833714,0.999999997334,-3.81192499741e-05,-6.17125661114e-05,-8.39200663598e-06,1793196667418268160
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743,711.242063237,673.757936763,664,633,877,784,800.757936763,650,629,651,0.403755344596,0.00451875210931,0.0599377551824,0.999999996285,-4.51609067023e-05,-7.23333489381e-05,-1.25582550005e-05,1793196667434935040
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,743,711.817551875,673.182448125,664,633,877,784,800.182448125,650,629,651,0.404069619162,0.004517048,0.0599239408625,0.999999994184,-5.22562899515e-05,-9.28459468422e-05,-1.67504855596e-05,1793196667451601664
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,743,712,673,664,633,877,784,800.392837243,650,629,651,0.404411044394,0.00451536882192,0.0599124882945,0.99999999145,-6.14057657912e-05,-0.000113532954223,-2.09477822377e-05,1793196667468268544
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,743,712,673,664,633,877,784,800.968028239,650,629,651,0.404765072867,0.00451370121687,0.0599021320445,0.999999988109,-7.15087444186e-05,-0.0001343009213,-2.5147430468e-05,1793196667484935168
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,743,711.442120006,673.557879994,664,633,877,784,801,650,629,651,0.405167375041,0.00450304773058,0.0598974889159,0.99999998517,-8.9776522433e-05,-0.000144449881217,-2.70995808357e-05,1793196667501602048
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,743,711,674,664,633.14541342,877,784,801,650,629,651,0.405598220957,0.00448820398097,0.0599008862713,0.999999983378,-0.000112849451277,-0.000140392833899,-2.82625594244e-05,1793196667518268416
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,743,711,674,664,633.723481561,877,784,801,650,629,651,0.406105540655,0.00446246634595,0.0599272063564,0.999999983952,-0.000148789550382,-9.59276170329e-05,-2.74710564796e-05,1793196667534935040
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,743,711,674,664,633.699855724,877.300144276,784,801,650,629,651,0.406633499842,0.00445217859512,0.0599551902687,0.999999984455,-0.000167203969416,-4.73634007541e-05,-2.98164944238e-05,1793196667551601664
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,743,711,674,664,633.124481706,877.875518294,784,801,650,629,651,0.407180385321,0.00445605825338,0.0599846998996,0.999999985001,-0.000169547493416,4.95956808041e-06,-3.50384803205e-05,1793196667568268288
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,743,711.460999289,674,664,633,878,784,801,650,629,651,0.407707417304,0.00445566350956,0.0599934947268,0.999999983482,-0.000177094173212,1.05734196207e-05,-3.95147397285e-05,1793196667584934912
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743.048538437,712,674,664,633,877.951461563,783.951461563,801,650,629,651,0.408232580928,0.00445389529645,0.0599949203275,0.99999998167,-0.000186381338451,9.00110769844e-07,-4.38327477148e-05,1793196667601602048
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743.628068385,712,674,664,633,877.371931615,783.371931615,801,650,629,651,0.408797267181,0.00445001137865,0.0599782921509,0.999999978406,-0.00019899421184,-3.49382746767e-05,-4.867178681e-05,1793196667618268672
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743.793554238,711.793554238,673.793554238,664,633,877.206445762,783,801,650,629,651,0.409392040119,0.00444743461907,0.0599670845047,0.999999980653,-0.000182012578151,-5.90057936415e-05,-4.56443135532e-05,1793196667634935552
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743.217241834,711.217241834,673.217241834,664,633,877.782758166,783,801,650,629,651,0.4100407161,0.00444719975438,0.0599655882404,0.999999991399,-0.000112009651612,-6.19847162676e-05,-2.85232567616e-05,1793196667651602176
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.642760133,711.357239867,673.357239867,664,633,877.642760133,783.357239867,800.642760133,650,629,650.642760133,0.410710897383,0.00445338906403,0.0599702923359,0.999999997499,-4.97278569999e-05,-4.69258364178e-05,-1.8061615421e-05,1793196667668268800
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.069386049,711.930613951,673.930613951,664,633,877.069386049,783.930613951,800.069386049,650,629,650.069386049,0.411394089599,0.00446346507284,0.0599787477204,0.999999999682,7.882561704e-06,-2.09538790688e-05,-1.16289974098e-05,1793196667684935168
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.520118661,711.479881339,674,664,633,877,784,800.520118661,650,629,650.520118661,0.412070930897,0.00446107791545,0.0599720787586,0.999999999246,-2.99487640574e-06,-3.45878729303e-05,-1.74199500713e-05,1793196667701602048
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,711,674,664,633.109599413,877,784,801.109599413,650,629.109599413,651,0.412746208037,0.0044565845257,0.05995697594,0.999999997322,-2.04799755365e-05,-6.60491480985e-05,-2.39757378961e-05,1793196667718268672
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,743,711,674,664,633.689448713,877,784,801.689448713,650,629.689448713,651,0.413418525303,0.00445041617021,0.0599146206773,0.999999987971,-2.5859775324e-05,-0.000150605053012,-2.65925901426e-05,1793196667734935296
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,743.267289608,711,674,664,633.732710392,877.267289608,784,801.732710392,650,629.732710392,651,0.414165730856,0.00444718058103,0.0599022704261,0.999999984293,-2.55228934409e-05,-0.000173046710932,-2.85997967432e-05,1793196667751601920
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743.842814507,711,674,664,633.157185493,877.842814507,784,801.157185493,650,629.157185493,651,0.414999296805,0.00444732702332,0.0599245216026,0.999999991709,-1.85936010376e-05,-0.000123858947615,-2.99039674791e-05,1793196667768268800
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743.573188557,711,674.426811443,664.426811443,633,878,784,801,650,629.426811443,651,0.415837006007,0.00444266409788,0.05996493479,0.999999995181,-7.75771255975e-05,-5.21125523642e-05,-3.00716399108e-05,1793196667784934912
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,711,675,665,633,878,784,801,650,629.986191796,651,0.416675560758,0.0044363678599,0.0600109153056,0.999999986586,-0.000158975155475,2.57962378666e-05,-2.98322588587e-05,1793196667801601536
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,711,675,665,633,878,784,801,650,629.406708092,651,0.417484981189,0.00443718929852,0.0600054088068,0.999999989123,-0.000144046033402,8.92022794198e-06,-3.04110228873e-05,1793196667818268160
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,711,675,664.827674111,633,878,784,801,650,629,651,0.418303393665,0.00443670160695,0.0599941772303,0.999999990884,-0.000130707983889,-1.24223806162e-05,-3.15003604203e-05,1793196667834934784
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,711,675,664.2496988,633,878,784,801,650,629,651,0.419142973063,0.00443313226628,0.0599694690116,0.999999991114,-0.000121115267315,-4.42792130632e-05,-3.37915710077e-05,1793196667851601408
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743,711,675,664.325191152,633,878,784,801,650,629.325191152,651,0.419986629422,0.0044299214896,0.0599437796847,0.999999989937,-0.000111913124553,-7.96815253183e-05,-3.53783522282e-05,1793196667868268032
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,711,675,664.897734244,633,878,784,801,650,629.897734244,651,0.420833386823,0.00442698344958,0.0599173440933,0.999999987095,-0.000103008066478,-0.000117780653923,-3.64293193289e-05,1793196667884934912
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743.485618,711.485618,674.514382,664.514382,633,878,784.485618,801.485618,650,630,651,0.421642833409,0.00442649452219,0.059885413477,0.999999977815,-9.22659614842e-05,-0.000185741800342,-3.68300103315e-05,1793196667901602048
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743.924663163,711.924663163,674,664.075336837,633,878,784.924663163,801.924663163,650,629.924663163,651,0.422466087173,0.00442607302966,0.0598630827565,0.999999967606,-8.27040309225e-05,-0.00023782963524,-3.7205629776e-05,1793196667918268416
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743.344992061,711.344992061,674,664.655007939,633,878,784.344992061,801.344992061,650,629.344992061,651,0.423436086469,0.0044225376729,0.0599130169017,0.999999985934,-8.37169415633e-05,-0.000140183600255,-3.83600516719e-05,1793196667934935040
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,711.232596073,674.232596073,665,633,878.232596073,784,801,650,629.232596073,651,0.424396563916,0.00441895238664,0.0599640076755,0.999999994065,-8.842343234e-05,-5.07267888341e-05,-3.84446448476e-05,1793196667951601664
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,711.807122205,674.807122205,665,633,878.807122205,784,801,650,629.807122205,651,0.425343043822,0.00441529370052,0.0600165517632,0.999999994104,-9.85597063011e-05,2.66913903012e-05,-3.69565266154e-05,1793196667968268544
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.383604934,743,711.616395066,675,665,633,878.616395066,784,801,650,630,651,0.426273822408,0.00441431790113,0.060023680063,0.999999991453,-0.000116771895511,4.55233796495e-05,-3.72211695439e-05,1793196667984935168
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.961076455,743,711.038923545,675,665,633,878.038923545,784,801,650,630,651,0.42719666579,0.00441469798153,0.0600078560903,0.999999988991,-0.000139065497167,3.47470261392e-05,-3.83716245402e-05,1793196668001601536
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.449751562,743,711,675,665,633,878,784,801.550248438,650,630,650.449751562,0.42806001534,0.00443576858039,0.0599846096226,0.999999993489,-0.000106640985499,6.8731547818e-07,-4.06010436718e-05,1793196668018268416
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.13718722,743,711,675,665,633,878,784,801.86281278,650,630,650.13718722,0.428909814264,0.00445446507703,0.0599590078369,0.999999995478,-7.53330308955e-05,-3.95882299574e-05,-4.24552809139e-05,1793196668034935040
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.714253895,743,711,675,665,633,878,784,801.285746105,650,630,650.714253895,0.429729951512,0.00446075431239,0.0599275740367,0.999999992809,-6.02858066321e-05,-9.43985605639e-05,-4.28564854207e-05,1793196668051601920
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.709995715,743,711,675.290004285,665,633,878,784,801,650,629.709995715,650.709995715,0.430594164861,0.00445721824017,0.0599160567677,0.999999991322,-5.94088104781e-05,-0.000109378898953,-4.31701881586e-05,1793196668068268800
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.135536456,743,711,675.864463544,665,633,878,784,801,650,629.135536456,650.135536456,0.431501610853,0.00444404486994,0.0599240749236,0.999999992798,-7.24308922559e-05,-8.5291399813e-05,-4.33980635518e-05,1793196668084935424
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,711.450790357,675.549209643,665.450790357,633,878.450790357,784,801,650,629.450790357,650.450790357,0.432428138773,0.00443899766861,0.0599620871641,0.999999995877,-7.63543463812e-05,-2.29303035564e-05,-4.34679388564e-05,1793196668101601792
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.039966204,743,711.960033796,675.039966204,665.960033796,633,878.960033796,783.960033796,801,650,630,651,0.433353741352,0.00443646939627,0.0600052708485,0.999999995107,-7.71409762212e-05,4.41661516242e-05,-4.34178573679e-05,1793196668118268160
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.618157878,743,711.381842122,675.618157878,665.381842122,633,878.381842122,783.381842122,801,650,630,651,0.434187528699,0.00443407070382,0.0599933672446,0.999999996272,-7.35208209421e-05,1.58719619968e-05,-4.2409365868e-05,1793196668134934784
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.80437608,743,711,675.80437608,664.80437608,633,878.19562392,783.19562392,801,650,630,651,0.435006983054,0.00443029466279,0.0599739561646,0.999999996024,-7.50772731904e-05,-2.23374049209e-05,-4.26277364775e-05,1793196668151601664
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.228321078,743,711,675.228321078,664.228321078,633,878.771678922,783.771678922,801,650,630,651,0.435798564097,0.00442384008279,0.0599399452459,0.999999992032,-8.67007063465e-05,-7.98288852196e-05,-4.52319934232e-05,1793196668168268288
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743.354672431,711,675,664.354672431,633,879,784,800.645327569,650,630,650.645327569,0.436589751407,0.00441977985717,0.0599213182225,0.999999989281,-8.88165561721e-05,-0.000106995558725,-4.58427971021e-05,1793196668184935168
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743.942221706,711,675,664.942221706,633,879,784,800.057778294,650,630,650.057778294,0.437380680147,0.00441729175778,0.0599127922203,0.999999988868,-8.46897549812e-05,-0.000114251052516,-4.51447053097e-05,1793196668201602048
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743.477445022,711,675,665,633,878.477445022,784,800.522554978,650,630,650,0.438123348558,0.00441371805174,0.0598992787812,0.999999983558,-8.52949895579e-05,-0.000154013162155,-4.34655787228e-05,1793196668218268416
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711.101086087,675,665,633,878,784,801,650,630,650.101086087,0.438871676143,0.00440986341919,0.0598945629742,0.999999979622,-8.73452840449e-05,-0.000177045131245,-4.22206042189e-05,1793196668234935296
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711.674870068,675,665,633,878,784,801,650,630,650.674870068,0.439671079779,0.00440524877826,0.0599335301639,0.99999998912,-9.3739624908e-05,-0.000105265437102,-4.35061344109e-05,1793196668251601664
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,712,675.249391596,665,633,878,784,801,650,630,650.750608404,0.440445239489,0.00440057546734,0.0599723347997,0.999999993327,-9.91168885316e-05,-4.00694771632e-05,-4.37825828365e-05,1793196668268268032
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,712,675.824877466,665,633,878,784,801,650,630,650.175122534,0.441186391209,0.00439582544227,0.0600109268836,0.999999993629,-0.000103164263241,1.65178546185e-05,-4.27395971552e-05,1793196668284934912
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,711.598437044,675.598437044,665,633,878,783.598437044,801,650,630,650,0.44185207571,0.00439248405691,0.0600013129625,0.999999993988,-0.000101370301257,3.07063057975e-06,-4.16879635817e-05,1793196668301601536
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+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,711.733609725,676,665,633,878.733609725,784,801.733609725,650,630,651,0.444326144315,0.00438072104471,0.0599370373798,0.999999990319,-0.000103788084033,-8.15812331338e-05,-4.39806165964e-05,1793196668368268544
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711.690903162,676,664.690903162,633,878.690903162,784,801.690903162,650,630,650.690903162,0.44488859786,0.00437951573627,0.0599425161419,0.999999990386,-0.000106076847177,-7.72033183754e-05,-4.48932659481e-05,1793196668384935168
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743.794628885,711.205371115,676,663.794628885,632,878.205371115,783.205371115,802.794628885,650.205371115,630,651,0.447668659513,0.00445015104223,0.0598756370744,0.999999979958,-3.25896734883e-05,-0.000189210218402,-5.67636595522e-05,1793196668484935168
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+246,4.100000000,POSE1_TO_POSE2_PRESS,764,743,711.655055991,676.655055991,660,631,878.655055991,783.655055991,802,650,630,651,0.451537953947,0.00443903518023,0.0597463093721,0.999999918483,-0.000108591834068,-0.000386887153232,-3.95077193864e-05,1793196669284935168
+247,4.116666667,POSE1_TO_POSE2_PRESS,764.232378521,743,712,677,660,631,879,784,802,650,630,651,0.451538603474,0.00443996344462,0.0597466319564,0.999999918743,-0.000107926874892,-0.000386378730571,-3.97248756531e-05,1793196669301601792
+248,4.133333333,POSE1_TO_POSE2_PRESS,764.80674515,743,712,677,660,631,879,784,802,650,630,651,0.451539691041,0.00444061421805,0.0597471971922,0.999999919113,-0.000107089184013,-0.000385672703894,-3.95309931121e-05,1793196669318268928
+249,4.150000000,HOLD_POSE2,764,743,711,676,660,631,878,783,801,650,630,651,0.451540966221,0.00444044199584,0.0597481590849,0.999999919337,-0.000107272825381,-0.000385092493616,-3.90119582115e-05,1793196669352249344
+250,4.166666667,HOLD_POSE2,764.582730851,743,711.582730851,676.582730851,660,631,878.582730851,783,801.582730851,650,630,651,0.451539946226,0.00443854891048,0.0597469629936,0.999999918743,-0.000108564450082,-0.000386272944658,-3.89991269436e-05,1793196669368916224
+251,4.183333333,HOLD_POSE2,764.836678317,743.163321683,712,677,660,631,879,783.163321683,801.836678317,650,630,651,0.45153918428,0.00443749771285,0.0597463774058,0.999999918406,-0.000109348882206,-0.000386915821289,-3.90877701941e-05,1793196669385582848
+252,4.200000000,HOLD_POSE2,764.261484165,743.738515835,712,677,660,631,879,783.738515835,801.261484165,650,630,651,0.451539073093,0.00443856962777,0.0597473314148,0.999999918722,-0.000108854251981,-0.000386203017184,-3.94323167604e-05,1793196669402248960
+253,4.216666667,HOLD_POSE2,764,743.686187364,711.686187364,677,660,631,879,784,801,650,630,650.686187364,0.451540039651,0.00443977410118,0.0597479175739,0.999999919145,-0.000107987527112,-0.000385343208237,-3.94945664237e-05,1793196669418915328
+254,4.233333333,HOLD_POSE2,764,743.110805038,711.110805038,677,660,631,879,784,801,650,630,650.110805038,0.451541904532,0.00444108906491,0.059748197122,0.999999919656,-0.000106810653256,-0.000384360867584,-3.93215154278e-05,1793196669435581696
+255,4.250000000,HOLD_POSE2,764,743,711,677,660,631,879,783.522957322,801.477042678,650,630,650.477042678,0.451540095905,0.00443992748132,0.0597468239886,0.999999918916,-0.000107023195047,-0.000386245287636,-3.91053548575e-05,1793196669452248064
+256,4.266666667,HOLD_POSE2,764.066483396,743,711,677,660,631,878.933516604,783.066483396,801.933516604,650,630,651,0.45153785272,0.00443860919542,0.0597454131228,0.99999991807,-0.000107080563491,-0.000388438295215,-3.88453096531e-05,1793196669468914688
+257,4.283333333,HOLD_POSE2,764.645289191,743,711,677,660,631,878.354710809,783.645289191,801.354710809,650,630,651,0.451539012525,0.00444063510745,0.0597467490231,0.99999991875,-0.00010338849833,-0.000387740346202,-3.83263214315e-05,1793196669485581312
+258,4.300000000,HOLD_POSE2,765,743,711,677,660,631,878.443877231,784,801.221938616,650,630,651,0.451540309742,0.00444140206954,0.0597477287582,0.999999919413,-0.000101414521525,-0.00038657224045,-3.80862559083e-05,1793196669502248448
+259,4.316666667,HOLD_POSE2,765,743,711,677,660,631,879.590349506,784,801.795174753,650,630,651,0.451541824465,0.00444017629128,0.0597481447342,0.999999920067,-0.000102160036585,-0.000384659942974,-3.82876857215e-05,1793196669518915584
+260,4.333333333,HOLD_POSE2,764.621098902,743,711,676.621098902,660,631,879.621098902,784,802,650.378901098,630,651,0.451541064515,0.00443886575316,0.0597476563536,0.999999919587,-0.000104247683759,-0.000385345747696,-3.83040164402e-05,1793196669535582208
+261,4.350000000,HOLD_POSE2,764.031540266,743,711,676.031540266,660,631,879.031540266,784,802,650.968459734,630,651,0.451539039916,0.00443750809102,0.0597466651781,0.999999918468,-0.000107081515823,-0.000387476018398,-3.82174376848e-05,1793196669552248320
+262,4.366666667,HOLD_POSE2,764.547890004,743,711,676,660,631,879,783.452109996,802,650.452109996,630,651,0.451538439124,0.00443756931478,0.0597462035763,0.999999917897,-0.000107449726434,-0.000388859640442,-3.80659750932e-05,1793196669568914944
+263,4.383333333,HOLD_POSE2,764.873728427,743,711.126271573,676,660,631,878.873728427,783.126271573,802,650,630,651,0.451538424195,0.00443796428119,0.0597460227741,0.999999917651,-0.000107453063197,-0.000389492533561,-3.80519884105e-05,1793196669585581312
+264,4.400000000,HOLD_POSE2,764.297045405,743,711.702954595,676,660,631,878.297045405,783.702954595,802,650,630,651,0.45154021199,0.00443926364242,0.0597467368162,0.999999918454,-0.000106651996662,-0.000387598107349,-3.85414605562e-05,1793196669602247936
+265,4.416666667,HOLD_POSE2,764.277952499,743,712,676.277952499,660,631,878.277952499,783.722047501,802,650,630,651,0.451541234922,0.0044401197934,0.0597471623472,0.999999918976,-0.000105452358296,-0.000386576868103,-3.85504857667e-05,1793196669618914816
+266,4.433333333,HOLD_POSE2,764.85116035,743,712,676.85116035,660,631,878.85116035,783.14883965,802,650,630,651,0.45154144538,0.00444050514372,0.059747281407,0.999999919201,-0.000103829336607,-0.000386483172798,-3.80491556549e-05,1793196669635581696
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,743,712,677,660,631,878,783,802,650,630,651,0.451541723151,0.00444002551052,0.0597478502575,0.999999919136,-0.000105138283227,-0.000386243944415,-3.85876436475e-05,1793196669668079104
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.839798417,743,712,676.419899209,660,631,878,783,802,650,630,651,0.451542336461,0.00443839590373,0.0597482568163,0.9999999196,-0.000103789026693,-0.000385491114685,-3.77381630601e-05,1793196669684745728
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.158558372,743,712,676.158558372,660,631,878.158558372,783.158558372,801.841441628,650,630,651,0.451542225873,0.00443746364836,0.0597481685617,0.999999919561,-0.000103596311178,-0.000385681305422,-3.73508138974e-05,1793196669701412352
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.732709112,743,712,676.732709112,660,631,878.732709112,783.732709112,801.267290888,650,630,651,0.4515402179,0.00443835919852,0.0597467833675,0.999999918202,-0.000106434968691,-0.000388343217314,-3.81747427064e-05,1793196669718078208
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,712,677,660,631,879,783.685810388,801.314189612,650,630,651,0.451539996837,0.00443911967585,0.0597463416928,0.999999918034,-0.000106499722214,-0.000388727157404,-3.84733838876e-05,1793196669734744320
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,712,677,660,631,879,783.09794532,801.90205468,650,630,651,0.451541332265,0.00443976249767,0.0597467218726,0.999999918909,-0.000104148261257,-0.000387126865695,-3.83144722392e-05,1793196669751410944
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.517021967,743,712,677,660,630.517021967,878.517021967,783,801.517021967,650,630,651,0.45154125545,0.00443873724503,0.0597466881476,0.999999918737,-0.00010589442236,-0.000387107196886,-3.82236756208e-05,1793196669768077568
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.06216339,743,711.93783661,676.93783661,660,630.06216339,878,783,801,650,629.93783661,651,0.451540806472,0.00443751533548,0.0597465400531,0.999999918394,-0.000107969797526,-0.000387428226502,-3.81189338089e-05,1793196669784744192
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.638452419,743,711.361547581,676.361547581,660,630.638452419,878,783,801,650,629.361547581,651,0.451539614598,0.00443742505645,0.0597461304331,0.999999918415,-0.000105992706967,-0.000387953526203,-3.77862321453e-05,1793196669801411328
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.214215652,743,711,676,660,631,878.214215652,783,801.214215652,650,629.214215652,651,0.451534720733,0.00443788777811,0.0597439303564,0.999999917211,-0.000104442662972,-0.000391465123986,-3.77344718325e-05,1793196669818078464
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.789093575,743,711,676,660,631,878.789093575,783,801.789093575,650,629.789093575,651,0.451523594045,0.00443928155444,0.0597387157933,0.999999913903,-0.000103611612305,-0.000400004575803,-3.81557159483e-05,1793196669834744832
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.636064012,743,711,676,660,631,878.636064012,783,801.636064012,650,629.636064012,651,0.451500865838,0.00443929587939,0.0597284095439,0.999999906767,-0.000104067489375,-0.000417341148224,-3.82370764828e-05,1793196669851411456
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.061242121,743,711,676,660,631,878.061242121,783,801.061242121,650,629.061242121,651,0.451471415029,0.00443851086927,0.0597151528717,0.999999897031,-0.000105269087899,-0.000439775290061,-3.81214885177e-05,1793196669868078336
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.532393525,743,711.532393525,676,660,631,878.532393525,783,801.532393525,650.532393525,629.532393525,651,0.451421875989,0.00443952684629,0.0596972416773,0.999999882706,-0.000106072711184,-0.000471024052514,-3.8381800441e-05,1793196669884744704
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.87616669,743,712,676,660,631,878.87616669,783.12383331,802,650.87616669,630,651,0.451368717074,0.00444071020334,0.059679792636,0.999999868808,-0.000106159189265,-0.000499615169218,-3.8717255359e-05,1793196669901411072
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.300909881,743,712,676,660,631,878.300909881,783.699090119,802,650.300909881,630,651,0.451311094547,0.00444172084201,0.0596660516463,0.999999861394,-0.000103804377347,-0.000514686371364,-3.916323425e-05,1793196669918077696
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743.273680394,712,676,660,630.726319606,878.273680394,784,801.726319606,650.273680394,630,651,0.451251039946,0.0044423914928,0.0596569484623,0.999999855782,-0.000101972695699,-0.000525835910779,-3.91570594638e-05,1793196669934744576
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743.847539568,712,676,660,630.152460432,878.847539568,784,801.152460432,650.847539568,630,651,0.451188317797,0.00444268923721,0.0596529321284,0.999999852305,-0.000100714795191,-0.000532684081955,-3.86549523894e-05,1793196669951411456
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743.56732483,711.56732483,676,660,630.43267517,879,784,801.43267517,650.56732483,630,651,0.451116986504,0.00444353071915,0.0596531819826,0.99999985315,-9.75456164591e-05,-0.000531725068802,-3.81256440144e-05,1793196669968078080
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,711.021548402,676.021548402,660,631,878.978451598,784,802,650.021548402,630,651,0.451041600449,0.00444459415668,0.0596549053658,0.999999855457,-9.36671127972e-05,-0.000528110566822,-3.75684339837e-05,1793196669984744448
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,711.601554902,676.601554902,660,631,878.398445098,784,802,650.601554902,630,651,0.450941852745,0.00444631155601,0.0596548156041,0.999999855486,-8.93264684008e-05,-0.000528879058899,-3.65431640328e-05,1793196670001411072
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,712,677,660,631,878,784,802,651,630,651,0.450836600441,0.0044476465987,0.0596541073484,0.999999855421,-8.57498719861e-05,-0.000529660276013,-3.55693548778e-05,1793196670018077696
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,712,677,660,631,878,784,802,651,630,651,0.450719268046,0.00444814254155,0.0596520417786,0.999999855183,-8.3850015312e-05,-0.00053046941874,-3.47084789914e-05,1793196670034744064
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.330093273,743,712,676.669906727,660,631,878.330093273,783.669906727,802,650.669906727,630,651,0.45058769401,0.00444878562524,0.0596517520737,0.999999855316,-7.99364438388e-05,-0.000530909854459,-3.33738894637e-05,1793196670051410944
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.904339937,743,712,676.095660063,660,631,878.904339937,783.095660063,802,650.095660063,630,651,0.450445586136,0.00444953754166,0.0596527758866,0.999999855699,-7.45334286142e-05,-0.000531077576225,-3.16889176917e-05,1793196670068077568
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.506190065,743,712,676,660,631,879,783,802,650,630,651,0.45028174525,0.00445223363147,0.059651914026,0.999999855453,-6.82269519959e-05,-0.000532458349153,-3.04551084948e-05,1793196670084744448
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,743,712,676,660.084229276,631,879,783.084229276,802,650,630,651,0.450107964942,0.00445498784489,0.059650338509,0.999999854529,-6.20509913593e-05,-0.000535012659438,-2.92067639902e-05,1793196670101411072
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,743,712,676,660.662372714,631,879,783.662372714,802,650,630,651,0.449901373443,0.00445580415854,0.0596467883307,0.999999850523,-5.76992961468e-05,-0.000543026708349,-2.73443848735e-05,1793196670118077952
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,743,712,676,661,631,879,783.761252488,802,650,630,650.761252488,0.449689089326,0.00445785383226,0.0596447002871,0.999999849327,-5.21952349525e-05,-0.000545864341507,-2.55556500206e-05,1793196670134744832
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,743,712,676,661,631,879,783.187360473,802,650,630,650.187360473,0.449468814145,0.004461634849,0.0596446647319,0.999999852123,-4.50735273307e-05,-0.000541435522452,-2.38702942434e-05,1793196670151411200
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.974922806,664,633,877,784,801.974922806,650,630,651,0.406194608623,0.00459051767081,0.0598317418836,0.999999951894,0.000150233881259,-0.000269573339755,3.1191705761e-05,1793196671334745344
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+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,663.885201274,633,876.885201274,784,800.885201274,650,629.885201274,651,0.401066623422,0.00456981034764,0.0598220437828,0.999999952681,7.39302046252e-05,-0.000298331782791,1.30830025491e-05,1793196671768077568
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,663.308851746,633,876.308851746,784,800.308851746,650,629.308851746,651,0.40103736094,0.00456712130144,0.0598226715549,0.999999952837,6.99983534055e-05,-0.000298708410994,1.40947345721e-05,1793196671784744192
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,743,711.271308697,674,663.271308697,633,876.271308697,784,800.271308697,650,629.271308697,651,0.401012276164,0.00456684995363,0.059823285011,0.9999999529,6.99126796729e-05,-0.000298496542999,1.45416174197e-05,1793196671801411072
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,743,711.855869283,674,663.855869283,633,876.855869283,784,800.855869283,650,629.855869283,651,0.400992014946,0.00456937006993,0.0598238819381,0.999999952855,7.42677858963e-05,-0.0002976051998,1.4336327899e-05,1793196671818077952
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,743,711.560873842,673.560873842,663.560873842,633,877,784,801,650,630,651,0.400977839504,0.004568582811,0.0598238745421,0.999999953053,7.41034518344e-05,-0.000296960272768,1.47339038017e-05,1793196671834744320
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,743,711.021709854,673.021709854,663.021709854,633,877,784,801.021709854,650.021709854,630,651,0.400965944463,0.00456681060745,0.0598237429088,0.999999953343,7.25654428802e-05,-0.000296334802914,1.5304487947e-05,1793196671851410944
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,743,711.597996686,673.597996686,663.597996686,633,877,784,801.597996686,650.597996686,630,651,0.400961427544,0.00456752633139,0.0598254895343,0.999999953905,7.37176297815e-05,-0.000294146427791,1.52548539755e-05,1793196671868078080
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,743,711.826905885,674,664,633,877,784,801.826905885,650.826905885,630,651,0.400957414619,0.00456815155845,0.0598270249862,0.999999954391,7.46371359715e-05,-0.000292261227867,1.51856105468e-05,1793196671884745216
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,743,711.254551974,674,664,633,877,784,801.254551974,650.254551974,630,651,0.400954564208,0.00456856804485,0.0598280733438,0.99999995471,7.5019939543e-05,-0.00029107533358,1.50711358442e-05,1793196671901411584
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,663.670952916,633,877,784,800.670952916,650,630,651,0.400952077916,0.0045692144822,0.0598287335302,0.999999955128,7.55405317298e-05,-0.000289505812632,1.49587592493e-05,1793196671918077952
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,663.078346784,633,877,784,800.078346784,650,630,651,0.400949883275,0.00457004510488,0.0598290828004,0.999999955623,7.61714893683e-05,-0.000287629015727,1.48480631954e-05,1793196671934744064
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764,743,711.501023666,674,663,633,877,784,800,650,630,651,0.400948909079,0.0045692137144,0.0598289440503,0.999999955721,7.57318933962e-05,-0.000287389032714,1.51670639734e-05,1793196671951410688
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,764.654616524,743,711.345383476,674,663.654616524,633,877,784,800.654616524,650,630,651,0.400946647516,0.00456742080472,0.0598289256558,0.999999955641,7.44704268885e-05,-0.000287954657317,1.59253975385e-05,1793196671984744192
+407,6.783333333,POSE2_TO_POSE3_RETREAT,764.770310866,743,711,674,664,633,877.229689134,784,801,650,629.770310866,651,0.40094660375,0.00456754558963,0.0598294628413,0.999999955824,7.53270220449e-05,-0.000287086839049,1.60781181439e-05,1793196672001411328
+408,6.800000000,POSE2_TO_POSE3_RETREAT,764.197181234,743,711,674,664,633,877.802818766,784,801,650,629.197181234,651,0.400948575051,0.00456898330675,0.0598305850009,0.999999956416,7.84394342746e-05,-0.000284187445047,1.5898275141e-05,1793196672018078720
+409,6.816666667,POSE2_TO_POSE3_RETREAT,764,743,711.389474029,673.610525971,664,633,877.610525971,784,801,650,629.389474029,651,0.400949261725,0.00456831707203,0.0598314746279,0.999999956686,7.81803296901e-05,-0.000283302684328,1.5994725474e-05,1793196672034745344
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0fe6f8997fedcbb2b508138fd44a958c15259dfe
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,429 @@
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+384,6.400000000,pose2_to_pose3_retreat,0.579016078708,0.0100012369496,1.0500117367,0.549587314649,0.0186749063143,1.04966126575
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+394,6.566666667,pose2_to_pose3_retreat,0.57834155627,0.0100012045421,1.0500116682,0.548912790811,0.0186748693356,1.0496612028
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+400,6.666666667,pose2_to_pose3_retreat,0.578263391728,0.0100011966655,1.05001192221,0.548834627086,0.0186748642157,1.04966145577
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+403,6.716666667,pose2_to_pose3_retreat,0.578257005126,0.0100012364539,1.05001176927,0.54882824107,0.0186749063314,1.04966131109
+404,6.733333333,pose2_to_pose3_retreat,0.578255718655,0.0100012800373,1.05001164244,0.548826954059,0.0186749482247,1.0496611879
+405,6.750000000,pose2_to_pose3_retreat,0.578254898359,0.0100013176212,1.05001169272,0.548826133469,0.0186749846739,1.04966123476
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+409,6.816666667,pose2_to_pose3_retreat,0.578254181671,0.0100013511161,1.05001174547,0.548825416528,0.0186750171738,1.04966128412
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+414,6.900000000,pose2_to_pose3_retreat,0.57825301034,0.010001236445,1.05001174205,0.548824246319,0.0186749061105,1.04966127587
+415,6.916666667,pose2_to_pose3_retreat,0.578252883847,0.0100011943474,1.05001172596,0.548824120216,0.0186748653206,1.04966125938
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+417,6.950000000,pose2_to_pose3_retreat,0.578252832873,0.010001177383,1.05001171948,0.548824069399,0.0186748488831,1.04966125273
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+420,7.000000000,pose2_to_pose3_retreat,0.578252664425,0.0100011213226,1.05001169805,0.54882390147,0.018674794564,1.04966123077
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+423,7.050000000,pose2_to_pose3_retreat,0.57825239275,0.0100011674919,1.05001160273,0.548823628856,0.0186748378077,1.04966114193
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2588673f7b64c5c4b0820fa3e0d6d0a03f1adf66
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a60b64c44834f4db1cbba5c312795c23f831942b20f791eed3a76b023c192641
+size 26534938
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8303cd2f582ee88d902b1d939cd78dd202514734
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_01/franka_data.csv
@@ -0,0 +1,419 @@
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+11,0.183333333,BASELINE,764,743,711,674,664.395320499,633,876.604679501,784,801,651,630,651,0.400928969591,0.00454906359515,0.0499217012316,0.999999973417,2.67529241191e-05,-0.000226705637294,-3.24912577674e-05,1793196673844137472
+12,0.200000000,BASELINE,764,743,711,674,664.97040323,633,876.02959677,784,801,651,630,651,0.400928405288,0.00454937239374,0.0499216696087,0.999999973327,2.57199843269e-05,-0.000227247666315,-3.22849873246e-05,1793196673860804096
+13,0.216666667,BASELINE,764,743,711,674,664.442159934,633,876.557840066,784,801,651,630,651.557840066,0.400929399702,0.00454891869813,0.0499217888226,0.999999973476,2.60768068334e-05,-0.000226505014959,-3.25990987974e-05,1793196673877470720
+14,0.233333333,BASELINE,764,743,711,674,664,633,876.856232942,784,801,651,629.856232942,651.856232942,0.400929998466,0.00454884282815,0.0499217174006,0.999999973551,2.6414836056e-05,-0.00022610869199,-3.28012382976e-05,1793196673894137600
+15,0.250000000,BASELINE,764,743,711,674,664,633,876.27691076,784,801,651,629.27691076,651.27691076,0.400929142351,0.00455003695201,0.0499210436365,0.999999973361,2.64674826891e-05,-0.000226972775139,-3.25786093088e-05,1793196673910804224
+16,0.266666667,BASELINE,764,743,711,674,664.300784623,633,876,784,800.699215377,650.699215377,629,651,0.400928855033,0.00455004340456,0.0499209301587,0.999999973289,2.74125037503e-05,-0.000227205560486,-3.23675492487e-05,1793196673927471104
+17,0.283333333,BASELINE,764,743,711,674,664.876990352,633,876,784,800.123009648,650.123009648,629,651,0.400929088548,0.00454896233555,0.0499213297213,0.999999973324,2.91746501969e-05,-0.000226860281858,-3.21670825864e-05,1793196673944137984
+18,0.300000000,BASELINE,764,742.551997182,711,674,664.551997182,633,876.448002818,784,800.448002818,650,629.896005636,651,0.400928714886,0.00454786706933,0.0499212197757,0.999999973367,2.57899517817e-05,-0.000227068430484,-3.22491691209e-05,1793196673960804352
+19,0.316666667,BASELINE,764,742.018412286,711,673.981587714,664,633,877,784,801,650,630.981587714,651.018412286,0.400928181617,0.00454683910282,0.0499209642319,0.999999973386,2.12499242e-05,-0.000227434914035,-3.24046897699e-05,1793196673977470464
+20,0.333333333,BASELINE,764,742.614111407,711,673.385888593,664,633,877,784,801,650,630.385888593,651.614111407,0.400927811297,0.00454804202717,0.0499204796913,0.999999973174,2.42868529424e-05,-0.000228055981787,-3.24580472011e-05,1793196673994137344
+21,0.350000000,BASELINE,764,742.79607147,711,673.20392853,664,633.20392853,877,784,800.79607147,650.20392853,630,651.79607147,0.400927529752,0.00454859051893,0.0499201340547,0.999999973008,2.63999135324e-05,-0.000228557252983,-3.23769342859e-05,1793196674010803968
+22,0.366666667,BASELINE,764,742.217072727,711,673.782927273,664,633.782927273,877,784,800.217072727,650.782927273,630,651.217072727,0.400927411485,0.00454793536253,0.0499200438935,0.999999972943,2.68137734549e-05,-0.000228838191431,-3.20485002982e-05,1793196674027470848
+23,0.383333333,BASELINE,764,742.35979865,711,674,664.35979865,633.64020135,877,784,800,651,630,651,0.400927653391,0.00454786338346,0.0499203611505,0.999999973046,2.6744383135e-05,-0.000228401525065,-3.20103583035e-05,1793196674044137472
+24,0.400000000,BASELINE,764,742.935394149,711,674,664.935394149,633.064605851,877,784,800,651,630,651,0.400928111318,0.00454814117725,0.0499209227652,0.999999973249,2.63851533014e-05,-0.000227534460063,-3.21463250393e-05,1793196674060804096
+25,0.416666667,BASELINE,764,743,711,674,664.479519129,633,877,784,800.520480871,651,630,651,0.400927799765,0.0045470239168,0.049921064864,0.999999973316,2.32511348452e-05,-0.000227564937282,-3.22620199224e-05,1793196674077470976
+26,0.433333333,BASELINE,764.105498413,743,711,674,664,633,877,784,801,651,630,651,0.40092758068,0.00454613070877,0.0499209871799,0.999999973348,2.07281461628e-05,-0.000227652001227,-3.23917181718e-05,1793196674094137856
+27,0.450000000,BASELINE,764.684815943,743,711,674,664,633,877,784,801,651,630,651,0.400928213834,0.00454703594276,0.0499201606149,0.999999973341,2.25250776579e-05,-0.000227483549166,-3.25958201762e-05,1793196674110804224
+28,0.466666667,BASELINE,764.736108775,743,711,674,664.263891225,633,877,784,801,651,630,651.263891225,0.400928791647,0.00454780332541,0.0499199644029,0.99999997332,2.42868210762e-05,-0.000227379605384,-3.26865337826e-05,1793196674127470592
+29,0.483333333,BASELINE,764.157322598,743,711,674,664.842677402,633,877,784,801,651,630,651.842677402,0.400929303424,0.00454840621336,0.0499205203756,0.999999973284,2.6006575314e-05,-0.000227352637768,-3.26419437712e-05,1793196674144137216
+30,0.500000000,BASELINE,764,743,711,674,664.58183369,633,877,784,801.41816631,651,630,651.58183369,0.400928665392,0.00454839216164,0.0499203648838,0.999999973162,2.4648056071e-05,-0.000228015956088,-3.28167550339e-05,1793196674160803840
+31,0.516666667,BASELINE,764,743,711,674,664.00757559,633,877,784,801.99242441,651,630,651.00757559,0.400927598164,0.00454814782061,0.0499199438189,0.999999973002,2.21404886559e-05,-0.000228936942147,-3.30734637072e-05,1793196674177470464
+32,0.533333333,BASELINE,764,743,711,673.416328728,664.583671272,633,877,784,801.416328728,651,630,651.583671272,0.400927579301,0.00454767865746,0.0499195657199,0.999999972852,2.44993976315e-05,-0.000229406074225,-3.26906757301e-05,1793196674194137344
+33,0.550000000,BASELINE,764,743,711,673.17134828,665,633,877,784,801,651,630,652,0.400927516899,0.00454727670668,0.0499192701529,0.999999972748,2.63813992761e-05,-0.000229696984606,-3.23494801189e-05,1793196674210803968
+34,0.566666667,BASELINE,764,743,711,673.749999635,665,633,877,784,801,651,630,652,0.400927317689,0.00454704166724,0.049919169403,0.999999972767,2.69751263648e-05,-0.000229578612022,-3.21274729758e-05,1793196674227470848
+35,0.583333333,BASELINE,764,743,711,674,665,633,876.673841541,784,801,651,630,651.673841541,0.400927741834,0.00454776749863,0.049919359683,0.999999972823,2.78915179251e-05,-0.000229215892966,-3.21742735068e-05,1793196674244137216
+36,0.600000000,BASELINE,764,743,711,674,665,633,876.099578692,784,801,651,630,651.099578692,0.400928640159,0.00454922425164,0.0499197713456,0.999999972908,2.90533561083e-05,-0.000228667302792,-3.24255524271e-05,1793196674260803840
+37,0.616666667,BASELINE,764,743,711,674,664.513637842,633,876,784,801,651,630,651,0.400929123855,0.00454830623077,0.0499204698092,0.999999973136,2.72212413731e-05,-0.000227926504421,-3.21860908224e-05,1793196674277470464
+38,0.633333333,BASELINE,764,743,711,674,664.073533512,633.073533512,876.073533512,784,801,651,630,651,0.400929469011,0.00454710703882,0.0499211668152,0.999999973377,2.49976610846e-05,-0.000227163692438,-3.1902251482e-05,1793196674294137088
+39,0.650000000,BASELINE,764,743,711,674,664.652327181,633.652327181,876.652327181,784,801,651,630,651,0.400929459887,0.0045473989297,0.0499214404045,0.999999973532,2.43998115317e-05,-0.00022652667447,-3.20208503282e-05,1793196674310804224
+40,0.666666667,BASELINE,764,743,711,674,664.769452589,634,877,784.230547411,801,651,630,651.230547411,0.400929169624,0.00454746074232,0.0499213757656,0.999999973501,2.38492904332e-05,-0.00022670914967,-3.21322153391e-05,1793196674327471104
+41,0.683333333,BASELINE,764,743,711,674,664.192095014,634,877,784.807904986,801,651,630,651.807904986,0.400928456449,0.00454717645052,0.0499208023332,0.999999973187,2.33699650912e-05,-0.000228124380284,-3.22326985569e-05,1793196674344137728
+42,0.700000000,BASELINE,764,742.616416898,711,674,664,633.616416898,876.616416898,784.616416898,800.616416898,651,630,651.616416898,0.40092787717,0.0045469922133,0.0499202715977,0.999999973058,2.35144934119e-05,-0.000228693489509,-3.21062235028e-05,1793196674360804352
+43,0.716666667,BASELINE,764,742.041576192,711,674,664,633.041576192,876.041576192,784.041576192,800.041576192,651,630,651.041576192,0.400927364654,0.00454685786411,0.0499197621513,0.999999973021,2.39700801759e-05,-0.000228840715794,-3.18665852351e-05,1793196674377471232
+44,0.733333333,BASELINE,764.546594342,742.546594342,710.453405658,673.453405658,664,633,876,784,800,651,630,651,0.400927199937,0.00454706369576,0.0499191117987,0.999999973011,2.28432838078e-05,-0.000228928437284,-3.23600725553e-05,1793196674394137600
+45,0.750000000,BASELINE,764.866618169,742.866618169,710.133381831,673.133381831,664.266763661,633.133381831,876.133381831,784,800.133381831,651,630,651,0.400927472729,0.00454715724171,0.0499189028461,0.999999973081,2.18393634915e-05,-0.000228673351879,-3.27163752495e-05,1793196674410804224
+46,0.766666667,BASELINE,764.287918111,742.287918111,710.712081889,673.712081889,665.424163778,633.712081889,876.712081889,784,800.712081889,651,630,651,0.400929115694,0.00454678735305,0.0499202042616,0.99999997341,2.16575822241e-05,-0.000227289235724,-3.24238299895e-05,1793196674427470848
+47,0.783333333,BASELINE,764,742,711,674,665.423263847,634,877,784.288368077,801,651,630,651,0.400928432076,0.00454715813188,0.0499202210708,0.99999997326,2.29431656153e-05,-0.00022784870737,-3.22397969846e-05,1793196674444137472
+48,0.800000000,BASELINE,764,742,711,674,664.275471528,634,877,784.862264236,801,651,630,651,0.400925444791,0.00454826228371,0.0499189659253,0.999999972626,2.56816622976e-05,-0.00023033262522,-3.21632075162e-05,1793196674460803840
+49,0.816666667,BASELINE,764,742.437725573,711,674,664.875451146,633.562274427,877,784.562274427,801.437725573,651,630,651,0.400926668097,0.00454898407525,0.0499194918778,0.999999972864,2.58988717915e-05,-0.000229243844844,-3.2371045685e-05,1793196674477470464
+50,0.833333333,BASELINE,764.014054089,743,711,674,665.985945911,633.014054089,877,784,801.971891822,651,630,651,0.400929116834,0.00454954656243,0.0499205271669,0.999999973351,2.53304753684e-05,-0.000227132270502,-3.26565277772e-05,1793196674494137088
+51,0.850000000,BASELINE,764.605710057,743,711,674,665.394289943,633.605710057,877,784,800.788579885,651,630,651,0.400927281548,0.0045485243667,0.0499193793494,0.999999972855,2.5197526472e-05,-0.000229353865687,-3.244159871e-05,1793196674510803968
+52,0.866666667,BASELINE,764.614805829,742.807402915,711,673.807402915,664.807402915,634,877,784,800.192597085,650.807402915,630,651,0.400926838122,0.00454768700397,0.0499191031528,0.999999972716,2.4878390243e-05,-0.000230009282892,-3.23326678168e-05,1793196674527471104
+53,0.883333333,BASELINE,763.460086238,742.230043119,711,673.230043119,664.230043119,634,877,784,800.769956881,650.230043119,630,651,0.400929175299,0.0045472188932,0.0499205682451,0.999999973295,2.41872964589e-05,-0.000227535852599,-3.24354958251e-05,1793196674544137472
+54,0.900000000,BASELINE,763.345839536,742.345839536,711,673.691679072,664.345839536,633.654160464,876.654160464,784,801,650.345839536,630,651,0.400930268438,0.0045466045903,0.0499212567434,0.99999997363,2.27456356657e-05,-0.000226218576456,-3.23726625045e-05,1793196674560804096
+55,0.916666667,BASELINE,763.920743793,742.920743793,711,674.841487585,664.920743793,633.079256207,876.079256207,784,801,650.920743793,630,651,0.400930537594,0.00454589345792,0.0499214308692,0.999999973802,2.08068413895e-05,-0.000225667072108,-3.22001044022e-05,1793196674577470976
+56,0.933333333,BASELINE,764,743,711,674.504297679,665,633,876.495702321,784,801,650.504297679,630,651,0.400929986368,0.00454543705831,0.0499207499262,0.999999973741,2.06651470328e-05,-0.000225953127903,-3.22000413226e-05,1793196674594137344
+57,0.950000000,BASELINE,764,742.929728862,711,674,664.929728862,633,877,784,801,650,630,651,0.40092918512,0.0045451885568,0.0499199469447,0.999999973608,2.1023325586e-05,-0.000226509434541,-3.21928070874e-05,1793196674610803968
+58,0.966666667,BASELINE,764,742.358003236,711,674,664.358003236,633,877,784,801,650,630,651,0.400927535838,0.00454613294604,0.0499192487959,0.999999973227,2.28979677596e-05,-0.000228038530177,-3.19375696471e-05,1793196674627470592
+59,0.983333333,BASELINE,764,742.223924252,711,674,664,633.223924252,877,784.223924252,801,650.223924252,630,651.223924252,0.400927143893,0.00454722418354,0.0499190945447,0.999999973032,2.44696252788e-05,-0.000228729052612,-3.19293118425e-05,1793196674644137472
+60,1.000000000,BASELINE,764,742.822940827,711,674,664,633.822940827,877,784.822940827,801,650.822940827,630,651.822940827,0.400928858097,0.00454856140463,0.0499198513684,0.999999973156,2.5533757822e-05,-0.000228014893276,-3.23347660655e-05,1793196674660804352
+61,1.016666667,BASELINE,764,742.594496615,710.594496615,674,664,633.594496615,877,784.594496615,801,651,630,651.594496615,0.400928266693,0.00454809208132,0.049919404007,0.999999972939,2.54150569394e-05,-0.000228969429652,-3.23975959129e-05,1793196674677470976
+62,1.033333333,BASELINE,764,742.018838426,710.018838426,674,664,633.018838426,877,784.018838426,801,651,630,651.018838426,0.400926707824,0.00454686470703,0.0499184513529,0.999999972577,2.48000227988e-05,-0.000230624173772,-3.23166558297e-05,1793196674694137344
+63,1.050000000,BASELINE,764,742.569144614,710.569144614,674,664,633,877,784,801,650.430855386,630,651,0.400927512587,0.00454713173892,0.0499190178797,0.999999972978,2.46038781568e-05,-0.000228886928877,-3.24089252994e-05,1793196674710803712
+64,1.066666667,BASELINE,764,743,711,674,664.155276081,633,877,784,801,650,630,651,0.400928446787,0.00454741329117,0.0499195943859,0.999999973349,2.4755381381e-05,-0.000227237289976,-3.24405787152e-05,1793196674727470592
+65,1.083333333,BASELINE,764,743,711,674,664.735203448,633,877,784,801,650,630,651,0.400929516283,0.00454759628433,0.0499200576224,0.999999973575,2.58188794208e-05,-0.000226141080231,-3.229043229e-05,1793196674744137216
+66,1.100000000,BASELINE,764,743,711.312401083,674,664.687598917,633.312401083,877,784,801,650.312401083,630,651,0.400930728777,0.0045467517184,0.0499208477133,0.999999973926,2.44891441406e-05,-0.000224771102668,-3.20276475703e-05,1793196674760803840
+67,1.116666667,BASELINE,764,743,711.887304964,674,664.112695036,633.887304964,877,784,801,650.887304964,630,651,0.400932061429,0.00454504372034,0.0499219124518,0.999999974372,2.1148434861e-05,-0.000223171084925,-3.16702157234e-05,1793196674777470464
+68,1.133333333,BASELINE,764,743,711.538971958,674.461028042,664.461028042,634,877,784.461028042,801,650.538971958,630,651,0.400931257794,0.00454601241297,0.0499215488647,0.999999974182,2.19995174239e-05,-0.000223898637717,-3.19551116009e-05,1793196674794137344
+69,1.150000000,BASELINE,764,743,711,674.964186283,664.964186283,633.964186283,877,784.964186283,801,650.035813717,630,651,0.400930005159,0.00454752289889,0.0499208573821,0.999999973843,2.37149162671e-05,-0.000225175466891,-3.23631306744e-05,1793196674810804224
+70,1.166666667,BASELINE,764,743,711,674.368280783,664.368280783,633.368280783,877,784.368280783,801,650.631719217,630,651,0.40092987644,0.00454730005848,0.0499204842579,0.999999973641,2.29637276481e-05,-0.000226167222846,-3.22474271621e-05,1793196674827470848
+71,1.183333333,BASELINE,763.780469087,742.780469087,711,674,664.219530913,633.219530913,877,784,801,650.780469087,630,651,0.400929964611,0.00454724922812,0.0499203280889,0.99999997357,2.29267986635e-05,-0.000226466338173,-3.23723386711e-05,1793196674844137216
+72,1.200000000,BASELINE,763.205752508,742.205752508,711,674,664.794247492,633.794247492,877,784,801,650.205752508,630,651,0.400930403693,0.00454747669796,0.0499205229381,0.999999973712,2.40454917063e-05,-0.000225644809554,-3.28865484419e-05,1793196674860803840
+73,1.216666667,BASELINE,763.738145896,742,711,673.630927052,665,633.630927052,877,784,801,650,630,651,0.400930391567,0.00454693831789,0.0499208855556,0.999999973828,2.38012812883e-05,-0.000225193645409,-3.2637894783e-05,1793196674877470208
+74,1.233333333,BASELINE,764.887918171,742,711,673.056040915,665,633.056040915,877,784,801,650,630,651,0.400930127824,0.00454597286231,0.049921341729,0.999999973928,2.27970489456e-05,-0.000224949014721,-3.19638310052e-05,1793196674894136832
+75,1.250000000,BASELINE,764.466068484,742.533931516,711,673.533931516,665,633,877,784,801,650,630,651,0.40092811801,0.00454555896508,0.0499197262247,0.999999973435,2.3035587837e-05,-0.000227090739607,-3.2086951239e-05,1793196674910803712
+76,1.266666667,BASELINE,764,742.877288599,711,674,665,633.122711401,877,784,801,650.122711401,630,651,0.400926871833,0.00454548228386,0.0499185378358,0.999999973093,2.32787016178e-05,-0.000228538964684,-3.22882991474e-05,1793196674927470592
+77,1.283333333,BASELINE,764,742.298986096,711,674,665,633.701013904,877,784,801,650.701013904,630,651,0.400929161015,0.00454643640416,0.0499197659679,0.999999973567,2.30404340236e-05,-0.000226455472224,-3.24604026372e-05,1793196674944137216
+78,1.300000000,BASELINE,764,742,711,674,665,633.723508493,877,784,801,651,630,651,0.40093054961,0.0045471811846,0.0499205118792,0.999999973906,2.3316955891e-05,-0.00022489828509,-3.26316630598e-05,1793196674960804096
+79,1.316666667,BASELINE,764,742,711,674,665,633.15105476,877,784,801,651,630,651,0.400930974199,0.00454770188327,0.0499207416113,0.999999974104,2.41445190585e-05,-0.000223904466197,-3.28020210348e-05,1793196674977470720
+80,1.333333333,BASELINE,764,742.426085516,711,673.573914484,665,633,876.573914484,784,801,650.573914484,630,651,0.400929726772,0.00454774806671,0.0499202214657,0.999999973739,2.45619042495e-05,-0.000225500636412,-3.26875884677e-05,1793196674994137344
+81,1.350000000,BASELINE,764,743,711,673.005005839,665,633,876,784,801,650.005005839,630,651,0.400927895303,0.00454762048495,0.0499194386548,0.999999973172,2.48204574991e-05,-0.000228001599051,-3.24723267136e-05,1793196675010803968
+82,1.366666667,BASELINE,764,743,711,673.595631874,665,633,876,784,801,650.595631874,630,651,0.400927854904,0.00454706351512,0.0499193736931,0.999999973261,2.36986195949e-05,-0.000227739810717,-3.24041070923e-05,1793196675027470592
+83,1.383333333,BASELINE,764.182109931,743,711,674,664.817890069,633,876.182109931,784,801,651,630,651,0.400928243376,0.00454668745956,0.0499196185694,0.999999973431,2.29402179268e-05,-0.00022707701007,-3.23652776601e-05,1793196675044137216
+84,1.400000000,BASELINE,764.759582786,743,711,674,664.240417214,633,876.759582786,784,801,651,630,651,0.400929562929,0.00454670417102,0.0499205361078,0.999999973777,2.29708406361e-05,-0.000225543606654,-3.23902546811e-05,1793196675060803840
+85,1.416666667,BASELINE,764.663948981,743,711,674,664.336051019,633.336051019,877,784,801.336051019,651,630,651,0.400928919572,0.00454713292401,0.0499202259038,0.999999973613,2.45367819413e-05,-0.000226110271294,-3.23494207975e-05,1793196675077470720
+86,1.433333333,BASELINE,764.088197367,743,711,674,664.911802633,633.911802633,877,784,801.911802633,651,630,651,0.400926876099,0.0045478555806,0.049919039968,0.999999973078,2.71978449958e-05,-0.000228174885842,-3.22616448942e-05,1793196675094137344
+87,1.450000000,BASELINE,764,743,711,674.497794807,665,633.502205193,877,784,801.502205193,651,629.502205193,651,0.40092882397,0.00454540280592,0.049919929937,0.999999973577,2.46210913644e-05,-0.000226339311095,-3.17789393743e-05,1793196675110803712
+88,1.466666667,BASELINE,764.084886393,743,711,674.915113607,665,633,877,784,801,651,629.084886393,651,0.400930948139,0.00454316754841,0.0499209242328,0.999999974099,2.18519361927e-05,-0.000224365864201,-3.13771470732e-05,1793196675127470336
+89,1.483333333,BASELINE,764.667561796,743,711,674.332438204,665,633,877,784,801,651,629.667561796,651,0.400929872068,0.00454557639754,0.0499203281666,0.999999973741,2.35108615465e-05,-0.000225721291981,-3.18687918697e-05,1793196675144136960
+90,1.500000000,BASELINE,764.752161834,742.752161834,711,674,665,633,876.752161834,784,801,651,629.752161834,651,0.400929464986,0.0045469323678,0.0499201690892,0.999999973639,2.42212322705e-05,-0.000226052885169,-3.21744460359e-05,1793196675160803584
+91,1.516666667,BASELINE,764.175072606,742.175072606,711,674,665,633,876.175072606,784,801,651,629.175072606,651,0.400929946652,0.00454688959654,0.0499205905479,0.999999973882,2.36714554684e-05,-0.000225024322015,-3.22330130677e-05,1793196675177470208
+92,1.533333333,BASELINE,764,742,711,674,664.601034842,633,876.398965158,784.398965158,800.601034842,651,629,651,0.400930492351,0.0045472647887,0.049920433345,0.999999973925,2.35623992512e-05,-0.000224848719809,-3.22286350069e-05,1793196675194136832
+93,1.550000000,BASELINE,764,742,711,674,664.028325897,633,876.971674103,784.971674103,800.028325897,651,629,651,0.400931065936,0.00454782199813,0.0499200241429,0.99999997388,2.36452706808e-05,-0.000225044570161,-3.21968452375e-05,1793196675210803456
+94,1.566666667,BASELINE,764,742,711,673.437717641,664,633.562282359,877,784.437717641,800.562282359,650.437717641,629.562282359,651,0.400930169049,0.00454694686712,0.0499200467261,0.999999973731,2.44850222546e-05,-0.000225632057555,-3.20801262431e-05,1793196675227470080
+95,1.583333333,BASELINE,764,742.150532396,711,673,664,633.849467604,877,784,801,650.150532396,630,651.150532396,0.400929398431,0.00454662164693,0.0499199900014,0.999999973592,2.54058832087e-05,-0.000226149497831,-3.20346671108e-05,1793196675244136704
+96,1.600000000,BASELINE,764,742.729421718,711,673,664,633.270578282,877,784,801,650.729421718,630,651.729421718,0.400929204853,0.00454807334054,0.0499196436647,0.999999973501,2.64454821607e-05,-0.000226409623189,-3.22045610498e-05,1793196675260803584
+97,1.616666667,BASELINE,764,743,711.305181219,673.305181219,664,633.305181219,876.694818781,784,801,651,630,651.694818781,0.400928921724,0.00454812952529,0.0499195360688,0.999999973479,2.5953531902e-05,-0.00022655286847,-3.22688229894e-05,1793196675277470464
+98,1.633333333,BASELINE,764,743,711.878193908,673.878193908,664,633.878193908,876.121806092,784,801,651,630,651.121806092,0.400928560003,0.0045469609911,0.0499196379952,0.999999973517,2.41174717455e-05,-0.000226593538081,-3.22403807418e-05,1793196675294137856
+99,1.650000000,BASELINE,764,743,711.536232302,673.536232302,664,633.536232302,876,784,801,651,630,650.536232302,0.400929733234,0.00454802291666,0.0499204717543,0.999999973767,2.50302106161e-05,-0.000225400468595,-3.21607888849e-05,1793196675310804480
+100,1.666666667,BASELINE,764.051881047,743,711,673.051881047,664.051881047,633,876.051881047,784,801,650.948118953,630,650.051881047,0.400931193803,0.00454944530538,0.0499213866681,0.99999997404,2.64252100494e-05,-0.00022403859465,-3.20784689615e-05,1793196675327471104
+101,1.683333333,BASELINE,764.631336753,743,711,673.631336753,664.631336753,633,876.631336753,784,801,650.368663247,630,650.631336753,0.400931362613,0.00454841023413,0.0499211178348,0.999999974002,2.51783706229e-05,-0.00022434697986,-3.21088217301e-05,1793196675344137472
+102,1.700000000,BASELINE,764.790863887,742.790863887,711,674,665,633,877,784.209136113,801,650,629.790863887,651.209136113,0.400930946727,0.00454747763654,0.0499206194165,0.999999973884,2.33432466476e-05,-0.000225052660515,-3.22365796587e-05,1793196675360804096
+103,1.716666667,BASELINE,764.215961435,742.215961435,711,674,665,633,877,784.784038565,801,650,629.215961435,651.784038565,0.400929508244,0.00454672425923,0.0499197194682,0.999999973621,2.04792489121e-05,-0.000226453186701,-3.25346932838e-05,1793196675377470720
+104,1.733333333,BASELINE,764,742.360230824,711,674,665,633,877.360230824,784.639769176,801,650,629.360230824,651.639769176,0.400928597469,0.00454679666699,0.0499192262245,0.999999973434,2.16782414631e-05,-0.000227195592388,-3.23218926637e-05,1793196675394137600
+105,1.750000000,BASELINE,764,742.937199167,711,674,665,633,877.937199167,784.062800833,801,650,629.937199167,651.062800833,0.400928004198,0.0045473659189,0.0499189776798,0.999999973286,2.53217842216e-05,-0.000227542031527,-3.180169393e-05,1793196675410803968
+106,1.766666667,BASELINE,764,742.475148173,711,674,665,633,876.950296345,784,801,650,630,651,0.400929561421,0.00454628796491,0.0499203295051,0.999999973779,2.37667306126e-05,-0.000225551985157,-3.16766860799e-05,1793196675427470592
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,711,674,664,634,876,784,802,651,630,651,0.400929527861,0.00454673250174,0.0499198311722,0.99999997372,2.30055905193e-05,-0.000225791975488,-3.23734747976e-05,1793196675469749760
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.57518113,743,711,674,664,634,876,784,801.42481887,651,630,651,0.400930709728,0.0045438606859,0.0499200220265,0.999999973937,1.97294237631e-05,-0.000225194390439,-3.20146942601e-05,1793196675486416128
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.850443652,743,711,674,664,633.850443652,876.149556348,784,801,651,629.850443652,651,0.400931540299,0.00454252768681,0.0499201411177,0.999999974058,1.79444096683e-05,-0.000224824540833,-3.18652082102e-05,1793196675503082496
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.27834525,743,711,674,664,633.27834525,876.72165475,784,801,651,629.27834525,651,0.40093137835,0.0045455423112,0.0499200574564,0.999999973936,2.03723534641e-05,-0.000225098112808,-3.23070425002e-05,1793196675519749376
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742.694763389,711,674,664,633,876.694763389,784,800.694763389,651,629,651,0.40093099533,0.00454650069975,0.0499198366383,0.999999973791,2.13657367359e-05,-0.000225625226175,-3.24707530664e-05,1793196675536416000
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742.100300433,711,674,664,633,876.100300433,784,800.100300433,651,629,651,0.400930402836,0.00454551070594,0.0499194858576,0.999999973629,2.09998048901e-05,-0.000226392582169,-3.23709280251e-05,1793196675553082624
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.479494792,711,674,664,633,876.479494792,784,800.479494792,651,629.479494792,651,0.400939322765,0.0045457644055,0.0499225324829,0.999999975141,2.21566358863e-05,-0.000219526271707,-3.21886893504e-05,1793196675569749248
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.0562319,743,711,673.9437681,664.0562319,633,877,784,801,650.9437681,630,651,0.400951582483,0.00454631507765,0.0499265592162,0.999999977127,2.3394261544e-05,-0.000210167155457,-3.20738727368e-05,1793196675586415872
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.632220355,743,711,673.367779645,664.632220355,633,877,784,801,650.367779645,630,651,0.400976866168,0.00454727743238,0.049933271387,0.999999980762,2.25218622291e-05,-0.000192088140397,-3.27368585143e-05,1793196675603082752
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.571950393,742.785975197,711,673.214024803,664.785975197,633,877,784,800.785975197,650.214024803,630,651,0.401006721178,0.00454804489761,0.0499394038816,0.99999998422,2.27670724289e-05,-0.000172994308737,-3.33869556218e-05,1793196675619749376
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.387794905,742.193897452,711,673.806102548,664.193897452,633,877,784,800.193897452,650.806102548,630,651,0.401044650964,0.00454846811036,0.0499445124366,0.999999987541,2.4986425708e-05,-0.000152107909221,-3.40142861463e-05,1793196675636415744
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.386043447,742.386043447,711,674,664.386043447,633.386043447,877,784,800.386043447,651,630,651,0.401090184808,0.0045475870613,0.0499493047585,0.999999990659,2.3242928904e-05,-0.000130137104577,-3.472119577e-05,1793196675653082624
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.960074252,742.960074252,711,674,664.960074252,633.960074252,877,784,800.960074252,651,630,651,0.401139421521,0.00454607089015,0.0499539430883,0.999999993387,1.95696864933e-05,-0.000107638237118,-3.54668572039e-05,1793196675669749504
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,743,711,674,665,634,876.459917274,784.540082726,801,651,630,651,0.401200960678,0.00454548003864,0.0499568347599,0.999999994487,1.90161881706e-05,-9.69095119178e-05,-3.5676954199e-05,1793196675686416384
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,743,711,674,665.119211415,633.880788585,876.119211415,784.880788585,801,651,629.880788585,651,0.401266563684,0.00454459679079,0.0499589628959,0.999999995243,1.7738577589e-05,-8.9011711512e-05,-3.57156250344e-05,1793196675703083008
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,743,711,674,665.693278463,633.306721537,876.693278463,784.306721537,801,651,629.306721537,651,0.401344163558,0.00454233397261,0.0499586759179,0.999999995375,1.28082716363e-05,-8.85583117878e-05,-3.52529674118e-05,1793196675719749376
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.275450932,742.724549068,711,674,665.449098136,633,877,784,801,651,629.275450932,651.275450932,0.401433137061,0.0045412769081,0.0499584987139,0.999999995448,1.08740842117e-05,-8.82646406247e-05,-3.4581159494e-05,1793196675736415744
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.866922596,742.133077404,711,674,664.266154807,633,877,784,801,651,629.866922596,651.866922596,0.401535159355,0.00454160318687,0.0499584474519,0.999999995471,1.23772990335e-05,-8.81542236783e-05,-3.3669396601e-05,1793196675753082368
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.55267788,742.44732212,711,674,664,633,877,784,801,651,630,651.55267788,0.401659114247,0.00453868312089,0.0499593344027,0.999999995534,7.49221853034e-06,-8.85439954632e-05,-3.21905613277e-05,1793196675769749248
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,743,711,674,664.02449778,633,877,784.02449778,801,650.97550222,630,651,0.401790762047,0.00453492897306,0.04996055063,0.999999995581,1.0218035761e-06,-8.88956999201e-05,-3.05598375366e-05,1793196675786415616
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,743,711,674,664.601459677,633,877,784.601459677,801,650.398540323,630,651,0.401952304514,0.00453361877051,0.0499630500886,0.999999995951,6.23743250915e-07,-8.51141887564e-05,-2.92164084138e-05,1793196675803082240
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,743.181445977,711,674,665,633,877,784.818554023,801.181445977,650,629.818554023,651,0.402121412568,0.00453203092834,0.0499628206841,0.999999995934,-8.81187184725e-07,-8.57611037263e-05,-2.786359774e-05,1793196675819749120
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,743.768187811,711,674,665,633,877,784.231812189,801.768187811,650,629.231812189,651,0.402307419851,0.00452982292272,0.0499564958181,0.999999995001,-4.85853319244e-06,-9.62997940921e-05,-2.64898316755e-05,1793196675836416000
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,743.299261582,711,674,665,633,877,784,802,650,629.350369209,651,0.402521138548,0.00452618068632,0.0499546637148,0.99999999483,-1.00675078285e-05,-9.81529027023e-05,-2.45737477098e-05,1793196675853082624
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.14085571,711,674,665,633,877,784,802,650,629.929572145,651,0.402752956187,0.00452160172247,0.0499557659315,0.999999995173,-1.60808862204e-05,-9.43332705922e-05,-2.23034640282e-05,1793196675869749248
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.506291742,742,711,674,665,633,876.493708258,784.506291742,801.493708258,650.506291742,630,651,0.403030044026,0.00451822473399,0.0499631030714,0.999999996573,-2.09559062468e-05,-7.74846783439e-05,-2.02726439071e-05,1793196675886415872
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,742.082663648,711,674,665,633,876.082663648,784.917336352,801,651,630,651,0.403318833032,0.00451490643825,0.0499713055672,0.99999999777,-2.56940256025e-05,-5.89061454763e-05,-1.81845967611e-05,1793196675903082752
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,742.659012318,711,674,665,633,876.659012318,784.340987682,801,651,630,651,0.403640078627,0.0045109449799,0.0499795216738,0.999999998581,-3.05556408522e-05,-4.07672208871e-05,-1.55568094602e-05,1793196675919749376
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.519500587,742.759750293,711,674,665,633.240249707,877,784,801,650.759750293,629.759750293,651,0.403979467939,0.00450610192743,0.0499866037644,0.999999998983,-3.54403942259e-05,-2.48492729618e-05,-1.27074971094e-05,1793196675936415744
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.342860471,742.171430236,711,674,665,633.828569764,877,784,801,650.171430236,629.171430236,651,0.40434514359,0.00449998163421,0.0499920429083,0.999999999066,-4.03586695004e-05,-1.21490454782e-05,-9.53724258542e-06,1793196675953082368
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.410482082,742.410482082,711,674,664.589517918,634,877,784,801.410482082,650.410482082,629.410482082,651,0.404741232775,0.00449285289268,0.0499991137887,0.999999998834,-4.7921275727e-05,1.28996333006e-06,-5.85145772414e-06,1793196675969749504
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.989759442,742.989759442,711,674,664.010240558,634,877,784,801.989759442,650.989759442,629.989759442,651,0.405149828372,0.00448530946495,0.0500068556591,0.999999998285,-5.65712632253e-05,1.50327677891e-05,-1.95368052646e-06,1793196675986416896
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.432500451,711,674,664.567499549,633.432500451,877,784.567499549,801.432500451,650.432500451,629.432500451,651,0.405560872487,0.00447869828993,0.0499900979564,0.999999998046,-6.03853100526e-05,-1.60764096895e-05,1.92850009595e-06,1793196676003083008
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.143826705,711,674,665,633,877.143826705,785,801,650,629.143826705,651,0.405979105554,0.00447250900232,0.0499712454429,0.999999996781,-6.25382623682e-05,-4.99543720683e-05,5.57050561155e-06,1793196676019749376
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742.716027812,711,674,665,633,877.716027812,785,801,650,629.716027812,651,0.406418618922,0.00446752629913,0.0499474669189,0.999999994143,-6.0003007188e-05,-8.96748160214e-05,8.49800728898e-06,1793196676036416000
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.297810999,743,711,674,664.702189001,633.297810999,877.404378003,784.702189001,801,650.297810999,630,651,0.40690049032,0.00446175138445,0.0499325704661,0.999999992731,-3.84926387426e-05,-0.00011362116119,1.20813273714e-05,1793196676053082368
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.889034823,743,711,674,664.110965177,633.889034823,876.221930355,784.110965177,801,650.889034823,630,651,0.407424094242,0.00445519595733,0.0499264249084,0.99999999242,1.71261240007e-06,-0.000122026369479,1.63107808572e-05,1793196676069749248
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,743,711,674,664.943001455,633.528499272,876.943001455,784.471500728,800.528499272,651,630,651.471500728,0.408013578514,0.00444638401299,0.049944251865,0.999999996438,-5.51546828942e-07,-8.19626582268e-05,2.01298303941e-05,1793196676086416128
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,743,711,674,665.948606645,633,877.948606645,784.948606645,800.051393355,651,630,651.948606645,0.408620732929,0.00443720833229,0.0499676535925,0.999999999099,-1.41289840884e-05,-3.2421912503e-05,2.34909263467e-05,1793196676103083264
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,743,711,674,665.374306951,633,877.374306951,784.374306951,800.625693049,651,630,651.374306951,0.409252798137,0.0044296365536,0.0499914201032,0.999999998808,-4.29743737038e-05,-4.00277056972e-07,2.31573410345e-05,1793196676119750144
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.799742893,743,711,674,665,633,877,784,801,651,630,651,0.409879546911,0.00442603942231,0.0500042454956,0.999999997954,-5.76146472741e-05,1.42860359447e-05,2.38226769279e-05,1793196676136417024
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.224684087,743,711,674,665,633,877,784,801,651,630,651,0.410496345398,0.00442988125149,0.0499965934624,0.999999998604,-4.56685886345e-05,-3.47248566238e-06,2.63575963187e-05,1793196676153083392
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.361844686,743,711,674,665,633,877.361844686,784,801,651,630,651,0.411124259316,0.00444108237053,0.0499716156577,0.999999997713,-2.09911744816e-05,-5.79333439386e-05,2.7891634581e-05,1793196676169750016
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.955728758,743,711,674,665,633,877.955728758,784,801,651,630,651,0.411759301179,0.0044570027659,0.049935527392,0.999999990277,1.18504491418e-05,-0.000135930232141,2.87838396367e-05,1793196676186416384
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.467484018,743,711,674,665,633,877.467484018,784,801,651,629.467484018,651,0.412498703201,0.00445645173673,0.0499433279599,0.999999994293,7.09380950571e-06,-0.000102883037482,2.79239695446e-05,1793196676203083520
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.107592871,743,711,674,665,633,877,784.107592871,801,651,629.107592871,651,0.41325051094,0.00445284521327,0.049955434257,0.999999997521,-2.19411232415e-06,-6.47718379795e-05,2.75310197465e-05,1793196676219750400
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.681226403,743,711,674,665,633,877,784.681226403,801,651,629.681226403,651,0.414019642473,0.00444175069151,0.0499708779404,0.99999999845,-1.7991210458e-05,-4.34694666687e-05,2.97718498081e-05,1793196676236416768
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633.26330019,877.526600379,784.73669981,801,651,630,651,0.414771432175,0.004434146177,0.0499672682995,0.999999997802,-2.64353938966e-05,-5.23825026285e-05,3.0880899055e-05,1793196676253083392
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633.855930954,878.711861909,784.144069046,801,651,630,651,0.415501531168,0.00443090689175,0.0499398271463,0.999999994294,-2.56827018175e-05,-9.90883585935e-05,3.05743399261e-05,1793196676269749760
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743,711,674.438138721,665,633.561861279,878.561861279,784,801.438138721,651,630,651,0.416303114602,0.00443266288032,0.0499287277953,0.999999992491,-3.09648512291e-05,-0.000115010046366,2.88436330031e-05,1793196676286416384
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,742.98310056,711,675,665,633,878,784,801.98310056,650.98310056,630,651,0.417128642124,0.00443592970745,0.0499239441707,0.999999991821,-3.77592967687e-05,-0.000119224906019,2.67827722616e-05,1793196676303083008
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,742.407623771,711,675,665,633,878,784,801.407623771,650.407623771,630,651,0.417986719173,0.00443610465027,0.0499544302966,0.999999997114,-3.04740282546e-05,-6.32975276189e-05,2.89280326703e-05,1793196676319749376
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,742.171168889,711,674.828831111,665,633,878,784,801,650.171168889,629.828831111,651,0.418823681122,0.0044356371793,0.0499729466637,0.999999998666,-2.46730275351e-05,-3.28118959434e-05,3.13398264888e-05,1793196676336415488
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,742.758013965,711,674.241986035,665,633,878,784,801,650.758013965,629.241986035,651,0.419609365919,0.00443360963441,0.0499623949916,0.999999997101,-2.24765070744e-05,-6.41104408998e-05,3.4398885118e-05,1793196676353082368
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633,878,784,801,650.659645953,629,651,0.420455415585,0.00443321188196,0.0499569709267,0.999999996848,-2.41597183745e-05,-6.73702911059e-05,3.43749887512e-05,1793196676369748992
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633,878,784,801,650.080467029,629,651,0.421343822969,0.0044339577475,0.0499551448807,0.999999997776,-2.8565319778e-05,-5.0955516338e-05,3.21877968653e-05,1793196676386415872
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.50349416,743,711.49650584,674,665,633,878,784,801.49650584,650,629.49650584,651,0.422261802323,0.00443282974244,0.0499715224887,0.999999999004,-2.52725923215e-05,-1.70309991292e-05,3.2612442553e-05,1793196676403082752
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,711.92762648,674,665,633,878,784,801.92762648,650.07237352,629.92762648,651,0.423174690397,0.00443146866267,0.049986249592,0.999999999156,-2.12251437279e-05,1.09575624449e-05,3.34406930238e-05,1793196676419749888
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,711.356918053,674,665,633,878,784,801.356918053,650.643081947,629.356918053,651,0.424019667387,0.00443058457501,0.0499693879117,0.999999998978,-2.0533752287e-05,-2.13796285509e-05,3.41462798483e-05,1793196676436416256
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,878,784,801,650.777332242,629.222667758,651,0.424881672674,0.00442923338659,0.0499636619958,0.999999998613,-2.06082641013e-05,-3.35730691747e-05,3.4965809061e-05,1793196676453082624
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,878,784,801,650.182925752,629.817074248,651,0.425772106451,0.00442710238399,0.0499765269814,0.999999999038,-2.19614338075e-05,-1.21369841304e-05,3.59755626372e-05,1793196676469749248
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.399403677,743,711,674,665,633,878.399403677,784,801,650,630,651,0.426652921194,0.00442367818939,0.0499869536752,0.999999998864,-2.75827735978e-05,-9.64051450117e-06,3.76561492463e-05,1793196676486415872
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.976364155,743,711,674,665,633,878.976364155,784,801,650,630,651,0.427529459698,0.00441967910028,0.0499962964139,0.999999998477,-3.51015485951e-05,-1.55637421661e-05,3.96349578083e-05,1793196676503082496
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.446302386,743,711,674,665,633,878.446302386,784.553697614,800.446302386,650,629.446302386,651,0.428372426433,0.00442205190453,0.0499569782391,0.999999995886,-2.81723234638e-05,-7.68458968304e-05,3.90920847896e-05,1793196676519749120
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.132930929,743,711,674.132930929,665,633,878,784.867069071,800.132930929,650,629.132930929,651,0.429224328752,0.00442398408595,0.0499283010694,0.999999992113,-2.25454311184e-05,-0.000117432721178,3.84035108006e-05,1793196676536416000
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.718580227,743,711,674.718580227,665,633,878,784.281419773,800.718580227,650,629.718580227,651,0.430111546552,0.00442348869145,0.0499429426382,0.99999999586,-2.34556964141e-05,-7.94847269978e-05,3.75855741268e-05,1793196676553082624
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.69855442,743,711,675,665.30144558,633,878.30144558,783.69855442,801.30144558,650,630,651,0.430966919153,0.00442160794833,0.0499452230801,0.999999996269,-2.66659078662e-05,-7.30084105835e-05,3.7681309779e-05,1793196676569749248
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.118264316,743,711,675,665.881735684,633,878.881735684,783.118264316,801.881735684,650,630,651,0.431792834116,0.00441844572393,0.0499360691768,0.999999994168,-3.20036256395e-05,-9.56441667857e-05,3.86222147113e-05,1793196676586416128
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.458849748,743,711,674.541150252,665.541150252,633,878.541150252,783.458849748,801.541150252,650,630,651,0.43262213138,0.00441740066539,0.0499287185024,0.999999993172,-3.34351861528e-05,-0.000105152822789,3.84706201241e-05,1793196676603082752
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743,711,674.034926818,665.034926818,633,878,784,801.034926818,650.034926818,629.965073182,651,0.433453910856,0.00441690109807,0.0499241737374,0.999999992856,-3.36895200682e-05,-0.000108140694661,3.81861697967e-05,1793196676619749376
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743,711,674.607554319,665.607554319,633,878,784,801.607554319,650.607554319,629.392445681,651,0.434310574714,0.0044164563718,0.0499557202292,0.999999996755,-3.12132133422e-05,-6.24701064398e-05,4.0161567188e-05,1793196676636415744
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743.186632076,711,675,666,633,877.813367924,784,801.813367924,650.813367924,629.186632076,651,0.435132158758,0.0044158421349,0.0499756231085,0.999999997962,-2.9781311636e-05,-3.79652975833e-05,4.18160595301e-05,1793196676653082112
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743.779758948,711,675,666,633,877.220241052,784,801.220241052,650.220241052,629.779758948,651,0.43587733723,0.00441485869456,0.0499701655736,0.999999996843,-3.06241804146e-05,-5.95606970477e-05,4.27716037681e-05,1793196676669748992
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.636173263,743.636173263,711,675,665.636173263,633,877.727653475,784,801,650,630,650.636173263,0.436616828703,0.00441598942787,0.0499562167667,0.999999994948,-2.86314553568e-05,-8.60840828596e-05,4.32758298474e-05,1793196676686415616
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.057456159,743.057456159,711,675,665.057456159,633,878.885087682,784,801,650,630,650.057456159,0.437352961168,0.00441836887525,0.0499372526813,0.999999992069,-2.49639171004e-05,-0.000115518129691,4.35134896094e-05,1793196676703082496
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.517246051,743.517246051,711.517246051,675,665,633.517246051,878.482753949,784,800.482753949,650.517246051,630,650,0.438126282335,0.00441559831996,0.049960888557,0.999999996534,-2.81929595901e-05,-6.52518507746e-05,4.33617017066e-05,1793196676719749376
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,743.908323969,711.908323969,675,665.091676031,633.908323969,878.091676031,784,800.091676031,650.908323969,630,650.091676031,0.438888699454,0.00441295046055,0.0499828010002,0.999999998411,-3.11189505911e-05,-1.87152021733e-05,4.31182632537e-05,1793196676736416000
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,743.332995489,711.332995489,675,665.667004511,633.332995489,878.667004511,784,800.667004511,650.332995489,630,650.667004511,0.439571964703,0.00441394469457,0.0499708487759,0.999999997958,-2.84356950762e-05,-3.82015822857e-05,4.26177761132e-05,1793196676753082368
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,743,711.249457538,675.249457538,666,633,879,784,801,650.249457538,630,651,0.44022717853,0.00441464664415,0.0499549267627,0.999999996681,-2.78915947729e-05,-6.38666738064e-05,4.22144920275e-05,1793196676769748736
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,743,711.841700524,675.841700524,666,633,879,784,801,650.841700524,630,651,0.440843846184,0.00441494695874,0.0499335497706,0.999999993858,-3.0286957981e-05,-9.80220758185e-05,4.1944776961e-05,1793196676786415616
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.575530155,743,711.575530155,675.575530155,665.575530155,633,879,784,801,650.575530155,630,651,0.441475267201,0.00441435191784,0.0499419712867,0.999999995264,-3.10677145818e-05,-8.1989573981e-05,4.22390956941e-05,1793196676803082240
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.003750969,743,711,675,665.003750969,633,879,784,801.003750969,650,630,651,0.442111806407,0.00441343208346,0.0499612716065,0.999999997462,-3.12457751909e-05,-4.76632539468e-05,4.27453281155e-05,1793196676819749120
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.578115718,743,711,675,665.578115718,633,879,784,801.578115718,650,630,651,0.442708217558,0.00441279000675,0.0499818680893,0.999999998473,-2.93398703913e-05,-1.55231885921e-05,4.41883727667e-05,1793196676836416000
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,743,711,675,666,633,879,784,802,650,630,650.847601393,0.443281507812,0.00441232354035,0.0499926158844,0.999999998599,-2.75241807953e-05,3.87326306727e-07,4.52054143071e-05,1793196676853083136
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,743,711,675,666,633,879,784,802,650,630,650.273544865,0.44379082708,0.00441234295406,0.0499761142407,0.999999998239,-2.59580991142e-05,-2.86062268809e-05,4.5043786781e-05,1793196676869750272
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,743,711,675,666,633,879,784,801.689562568,650,630.310437432,650,0.444267140458,0.00441217556027,0.0499537225166,0.999999996518,-2.61224581351e-05,-6.56170428529e-05,4.44501448498e-05,1793196676886417152
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,743,711,675,666,633,879,784,801.096545241,650,630.903454759,650,0.444713409745,0.00441183812239,0.0499259692676,0.999999992626,-2.78619744192e-05,-0.000109925679551,4.34632558968e-05,1793196676903083776
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,743,711.484136407,675,666,633,879,784,801.484136407,650.484136407,631,650.484136407,0.445168268766,0.00441277555871,0.0499268534519,0.999999993868,-2.81568619438e-05,-9.81508545803e-05,4.28642574034e-05,1793196676919749888
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.938011761,743,711.938011761,675,665.938011761,633,878.938011761,784,801.938011761,650.938011761,630.938011761,651,0.445621341711,0.00441387856283,0.0499338796927,0.999999995925,-2.79353429941e-05,-7.46830242754e-05,4.23443654299e-05,1793196676936415744
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.363721818,743,711.363721818,675,665.363721818,633,878.363721818,784,801.363721818,650.363721818,630.363721818,651,0.446045848778,0.00441430100602,0.0499456427104,0.999999997793,-2.5767697965e-05,-4.47120999838e-05,4.1854856615e-05,1793196676953082368
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.216041858,743,711.216041858,675,665,632.783958142,878,784,801,650,630,650.783958142,0.446440934903,0.00441598307107,0.0499500051481,0.999999998396,-2.32845452159e-05,-3.09082885293e-05,4.13604596047e-05,1793196676969749504
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.805260444,743,711.805260444,675,665,632.194739556,878,784,801,650,630,650.194739556,0.446785201148,0.00441984092541,0.0499415843015,0.999999997946,-2.02564050946e-05,-4.50305051296e-05,4.08576191398e-05,1793196676986416640
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,743,711.610670451,675,665,632,878,784,801,650,630,650,0.447076261264,0.00442104649606,0.0499139383734,0.999999994903,-2.06037795568e-05,-9.03352551801e-05,4.01174339802e-05,1793196677003083264
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,743,711.029143402,675,665,632,878,784,801,650,630,650,0.447341055525,0.00442094273336,0.0498768017377,0.999999987568,-2.26175195397e-05,-0.000151033661834,3.9260080417e-05,1793196677019749888
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,743,711.546046687,675.546046687,665,632.546046687,878,784,801,650,630,650,0.447583724628,0.00442467309102,0.0498514220361,0.999999981677,-1.65233959894e-05,-0.000186834133617,3.82857983095e-05,1793196677036416256
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.878865534,743,711.878865534,676,664.878865534,632.878865534,878.121134466,784,801.121134466,650,630,650,0.447825374217,0.00442816929073,0.0498329673273,0.999999976666,-1.06546844569e-05,-0.000212461348012,3.76079720441e-05,1793196677053082624
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.302906404,743,711.302906404,676,664.302906404,632.302906404,878.697093596,784,801.697093596,650,630,650,0.448067578801,0.00443002677273,0.0498381849423,0.999999978273,-7.23846298886e-06,-0.000204823133752,3.8066414116e-05,1793196677069749248
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.280472972,743,711,675.719527028,664,632,879,784,802.280472972,650,630,650,0.448295395343,0.0044306921938,0.0498444964047,0.999999980279,-5.56692318376e-06,-0.000194794692854,3.82978729458e-05,1793196677086415872
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.872083835,743,711,675.127916165,664,632,879,784,802.872083835,650,630,650,0.448507250742,0.00443003522236,0.0498520213077,0.999999982668,-5.8308163297e-06,-0.000182114695388,3.82775317707e-05,1793196677103082496
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,743,711.452093939,675,664.452093939,632,879,784,802.547906061,650,630,650.452093939,0.448687687795,0.00443039807616,0.0498577652536,0.999999983933,-3.9580404308e-06,-0.000174932384043,3.89389534882e-05,1793196677119749120
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,743,712,675,664.971233092,632,878.971233092,784,801.971233092,650.028766908,630,651,0.448857140033,0.00443116748235,0.049862464536,0.999999984747,-1.44246435431e-06,-0.00017007890306,3.97013182008e-05,1793196677136416000
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,743,712,675,664.397155401,632,878.397155401,784,801.397155401,650.602844599,630,651,0.448982658361,0.00443431059029,0.0498566741586,0.999999982932,2.08485033418e-06,-0.000180622063248,3.88120290557e-05,1793196677153082880
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,743.182245554,711.817754446,675.182245554,664.182245554,631.817754446,878.364491108,784,801,650.817754446,630,650.817754446,0.449102137404,0.00443626921228,0.0498519063961,0.99999998133,4.54762918248e-06,-0.000189361479234,3.8242319598e-05,1793196677169749504
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,743.773596102,711.226403898,675.773596102,664.773596102,631.226403898,879.547192203,784,801,650.226403898,630,650.226403898,0.449208059439,0.00443556889867,0.0498494342015,0.999999980424,4.6207364877e-06,-0.000194051847136,3.83900030554e-05,1793196677186416128
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,743.642712285,711,676,664.642712285,631.357287715,879.285424569,783.642712285,801.357287715,650,630,650.357287715,0.449295510804,0.00443594327338,0.0498458857037,0.999999979234,4.51376832336e-06,-0.000200121729291,3.82559839362e-05,1793196677203082752
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,743.063772028,711,676,664.063772028,631.936227972,878.127544056,783.063772028,801.936227972,650,630,650.936227972,0.449371503429,0.0044369843583,0.0498416694937,0.999999977836,4.2950857585e-06,-0.000207047428726,3.79472034566e-05,1793196677219749376
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.48687053,743,711.51312947,675.48687053,664,632,878.51312947,783,801.48687053,650,630,651,0.449433176749,0.00443768675258,0.049839352376,0.999999977101,6.25441733565e-06,-0.000210516600601,3.79708155323e-05,1793196677236415744
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,712,675,664,631.910732589,879,783.089267411,801,650,630.089267411,650.910732589,0.449490495935,0.00443861298538,0.049837420789,0.999999976489,8.37836094733e-06,-0.000213335169435,3.79436715493e-05,1793196677253082112
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,712,675,664,631.337366573,879,783.662633427,801,650,630.662633427,650.337366573,0.449533815275,0.00444098046423,0.0498363050629,0.99999997615,9.9328800476e-06,-0.000214945904494,3.74181387712e-05,1793196677269748992
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,711.756485005,675,664,631,878.756485005,784,801,650,630.756485005,650,0.449572542811,0.00444115192299,0.0498360687687,0.999999976116,9.73544575394e-06,-0.000215114921307,3.73934030701e-05,1793196677286415872
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711.16485982,675,664,631,878.16485982,784,801,650,630.16485982,650,0.449604706255,0.00443818412122,0.0498370896423,0.999999976518,7.03355438307e-06,-0.000213222969198,3.8084568144e-05,1793196677303082752
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.41654334,743,711.41654334,675,664,631.41654334,878,784,801,650,630,650,0.449626292073,0.0044395825239,0.0498361989918,0.999999976143,8.82943718199e-06,-0.000214956018054,3.78038319528e-05,1793196677319749376
+219,3.650000000,POSE1_TO_POSE2_PRESS,764.993997708,743,711.993997708,675,664,631.993997708,878,784,801,650,630,650,0.449643791743,0.00444266759496,0.049834569918,0.999999975452,1.2362813842e-05,-0.000218089407756,3.71476495006e-05,1793196677336416000
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.429412291,743,711.429412291,675,664,631.429412291,878.570587709,784,801,650,630,650,0.449653445884,0.00444359712167,0.0498336331864,0.999999974902,1.39852250582e-05,-0.000220515717379,3.70574469134e-05,1793196677353082624
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.146382583,743,711.146382583,675.146382583,664,631,878.853617417,784,801,650,630.146382583,650,0.449662114162,0.00444422622987,0.0498327989579,0.99999997447,1.51547317106e-05,-0.000222400818635,3.69909469928e-05,1793196677369748992
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.719883805,743,711.719883805,675.719883805,664,631,878.280116195,784,801,650,630.719883805,650,0.449668146309,0.00444404483178,0.0498322425972,0.999999974399,1.5061308683e-05,-0.000222728438905,3.69762613804e-05,1793196677386415616
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,743,711.696440403,676,664,631,878,784,801,650,630.696440403,650,0.449672660721,0.0044437602323,0.0498318442227,0.999999974245,1.53080573507e-05,-0.000223409629979,3.69361968239e-05,1793196677403082496
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,743,711.103050134,676,664,631,878,784,801,650,630.103050134,650,0.449675726039,0.00444337709883,0.0498315966892,0.99999997401,1.5879592941e-05,-0.000224428401137,3.68719011218e-05,1793196677419749376
+225,3.750000000,POSE1_TO_POSE2_PRESS,764.524037817,743,711.475962183,675.524037817,664,631.475962183,878,784,801.475962183,650.475962183,630.475962183,650,0.449676170572,0.00444525905571,0.049830865529,0.999999973804,1.71180604037e-05,-0.000225280692426,3.67117450312e-05,1793196677436416256
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,712,675.051928211,664,632,878.051928211,784,801.948071789,650.948071789,630.948071789,650,0.449676041306,0.00444729406705,0.0498300746554,0.999999973582,1.83383796167e-05,-0.000226200267531,3.6510242876e-05,1793196677453083392
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+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,712,676,664,632,879,784,801,650,630,650.207342357,0.449675627957,0.0044453312382,0.0498291322262,0.9999999728,1.77690578283e-05,-0.00022976650758,3.59285256277e-05,1793196677486416128
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+230,3.833333333,POSE1_TO_POSE2_PRESS,764.377524857,743,712,675.622475143,664,631.622475143,879,784,801,650.377524857,630,650.622475143,0.449675777128,0.00444533173774,0.0498272914362,0.999999972329,1.78604329543e-05,-0.0002317402956,3.63360301063e-05,1793196677519749120
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.958691306,743,712,675.041308694,664,631.041308694,879,784,801,650.958691306,630,650.041308694,0.449674936843,0.004445033293,0.0498264377745,0.999999972107,1.77024966613e-05,-0.000232700574313,3.63615750229e-05,1793196677536415744
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,743,712,675,664.534374309,631,879,784,801,651,630,650,0.449674561589,0.0044451726198,0.0498258958008,0.999999971945,1.72704190058e-05,-0.000233444636926,3.62772001336e-05,1793196677553082368
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.890829514,743,711.890829514,675.109170486,664.890829514,631.109170486,879,784,801,651,630,650.109170486,0.449674508846,0.00444533122981,0.0498254326281,0.999999971818,1.67422256552e-05,-0.000234046930952,3.61374842564e-05,1793196677569749248
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+240,4.000000000,POSE1_TO_POSE2_PRESS,765,743,711.165800146,675.165800146,664,631.165800146,879,783.165800146,801,650.165800146,630,650.165800146,0.449678616837,0.00444764579959,0.0498263089933,0.99999997234,2.01671487578e-05,-0.000231719956787,3.49179031502e-05,1793196677686415616
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,743,711.760190892,675.760190892,664,631.760190892,879,783.760190892,801,650.760190892,630,650.760190892,0.449680646164,0.00444600090335,0.0498280272001,0.999999972817,1.78109478667e-05,-0.000229801174933,3.521347641e-05,1793196677703082496
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,743,712,675.654116845,664,631.654116845,879,784,801,650.654116845,630.345883155,651,0.449680081622,0.00444617117915,0.0498275645623,0.999999972575,1.76256981146e-05,-0.000230877021663,3.51319531452e-05,1793196677719749376
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,743,712,675.074307526,664,631.074307526,879,784,801,650.074307526,630.925692474,651,0.449677762806,0.00444756908415,0.0498256269852,0.999999971843,1.89086965204e-05,-0.000233978182414,3.47953936165e-05,1793196677736416256
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,743,711.498731918,675.501268082,664.501268082,631.501268082,878.498731918,784,801,650,630.498731918,651,0.449676755337,0.00444717216492,0.0498249763762,0.999999971637,1.87770834233e-05,-0.00023484642538,3.49437766715e-05,1793196677753082880
+245,4.083333333,HOLD_POSE2,765,743,712,675,665,631,879,784,801,651,630,650,0.449677786782,0.00444862909082,0.0498258004496,0.99999997153,2.13675751787e-05,-0.000235077212258,3.4953336381e-05,1793196677796770560
+246,4.100000000,HOLD_POSE2,764.402793479,743,711.402793479,675,664.402793479,631,878.402793479,784,801,650.402793479,630,650,0.449677982716,0.0044481019761,0.0498266880324,0.999999971693,2.15695735262e-05,-0.000234336108858,3.51539609923e-05,1793196677813436416
+247,4.116666667,HOLD_POSE2,764,743,711.187834296,675,664,631.187834296,878.187834296,783.812165704,801,650,630,650.187834296,0.449678078659,0.00444786469199,0.0498268901847,0.999999971762,2.13235647082e-05,-0.000234058619179,3.51935728928e-05,1793196677830102528
+248,4.133333333,HOLD_POSE2,764,743,711.764832041,675,664,631.764832041,878.764832041,783.235167959,801,650,630,650.764832041,0.449677967437,0.00444822789173,0.0498256722317,0.999999971636,2.01493547541e-05,-0.000234741664897,3.48995915337e-05,1793196677846768896
+249,4.150000000,HOLD_POSE2,764.340201773,743,712,675.340201773,664,631.659798227,879,783.340201773,801,650,630,650.659798227,0.449678071283,0.00444793318069,0.0498250543648,0.99999997154,2.00338276093e-05,-0.000235121562634,3.51732436685e-05,1793196677863435776
+250,4.166666667,HOLD_POSE2,764.91445145,743,712,675.91445145,664,631.08554855,879,783.91445145,801,650,630,650.08554855,0.449678323088,0.00444718584812,0.0498248493379,0.999999971463,2.06466403356e-05,-0.000235292904248,3.583740945e-05,1793196677880102912
+251,4.183333333,HOLD_POSE2,764.500281572,743,712,675.500281572,663.500281572,631,879,784,801,650,630,650,0.449678041152,0.00444762208226,0.0498246566098,0.9999999715,1.97213843212e-05,-0.000235254676,3.55887218406e-05,1793196677896769536
+252,4.200000000,HOLD_POSE2,764,743,712,675.086237163,663.086237163,631,879,784,801,650,630,650.086237163,0.449677793878,0.00444817419459,0.0498244775056,0.99999997153,1.87348031211e-05,-0.000235264271574,3.52062243369e-05,1793196677913435904
+253,4.216666667,HOLD_POSE2,764,743,712,675.668859892,663.668859892,631,879,784,801,650,630,650.668859892,0.449678283924,0.00444820072998,0.0498243644291,0.999999971418,1.89450098854e-05,-0.000235760308982,3.49733136142e-05,1793196677930102528
+254,4.233333333,HOLD_POSE2,764.247935281,743,712,676,664,631,878.752064719,784,800.752064719,650,630,650.752064719,0.449678682617,0.00444848685139,0.0498246603383,0.999999971443,1.87817217765e-05,-0.000235697360148,3.47601217243e-05,1793196677946768896
+255,4.250000000,HOLD_POSE2,764.822339659,743,712,676,664,631,878.177660341,784,800.177660341,650,630,650.177660341,0.449678961021,0.00444911478302,0.0498254947799,0.999999971649,1.81266337994e-05,-0.000234898365427,3.45728946512e-05,1793196677963435520
+256,4.266666667,HOLD_POSE2,765,743.397278028,712,675.602721972,664,631,878.397278028,784,800.397278028,650,630,650.397278028,0.449678022463,0.00444871127475,0.0498252431122,0.999999971503,1.80595471319e-05,-0.000235500623192,3.47419589918e-05,1793196677980102400
+257,4.283333333,HOLD_POSE2,765,743.972455565,712,675.027544435,664,631,878.972455565,784,800.972455565,650,630,650.972455565,0.449676538955,0.00444784589187,0.0498245050893,0.999999971198,1.82557650394e-05,-0.000236730356139,3.50705691842e-05,1793196677996769280
+258,4.300000000,HOLD_POSE2,764.439246752,743.439246752,711.439246752,675,664,631,879,784,801,650,630,651,0.449677827931,0.00444712341545,0.0498246963706,0.999999971359,1.7758157088e-05,-0.000236086018953,3.50774358585e-05,1793196678013435904
+259,4.316666667,HOLD_POSE2,764.14812904,743,711,675,664,631,879,784,801,650.14812904,630,650.85187096,0.449678868033,0.00444686576091,0.0498249005535,0.9999999715,1.7637111869e-05,-0.000235514889289,3.49648520824e-05,1793196678030102528
+260,4.333333333,HOLD_POSE2,764.730864027,743,711,675,664,631,879,784,801,650.730864027,630,650.269135973,0.449678768807,0.00444795079019,0.0498250054512,0.999999971513,1.87232779962e-05,-0.000235435105537,3.45492842971e-05,1793196678046769408
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,743,712,676,664,632,879,784,801,650,630,651,0.449680261359,0.00445015431854,0.0498263225732,0.999999971907,2.16832070123e-05,-0.000233456648961,3.48496928622e-05,1793196678083477504
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,743,711.429936176,676,664,631.429936176,878.429936176,784,801,650.570063824,630,651,0.449680612185,0.00445051880953,0.0498262002788,0.99999997182,2.25471391602e-05,-0.000233777820196,3.46465055067e-05,1793196678100144384
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,743,711.146690083,675.853309917,664,631,878.146690083,784,801.146690083,651,630,651,0.449680182522,0.00445046254824,0.0498258019583,0.99999997163,2.28165898261e-05,-0.000234594643744,3.44257572138e-05,1793196678116811520
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,743,711.743451189,675.256548811,664,631,878.743451189,784,801.743451189,651,630,651,0.449677358176,0.00444911534487,0.0498245567411,0.999999971122,2.12620667665e-05,-0.000236932215997,3.41511288212e-05,1793196678133477632
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.671449744,743,711.671449744,675,664,631.328550256,879,784,802,650.671449744,630.328550256,651,0.449677510974,0.00444877776309,0.0498243997054,0.999999971183,2.07935444487e-05,-0.000236717627481,3.41467642088e-05,1793196678150144512
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.095144872,743,711.095144872,675,664,631.904855128,879,784,802,650.095144872,630.904855128,651,0.449679908792,0.00444920152125,0.0498250632504,0.999999971673,2.11439584168e-05,-0.000234578494262,3.4346201307e-05,1793196678166812160
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.479837704,743.479837704,711.479837704,675.479837704,664,631.520162296,879,784,802,650,630.520162296,651,0.449679128353,0.0044484342167,0.0498245884975,0.999999971473,2.06370688318e-05,-0.000235412268654,3.47871328331e-05,1793196678183478272
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,743.944219853,712,675.944219853,664,631.055780147,879,784,802,650.055780147,630,651,0.449677876301,0.00444768689093,0.0498240377471,0.99999997119,2.01107494849e-05,-0.000236603683519,3.51447102976e-05,1793196678200143872
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,743.356633168,712,675.356633168,664,631.643366832,879,784,802,650.643366832,630,651,0.449678119713,0.00444937549827,0.0498249084193,0.999999971439,2.1015422259e-05,-0.000235600147643,3.42523138733e-05,1793196678216810496
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,743,711.7713595,675.2286405,664,631.7713595,878.7713595,784,802,650.7713595,630,651,0.449675654354,0.00444932235158,0.0498240216063,0.999999971084,2.0720289388e-05,-0.000237145921139,3.41195850092e-05,1793196678233476864
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,743,711.189657596,675.810342404,664,631.189657596,878.189657596,784,802,650.189657596,630,651,0.449669006173,0.00444657962821,0.0498204209251,0.999999969775,1.85724441357e-05,-0.000242628279652,3.51599174107e-05,1793196678250143488
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,743,711.387639721,675.612360279,664,631,878.387639721,784,801.612360279,650.387639721,630,651,0.449649960695,0.00444703895445,0.0498115857387,0.99999996574,1.95986941241e-05,-0.000258661628137,3.50679313226e-05,1793196678266810112
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,743,711.962806302,675.037193698,664,631,878.962806302,784,801.037193698,650.962806302,630,651,0.449624917828,0.0044490473227,0.0498002182773,0.999999960018,2.21604627995e-05,-0.000279799185659,3.44281682965e-05,1793196678283477248
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.450772906,743,712,675,664,631,878.450772906,784.549227094,801.549227094,651,630,651,0.449583517759,0.00444979575879,0.0497845030113,0.999999951193,2.23293197385e-05,-0.000309758154454,3.41422992468e-05,1793196678300143872
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.13464785,743,712,675,664,631,878.13464785,784.86535215,802,650.86535215,630,651,0.449536589548,0.00445041081206,0.0497678548994,0.999999940865,2.227471757e-05,-0.000341511815035,3.38129079633e-05,1793196678316810496
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.714193576,743,712,675,664,631,878.714193576,784.285806424,802,650.285806424,630,651,0.449475132088,0.0044508729649,0.0497491177196,0.999999928072,2.20284049786e-05,-0.000377180278003,3.32588691826e-05,1793196678333477376
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,743,711.70731501,675.29268499,664,631,879,784,802,650.29268499,630,650.70731501,0.44941473006,0.00445189650674,0.0497364651207,0.999999920459,2.36068738952e-05,-0.000396827188584,3.24608955066e-05,1793196678350144000
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,743,711.129849472,675.870150528,664,631,879,784,802,650.870150528,630,650.129849472,0.449355354964,0.00445346627629,0.0497297327797,0.999999918788,2.69608431196e-05,-0.000400885233439,3.14255748624e-05,1793196678366810880
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,743,711.446093632,676,664,631,878.553906368,784,802,650.553906368,630,650,0.449286388851,0.00445599702076,0.0497288843485,0.999999917924,3.09902016918e-05,-0.000402774155095,3.10616550604e-05,1793196678383477504
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.977946719,743,712,676,664.022053281,631,878.022053281,784,801.977946719,650,630,650.022053281,0.449214061526,0.00445869064924,0.0497298214605,0.999999917393,3.50132690372e-05,-0.000403775214392,3.08968477502e-05,1793196678400144128
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.39023445,743,712,676,664.60976555,631,878.60976555,784,801.39023445,650,630,650.60976555,0.449126884515,0.00445841183485,0.0497327765072,0.999999919693,3.38495751205e-05,-0.000398142790505,3.08434889065e-05,1793196678416810496
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.195444015,743,711.804555985,675.804555985,664.804555985,631.195444015,878.804555985,784,801.195444015,650,630,650.804555985,0.449032189094,0.00445919910101,0.0497352750306,0.999999921394,3.51462366679e-05,-0.000393760969173,3.04805665543e-05,1793196678433477120
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.777103429,743,711.222896571,675.222896571,664.222896571,631.777103429,878.222896571,784,801.777103429,650,630,650.222896571,0.448922636613,0.0044620930407,0.0497368714218,0.999999921938,4.13047876413e-05,-0.000391850454502,2.95059181692e-05,1793196678450144000
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.645411595,743,711.354588405,675,664,631.645411595,878,784,802,650.354588405,630,650.354588405,0.448797822332,0.00446441460746,0.0497379801736,0.999999922386,4.56033691131e-05,-0.000390294150936,2.86162376912e-05,1793196678466810880
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.070520109,743,711.929479891,675,664,631.070520109,878,784,802,650.929479891,630,650.929479891,0.448663526,0.00446638056355,0.0497387859587,0.999999922782,4.87463662684e-05,-0.000388957915854,2.77793470337e-05,1793196678483478016
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.502001142,743,712,675.502001142,664,631.502001142,878.502001142,784,802,650.497998858,630,651,0.448506081413,0.00446927241443,0.0497356348919,0.999999921134,5.40749309881e-05,-0.000392553507706,2.66489277101e-05,1793196678500144128
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,742.923230084,711.923230084,675.923230084,664,632,879,784,802,650.076769916,630,651,0.448341084522,0.00447253378257,0.049731996062,0.999999919241,5.99166470385e-05,-0.000396586261812,2.54483273387e-05,1793196678516810496
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,742.3311503,711.3311503,675.3311503,664,632,879,784,802,650.6688497,630,651,0.448147118439,0.0044774065336,0.0497287967277,0.999999917886,6.71516573674e-05,-0.000398924843074,2.40521238802e-05,1793196678533477120
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,742.255388019,711.255388019,675,664,632,879,784,801.744611981,650.744611981,630,651,0.447942640781,0.00448161785107,0.049726492355,0.999999916491,7.36388915968e-05,-0.000401347043503,2.27191036288e-05,1793196678550143744
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,742.83489353,711.83489353,675,664,632,879,784,801.16510647,650.16510647,630,651,0.447724822708,0.0044849897311,0.0497253237944,0.999999915077,7.91771094056e-05,-0.000403875366378,2.14662703973e-05,1793196678566810624
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.588696709,743,711.588696709,675.411303291,664.411303291,632,879,783.588696709,801,650,630,651,0.447490234563,0.00448893208882,0.0497271997261,0.999999915998,8.44969295838e-05,-0.000400594218992,1.97101578943e-05,1793196678583477248
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.013520382,743,711.013520382,675.986479618,664.986479618,632,879,783.013520382,801,650,630,651,0.447248964827,0.00449310173836,0.0497302886562,0.999999917805,8.97297348042e-05,-0.0003949984401,1.77535269622e-05,1793196678600144128
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.572894351,743,711,676,665,632.572894351,879,783.572894351,801.572894351,650,630,651,0.44698637354,0.00449836414928,0.0497337498892,0.999999919061,9.89013193862e-05,-0.000389641192334,1.6592532536e-05,1793196678616811520
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,743,711,676,665,632.84228733,879,784,802,650,630,651,0.446711900836,0.00450357991095,0.0497385816937,0.999999921233,0.00010712215872,-0.000381870194632,1.52964554771e-05,1793196678633478656
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,743,711,676,665,632.262465888,879,784,802,650,630,651,0.44640700197,0.00450860041306,0.0497470577655,0.999999926001,0.000112544613582,-0.000367623568634,1.35875763367e-05,1793196678650144768
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,743,711.316681788,675.683318212,665,632.316681788,879,784,801.683318212,650,630,651,0.446093795294,0.00451411875263,0.0497608763271,0.999999933387,0.000118741797233,-0.000344945617478,1.17760501098e-05,1793196678666810880
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,743,711.895272297,675.104727703,665,632.895272297,879,784,801.104727703,650,630,651,0.44577371769,0.00452004882459,0.0497791133459,0.999999942361,0.000125579713631,-0.000315294615696,9.87963037302e-06,1793196678683476992
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.718801554,664.281198446,633,877,784,800.718801554,650,630,651,0.407192306098,0.00458126525425,0.0498230868293,0.999999948586,7.54371388347e-05,-0.000308132383398,-4.68222940002e-05,1793196679683478016
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.407961314,664.296019343,633,877,784,801,650,630,651,0.406711970306,0.00458010339089,0.0498050486877,0.99999993736,7.40967424339e-05,-0.000342906375237,-4.69508018326e-05,1793196679700144128
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.257398325,664.871300838,633,877,784,801,650,630,651,0.406232420557,0.00457905416466,0.0497755140259,0.999999918202,7.21028791575e-05,-0.000395157649569,-4.74084091796e-05,1793196679716810752
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.44662083,664.55337917,633,877,784,801,650.44662083,630,651,0.405805493427,0.00457966787268,0.0497620041031,0.999999909644,6.5233207564e-05,-0.00041729351175,-4.81986059971e-05,1793196679733477376
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,664.022545436,633.022545436,877,784,801.022545436,650.977454564,630,651,0.405395999329,0.00458071481441,0.0497541385212,0.999999905092,5.72725379895e-05,-0.000429106498322,-4.90348220602e-05,1793196679750144000
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,664.613432134,633.613432134,877,784,801.613432134,650.386567866,630,651,0.405043675526,0.00458060210322,0.0497721426505,0.99999991739,5.72310769334e-05,-0.000399476138637,-4.86149218318e-05,1793196679766810624
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,665,634,877,784.200268189,801.799731811,650.200268189,629.799731811,651,0.404709136406,0.00458085254575,0.0497925069433,0.999999930866,5.85981304984e-05,-0.000364012056175,-4.82747305075e-05,1793196679783477248
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,665,634,877,784.779440431,801.220559569,650.779440431,629.220559569,651,0.40440824565,0.00458179006904,0.0498173366238,0.999999946476,6.26300700833e-05,-0.000317510671491,-4.80853471355e-05,1793196679800143616
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,665,633.643546938,877,785,801,650.643546938,629.356453062,651,0.404107564327,0.0045813671756,0.0498344862089,0.99999995353,6.6874338557e-05,-0.000293703741777,-4.69759545716e-05,1793196679816810240
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,665,633.067862488,877,785,801,650.067862488,629.932137512,651,0.403807011783,0.00458010757728,0.0498469122628,0.999999956149,7.12491973386e-05,-0.00028385470968,-4.53007234559e-05,1793196679833477120
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,665,633,876.482828904,784.482828904,801,650,630,651,0.403526608293,0.00458215370876,0.0498421876861,0.999999952638,7.53328550612e-05,-0.000294899185682,-4.56515834262e-05,1793196679850143744
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742.897749469,711,674,665,633,876,784,801.102250531,650,630,651,0.403251743524,0.0045842358922,0.0498350870021,0.999999948114,7.85512263557e-05,-0.000308970999349,-4.62375578942e-05,1793196679866810368
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742.318286738,711,674,665,633,876,784,801.681713262,650,630,651,0.402990161728,0.00458442460498,0.04982759338,0.999999943343,7.79128486997e-05,-0.000324140731945,-4.66571929946e-05,1793196679883476992
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742.260182178,711,674,664.739817822,633,876.260182178,784,801.739817822,650.260182178,629.739817822,651.260182178,0.402746220053,0.00458418756997,0.0498215102556,0.999999939046,7.71096317517e-05,-0.000337304333653,-4.67695245091e-05,1793196679900143616
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742.837439928,711,674,664.162560072,633,876.837439928,784,801.162560072,650.837439928,629.162560072,651.837439928,0.402523775835,0.00458343168993,0.0498171460593,0.999999935462,7.61055305588e-05,-0.000348023127912,-4.65073551021e-05,1793196679916810240
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.585382577,664.414617423,633,877,784,801,650.585382577,629,651.585382577,0.402327876303,0.00458232308287,0.0498146819144,0.999999934591,6.25864105157e-05,-0.000353289615207,-4.56948762445e-05,1793196679933476864
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.008236555,664.991763445,633,877,784,801,650.008236555,629,651.008236555,0.402142382202,0.00458107620805,0.0498129625833,0.99999993451,4.41614462799e-05,-0.00035641881664,-4.46666779749e-05,1793196679950143744
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742.421144413,711,673.578855587,665,633.578855587,877,784,801,650,629.578855587,651,0.401995998908,0.00457354495414,0.0498149081431,0.999999937641,3.40669415204e-05,-0.000348889923275,-4.28087544609e-05,1793196679966810112
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,664.83619677,633.83619677,877,784,801.16380323,650,630,651,0.401854417047,0.00456606395162,0.0498165794228,0.999999940237,2.61522417962e-05,-0.000342225823712,-4.15183253314e-05,1793196679983476992
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,664.25705196,633.25705196,877,784,801.74294804,650,630,651,0.401723574025,0.00455894106844,0.0498174206955,0.999999941684,2.34588734942e-05,-0.000338145767303,-4.16973018602e-05,1793196680000143616
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742.320124452,711,673.679875548,664,633,876.679875548,784,801.679875548,650,630,651,0.401609700771,0.00455581564986,0.0498205001132,0.999999944033,2.26371062799e-05,-0.000331151454513,-4.19671877978e-05,1793196680016810240
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742.895730011,711,673.104269989,664,633,876.104269989,784,801.104269989,650,630,651,0.401509370532,0.00455588047941,0.0498253657232,0.999999947046,2.3309003854e-05,-0.000321831366282,-4.23096256493e-05,1793196680033476864
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.471780563,664.471780563,633,876.471780563,784,801,650,630,651,0.401419793062,0.00455717041329,0.0498262847506,0.999999947384,2.70029040118e-05,-0.000320467014887,-4.24644983777e-05,1793196680050143488
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742.950908307,711,674,665,633,877,784,801,650,629.950908307,651,0.401334599211,0.00455864966362,0.0498264221345,0.999999947312,3.10166612199e-05,-0.000320306021902,-4.26308544272e-05,1793196680066810368
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742.360789146,711,674,665,633,877,784,801,650,629.360789146,651,0.40127150042,0.00455922847442,0.0498275671347,0.999999949271,3.11877311763e-05,-0.000314010559749,-4.33810562569e-05,1793196680083476992
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,665,633,877,784.224650694,801,650.224650694,629.224650694,651,0.401213329371,0.00455958931154,0.0498287190209,0.999999950852,3.11217609934e-05,-0.000308882597545,-4.38122860362e-05,1793196680100143616
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,665,633,877,784.802728846,801,650.802728846,629.802728846,651,0.401162910805,0.00455960722566,0.0498298817403,0.99999995188,3.06828718824e-05,-0.000305591382956,-4.37416990232e-05,1793196680116810240
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.378586645,742.378586645,711,674,665,633,877,784.621413355,801,651,629.621413355,651,0.40112017514,0.00455965720377,0.0498313748618,0.999999952513,3.00847467507e-05,-0.000303578508479,-4.37021930826e-05,1793196680133476864
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.953294207,742.953294207,711,674,665,633,877,784.046705793,801,651,629.046705793,651,0.401081419485,0.00455972379212,0.0498330391428,0.999999952943,2.94041318914e-05,-0.000302227858296,-4.367878821e-05,1793196680150143488
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.459153728,743,711,674,664.459153728,633,876.459153728,784,801,651,629.540846272,651,0.401056111546,0.00455975448593,0.0498338498517,0.999999953763,3.08586015599e-05,-0.00029931297345,-4.39633880901e-05,1793196680166810112
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,664.127520792,633,876.127520792,784,801,650.872479208,630,651,0.401033490438,0.00455978175462,0.0498345722917,0.999999954611,3.18808940468e-05,-0.000296323177339,-4.42138826245e-05,1793196680183476736
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,664.707057188,633,876.707057188,784,801,650.292942812,630,651,0.401016176654,0.00455980813731,0.0498352494877,0.999999955462,3.07018153142e-05,-0.000293558315201,-4.42469107231e-05,1793196680200143616
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,665,633,877,784.285570165,801,650.285570165,630,651,0.401000944237,0.00455978337275,0.0498359034747,0.999999955847,2.95092110226e-05,-0.000292366718861,-4.42375328579e-05,1793196680216810240
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,665,633,877,784.863037118,801,650.863037118,630,651,0.400987839298,0.0045597063278,0.0498365337386,0.999999955762,2.8302781379e-05,-0.000292783242682,-4.4184809556e-05,1793196680233476864
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742.564706477,711,674,665,633,877,784.564706477,801,650.564706477,630,651,0.400979855981,0.00455954426582,0.0498366075769,0.999999955851,2.81170908791e-05,-0.000292528641234,-4.39776863477e-05,1793196680250143488
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742.006171171,711,674,665,633,876.993828829,784.006171171,801,650.006171171,630,651,0.400973520498,0.00455936439891,0.0498365281204,0.999999956005,2.82703267005e-05,-0.000292025163645,-4.37221458492e-05,1793196680266810112
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742.600033765,711,674,665,633,876.399966235,784.600033765,801,650.600033765,630,651,0.400972461289,0.00456000626819,0.04983832575,0.999999957209,3.04762805502e-05,-0.000287692622989,-4.34274830162e-05,1793196680283476736
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.811238099,742.811238099,711,673.811238099,665,633,876,784.811238099,801,650.811238099,629.811238099,651,0.400971536908,0.00456032408989,0.0498398750029,0.999999958113,3.16392053035e-05,-0.000284427600865,-4.32805664252e-05,1793196680300143616
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763.233101274,742.233101274,711,673.233101274,665,633,876,784.233101274,801,650.233101274,629.233101274,651,0.400970890646,0.00455997347155,0.0498409119082,0.999999958439,3.0650586769e-05,-0.000283364638574,-4.34384183566e-05,1793196680316810240
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763.343759805,742,711,673.343759805,665,633,876.343759805,784,801,650.343759805,629.343759805,651,0.400969048591,0.00455912564895,0.0498405764629,0.999999958277,3.05918370356e-05,-0.000283972586921,-4.3239674937e-05,1793196680333476864
+397,6.616666667,POSE2_TO_POSE3_RETREAT,763.919758984,742,711,673.919758984,665,633,876.919758984,784,801,650.919758984,629.919758984,651,0.400966398674,0.00455794192202,0.0498393138763,0.999999957784,3.11612938539e-05,-0.000285709379448,-4.28000206197e-05,1793196680350143744
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742.505807154,710.494192846,674,664.494192846,633,876.494192846,784,801.505807154,650.494192846,630,651,0.400967688713,0.0045575233399,0.0498411273353,0.999999958659,2.76916018682e-05,-0.000282945434521,-4.30935081452e-05,1793196680366810624
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,743,710.092174343,673.907825657,664.092174343,633,876.092174343,784,801.907825657,650.092174343,630,651,0.400969105954,0.00455755013465,0.0498428452942,0.999999959493,2.49410080763e-05,-0.000280191389331,-4.34234576871e-05,1793196680383476992
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,743,710.671629398,673.328370602,664.671629398,633,876.671629398,784,801.328370602,650.671629398,630,651,0.400967824421,0.00455927672394,0.0498414263742,0.999999959052,2.94480307804e-05,-0.000281340732641,-4.33188517647e-05,1793196680400143616
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,664.750039864,633,877,784.249960136,801,651,630,651,0.400967539012,0.00455906290186,0.0498413968976,0.999999959115,3.01323679806e-05,-0.000281082002139,-4.30798640947e-05,1793196680416810496
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,664.173179438,633,877,784.826820562,801,651,630,651,0.400968556344,0.00455631139122,0.0498431845483,0.999999959841,2.5817360634e-05,-0.000278981779209,-4.2665130658e-05,1793196680433477120
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.805144931,664.402572465,633,877,784.597427535,801,650.597427535,629.597427535,651,0.400967839454,0.00455591068908,0.0498433777531,0.999999959815,2.50926049484e-05,-0.00027915777004,-4.25687924636e-05,1793196680450143744
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764,743,711,674.955697555,664.977848778,633,877,784.022151222,801,650.022151222,629.022151222,651,0.400966378583,0.00455651848547,0.0498428869396,0.99999995947,2.59080697938e-05,-0.000280310258164,-4.26090460578e-05,1793196680466810368
+405,6.750000000,POSE2_TO_POSE3_RETREAT,763.433325043,743,711,674.433325043,664.433325043,633.566674957,876.433325043,784,800.433325043,650.566674957,629.566674957,651,0.400966312481,0.00455833579655,0.0498426881416,0.999999959354,2.89953483738e-05,-0.000280391926017,-4.27989191781e-05,1793196680483476736
+406,6.766666667,POSE2_TO_POSE3_RETREAT,763,742.845952549,711,674,664.308094903,633.845952549,876.154047451,784,800.154047451,651,630,651,0.400966378462,0.0045596699675,0.0498425785474,0.999999959351,3.10372381654e-05,-0.000280153395627,-4.29948529819e-05,1793196680500143360
+407,6.783333333,POSE2_TO_POSE3_RETREAT,763,742.264123761,711,674,665.471752479,633.264123761,876.735876239,784,800.735876239,651,630,651,0.400966656115,0.0045595279752,0.0498426841921,0.999999959659,2.99234932365e-05,-0.000279144777582,-4.31909778588e-05,1793196680516810240
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+410,6.833333333,POSE2_TO_POSE3_RETREAT,764,742.541701874,711,673.458298126,665,633,877.541701874,784,801,650.458298126,629.541701874,651,0.4009637009,0.00455768659984,0.0498421873432,0.999999958988,2.83154896679e-05,-0.000281787358105,-4.26466412686e-05,1793196680566810880
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..340faad5b3c346395d156ddec9449aa985be973f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_01/simulation_data.csv
@@ -0,0 +1,419 @@
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+233,3.883333333,pose1_to_pose2_press,0.623427919796,0.0100014761452,1.0400118306,0.593999150503,0.018675128062,1.03966135971
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+262,4.366666667,pose2_to_pose3_retreat,0.623431599737,0.0100013503513,1.04001184155,0.594002834372,0.0186750154488,1.0396613685
+263,4.383333333,pose2_to_pose3_retreat,0.623431395931,0.0100013734429,1.04001182503,0.594002629558,0.0186750352178,1.03966135427
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+265,4.416666667,pose2_to_pose3_retreat,0.623431200373,0.0100013516234,1.04001184197,0.594002434311,0.0186750144514,1.03966137136
+266,4.433333333,pose2_to_pose3_retreat,0.62343093292,0.0100013105329,1.04001187351,0.594002167608,0.0186749758863,1.03966140259
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+268,4.466666667,pose2_to_pose3_retreat,0.623430629292,0.0100012638846,1.04001190932,0.594001864831,0.0186749321049,1.03966143805
+269,4.483333333,pose2_to_pose3_retreat,0.623429152505,0.0100012908437,1.04001187877,0.594000388029,0.0186749591938,1.03966141237
+270,4.500000000,pose2_to_pose3_retreat,0.623424737572,0.0100013142114,1.04001164755,0.593995971324,0.0186749767048,1.03966118526
+271,4.516666667,pose2_to_pose3_retreat,0.623416139934,0.0100013201297,1.04001177051,0.593987373484,0.0186749818151,1.03966130534
+272,4.533333333,pose2_to_pose3_retreat,0.623400062031,0.0100013539024,1.04001162895,0.593971295841,0.0186750163389,1.03966116117
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+274,4.566666667,pose2_to_pose3_retreat,0.62334157126,0.0100013924426,1.04001167093,0.593912805315,0.0186750557263,1.03966120488
+275,4.583333333,pose2_to_pose3_retreat,0.623299446786,0.0100013057667,1.0400116638,0.593870680475,0.0186749677123,1.03966119603
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+277,4.616666667,pose2_to_pose3_retreat,0.623196940909,0.0100011931692,1.04001163202,0.593768176926,0.0186748633056,1.03966117156
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+349,5.816666667,pose2_to_pose3_retreat,0.587980590639,0.0100012156591,1.04001187093,0.558551826737,0.0186748856028,1.03966140138
+350,5.833333333,pose2_to_pose3_retreat,0.587424504774,0.0100011196838,1.0400119352,0.557995742526,0.0186747951489,1.03966146332
+351,5.850000000,pose2_to_pose3_retreat,0.586880803838,0.0100011433025,1.04001168718,0.557452041328,0.0186748183673,1.03966122742
+352,5.866666667,pose2_to_pose3_retreat,0.586353805574,0.010001168105,1.04001157808,0.556925042342,0.0186748407416,1.0396611188
+353,5.883333333,pose2_to_pose3_retreat,0.585848825006,0.0100011862663,1.04001156986,0.5564200603,0.0186748536329,1.03966110389
+354,5.900000000,pose2_to_pose3_retreat,0.585365674162,0.0100012617485,1.04001158337,0.555936908106,0.0186749243904,1.03966111379
+355,5.916666667,pose2_to_pose3_retreat,0.584904194,0.0100013848973,1.04001159459,0.555475427431,0.0186750459714,1.03966112925
+356,5.933333333,pose2_to_pose3_retreat,0.584452202129,0.0100012682912,1.04001177932,0.555023436018,0.0186749309421,1.03966131436
+357,5.950000000,pose2_to_pose3_retreat,0.584004208936,0.0100012637433,1.04001172833,0.554575442875,0.0186749264677,1.03966126085
+358,5.966666667,pose2_to_pose3_retreat,0.583567548484,0.0100011980009,1.04001173662,0.554138783676,0.0186748652714,1.0396612762
+359,5.983333333,pose2_to_pose3_retreat,0.583145018013,0.0100011734173,1.04001172544,0.553716254012,0.0186748435622,1.03966126858
+360,6.000000000,pose2_to_pose3_retreat,0.582746464404,0.0100012248856,1.04001162107,0.553317699353,0.0186748912158,1.03966115843
+361,6.016666667,pose2_to_pose3_retreat,0.582375057391,0.0100012757928,1.04001148217,0.552946290036,0.0186749340622,1.03966101381
+362,6.033333333,pose2_to_pose3_retreat,0.582036726588,0.0100013840168,1.0400116155,0.552607961054,0.0186750489933,1.03966115935
+363,6.050000000,pose2_to_pose3_retreat,0.581721998578,0.0100013737997,1.04001167798,0.552293233726,0.0186750407918,1.03966121508
+364,6.066666667,pose2_to_pose3_retreat,0.581427552376,0.0100013326197,1.04001175329,0.551998787208,0.0186749982976,1.03966128448
+365,6.083333333,pose2_to_pose3_retreat,0.581146476347,0.0100012840888,1.04001180643,0.551717710648,0.0186749479621,1.03966133711
+366,6.100000000,pose2_to_pose3_retreat,0.580876450523,0.0100012323612,1.04001169285,0.551447685913,0.018674900109,1.03966122801
+367,6.116666667,pose2_to_pose3_retreat,0.580613913661,0.0100013528813,1.0400116345,0.55118514842,0.0186750189506,1.0396611814
+368,6.133333333,pose2_to_pose3_retreat,0.580361938251,0.0100013280499,1.04001178082,0.550933173186,0.018674994738,1.03966132795
+369,6.150000000,pose2_to_pose3_retreat,0.58012454024,0.0100011750338,1.0400117991,0.550695776404,0.0186748455554,1.03966133766
+370,6.166666667,pose2_to_pose3_retreat,0.579902933972,0.010001150196,1.04001172269,0.550474169766,0.018674819201,1.03966125485
+371,6.183333333,pose2_to_pose3_retreat,0.57969796584,0.0100013929888,1.04001177926,0.550269198426,0.0186750512395,1.03966131464
+372,6.200000000,pose2_to_pose3_retreat,0.579514261872,0.0100013228341,1.04001169868,0.550085496367,0.0186749875219,1.03966123345
+373,6.216666667,pose2_to_pose3_retreat,0.579349793332,0.0100013180274,1.04001170197,0.54992102689,0.0186749794074,1.03966123348
+374,6.233333333,pose2_to_pose3_retreat,0.579202310373,0.0100013073349,1.04001169775,0.549773544292,0.0186749700061,1.03966123084
+375,6.250000000,pose2_to_pose3_retreat,0.579070054642,0.0100012508801,1.04001172588,0.54964128984,0.0186749176554,1.03966125323
+376,6.266666667,pose2_to_pose3_retreat,0.578953578636,0.0100012161785,1.04001174274,0.549524814906,0.0186748864231,1.03966126598
+377,6.283333333,pose2_to_pose3_retreat,0.578847635952,0.0100013054085,1.04001167773,0.549418871842,0.0186749749171,1.03966121466
+378,6.300000000,pose2_to_pose3_retreat,0.578752354012,0.0100014142766,1.04001169447,0.549323587415,0.0186750751913,1.03966122757
+379,6.316666667,pose2_to_pose3_retreat,0.5786695208,0.0100012777575,1.04001185612,0.549240754668,0.0186749401285,1.03966138703
+380,6.333333333,pose2_to_pose3_retreat,0.57859705655,0.0100011634168,1.04001173516,0.549168291161,0.0186748283255,1.03966126812
+381,6.350000000,pose2_to_pose3_retreat,0.578533896664,0.0100011422901,1.04001149469,0.549105131187,0.0186748069602,1.03966102985
+382,6.366666667,pose2_to_pose3_retreat,0.578479396693,0.0100011780098,1.04001171051,0.549050629932,0.0186748381258,1.03966123862
+383,6.383333333,pose2_to_pose3_retreat,0.578433505614,0.0100011559236,1.04001149686,0.549004740341,0.0186748214555,1.03966103388
+384,6.400000000,pose2_to_pose3_retreat,0.578394640397,0.0100011844748,1.04001147613,0.548965875787,0.018674852458,1.03966101797
+385,6.416666667,pose2_to_pose3_retreat,0.57836233171,0.010001228744,1.04001152295,0.548933567231,0.018674897251,1.03966106665
+386,6.433333333,pose2_to_pose3_retreat,0.578336079505,0.0100012593613,1.04001152733,0.548907314986,0.0186749277579,1.03966107157
+387,6.450000000,pose2_to_pose3_retreat,0.578315033717,0.010001249585,1.0400114312,0.548886269199,0.0186749179521,1.03966097465
+388,6.466666667,pose2_to_pose3_retreat,0.578298680967,0.010001245764,1.04001163666,0.54886991634,0.0186749133444,1.03966116979
+389,6.483333333,pose2_to_pose3_retreat,0.578285455723,0.0100012419933,1.04001180582,0.548856690822,0.0186749083299,1.03966133117
+390,6.500000000,pose2_to_pose3_retreat,0.578275109296,0.0100012325026,1.04001159241,0.548846343835,0.0186748972431,1.03966112542
+391,6.516666667,pose2_to_pose3_retreat,0.578267790551,0.0100012554062,1.04001155842,0.548839025335,0.0186749211156,1.03966109481
+392,6.533333333,pose2_to_pose3_retreat,0.578262946435,0.0100012740676,1.04001154953,0.54883418126,0.0186749400182,1.03966108848
+393,6.550000000,pose2_to_pose3_retreat,0.578260240059,0.0100012836442,1.04001154083,0.548831474544,0.018674948543,1.03966108222
+394,6.566666667,pose2_to_pose3_retreat,0.578258514325,0.0100012897508,1.04001153528,0.548829748593,0.0186749539789,1.03966107823
+395,6.583333333,pose2_to_pose3_retreat,0.578257416466,0.01000128367,1.04001156227,0.54882865113,0.0186749491826,1.03966110374
+396,6.600000000,pose2_to_pose3_retreat,0.578256701313,0.0100012743167,1.04001159636,0.548827936524,0.0186749415919,1.03966113552
+397,6.616666667,pose2_to_pose3_retreat,0.578256337043,0.0100012695525,1.04001161372,0.548827572533,0.0186749377255,1.03966115171
+398,6.633333333,pose2_to_pose3_retreat,0.578255877581,0.0100012635433,1.04001163562,0.548827113422,0.0186749328487,1.03966117213
+399,6.650000000,pose2_to_pose3_retreat,0.578255651376,0.0100012605848,1.0400116464,0.54882688739,0.0186749304477,1.03966118218
+400,6.666666667,pose2_to_pose3_retreat,0.578255328058,0.0100012563562,1.04001166181,0.548826564318,0.018674927016,1.03966119655
+401,6.683333333,pose2_to_pose3_retreat,0.57825530547,0.0100012560608,1.04001166289,0.548826541748,0.0186749267762,1.03966119755
+402,6.700000000,pose2_to_pose3_retreat,0.578254896783,0.0100012507156,1.04001168237,0.548826133374,0.0186749224384,1.03966121572
+403,6.716666667,pose2_to_pose3_retreat,0.578254670225,0.0100012477525,1.04001169317,0.548825906988,0.0186749200337,1.03966122578
+404,6.733333333,pose2_to_pose3_retreat,0.578254501045,0.0100012471002,1.04001169527,0.548825737886,0.0186749196336,1.03966122765
+405,6.750000000,pose2_to_pose3_retreat,0.578254260604,0.0100012585855,1.0400116508,0.548825497138,0.0186749301672,1.03966118533
+406,6.766666667,pose2_to_pose3_retreat,0.578253961561,0.01000127287,1.04001159549,0.548825197715,0.0186749432681,1.0396611327
+407,6.783333333,pose2_to_pose3_retreat,0.578253544717,0.0100012927816,1.04001151839,0.548824780341,0.0186749615299,1.03966105934
+408,6.800000000,pose2_to_pose3_retreat,0.578253214266,0.0100013085665,1.04001145727,0.548824449469,0.0186749760068,1.03966100118
+409,6.816666667,pose2_to_pose3_retreat,0.578253038428,0.0100013169658,1.04001142475,0.548824273407,0.0186749837102,1.03966097023
+410,6.833333333,pose2_to_pose3_retreat,0.57825283308,0.0100013272544,1.04001142428,0.548824067713,0.0186749928567,1.03966097058
+411,6.850000000,pose2_to_pose3_retreat,0.578252802429,0.0100013289816,1.04001143918,0.548824036976,0.018674994282,1.0396609852
+412,6.866666667,pose2_to_pose3_retreat,0.578252531286,0.0100013442606,1.04001157105,0.548823765076,0.0186750068901,1.03966111454
+413,6.883333333,pose2_to_pose3_retreat,0.578252358339,0.0100013540062,1.04001165516,0.548823591646,0.0186750149321,1.03966119704
+414,6.900000000,pose2_to_pose3_retreat,0.578252311827,0.0100013366197,1.04001166205,0.548823545139,0.018674997494,1.03966120219
+415,6.916666667,pose2_to_pose3_retreat,0.578252287695,0.0100013034502,1.04001164665,0.548823521174,0.0186749647886,1.03966118428
+416,6.933333333,pose2_to_pose3_retreat,0.578252250729,0.0100012526388,1.04001162304,0.548823484463,0.0186749146881,1.03966115686
+417,6.950000000,pose2_to_pose3_retreat,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.018674921776,1.03966121993
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d621ac780955e441a1552f0fd0fb37f4a5e7ed36
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68760f9fcc4ae15efb070ffff9682b339143c3b19a7114e4320b8ec26365ccee
+size 26655832
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c62707abc48df95428f518a9101a43420b6ab04c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_02/franka_data.csv
@@ -0,0 +1,421 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,764,742.575705549,711,674,665,633,877,784,801,651,630,651,0.400966890735,0.00455654458546,0.0498452619665,0.999999960851,2.81366956791e-05,-0.000275165915948,-4.22982768034e-05,1793196680857148928
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+21,0.350000000,BASELINE,764,743,711,674,665.17806358,633,877,784,801,650.82193642,630,651,0.400967830566,0.00455631230526,0.0498462111803,0.999999961491,2.8609184375e-05,-0.00027282205097,-4.20485620072e-05,1793196681190481152
+22,0.366666667,BASELINE,764,743,711,674,665.765770226,633,877,784,801,650.234229774,630,651,0.400968704548,0.00455786013183,0.0498464809667,0.99999996173,3.22724143387e-05,-0.000271526953169,-4.20798744841e-05,1793196681207148032
+23,0.383333333,BASELINE,764.350469545,742.649530455,711.350469545,674,665.649530455,633,876.649530455,784,801,650.350469545,630,651,0.400967733601,0.00455703683482,0.0498459243279,0.999999961452,3.06717330887e-05,-0.000272761474643,-4.19117003361e-05,1793196681223814912
+24,0.400000000,BASELINE,764.933176131,742.066823869,711.933176131,674,665.066823869,633,876.066823869,784,801,650.933176131,630,651,0.40096554012,0.00455464232379,0.0498448200624,0.999999960809,2.5582945516e-05,-0.000275672236625,-4.1611337291e-05,1793196681240481792
+25,0.416666667,BASELINE,764.491758946,742.508241054,711.491758946,673.491758946,665,633,876.508241054,784.508241054,801,651,629.491758946,651,0.400965790488,0.004556200646,0.0498449172213,0.999999961002,2.73777005289e-05,-0.000274790882374,-4.16811739549e-05,1793196681257148416
+26,0.433333333,BASELINE,764.082526754,743,711,673.082526754,664.917473246,633,877.082526754,784.917473246,801,651,629.082526754,651,0.400966389663,0.00455783050703,0.0498452691374,0.999999961305,2.94847748094e-05,-0.000273447065048,-4.17895379177e-05,1793196681273815296
+27,0.450000000,BASELINE,764.658070972,743,711,673.658070972,664.341929028,633,877.658070972,784.341929028,801,651,629.658070972,651,0.400967181482,0.00455682890467,0.0498462132769,0.999999961662,2.81309316375e-05,-0.000272274948982,-4.1841591878e-05,1793196681290481664
+28,0.466666667,BASELINE,764.761460004,743,711,674,664.238539996,633,877.522920009,784,801,650.761460004,630,651,0.400966845629,0.00455675357079,0.0498461283709,0.999999961532,2.77906006054e-05,-0.000272749988006,-4.20953949796e-05,1793196681307147776
+29,0.483333333,BASELINE,764.173782861,743,711,674,664.826217139,633,876.347565722,784,801,650.173782861,630,651,0.400964859266,0.00455803396239,0.0498445373107,0.999999960685,2.8933688554e-05,-0.000275635872412,-4.2644486588e-05,1793196681323814656
+30,0.500000000,BASELINE,764,742.591201423,711,674,665,633.408798577,876.817597154,784.408798577,801.408798577,650.408798577,630,651,0.400965066721,0.0045565735208,0.0498451280584,0.999999960865,2.76700636223e-05,-0.000275170988138,-4.22620518442e-05,1793196681340481280
+31,0.516666667,BASELINE,764,742.010759546,711,674,665,633.989240454,877.978480907,784.989240454,801.989240454,650.989240454,630,651,0.400966195301,0.00455396227856,0.0498466348873,0.999999961471,2.53959259946e-05,-0.00027329920801,-4.14884947443e-05,1793196681357147648
+32,0.533333333,BASELINE,764,742,711,673.435423436,665,633.435423436,877.435423436,784.435423436,801.435423436,651,630,651,0.400967246795,0.00455677991821,0.0498470962419,0.999999961777,2.89503217857e-05,-0.00027176858787,-4.18203744735e-05,1793196681373814272
+33,0.550000000,BASELINE,764,742,711,673.140030736,665,633,877,784,801,651,630,651.140030736,0.40096755257,0.00455893490721,0.049847200793,0.999999961821,3.17289088125e-05,-0.000271249123512,-4.21253897258e-05,1793196681390481152
+34,0.566666667,BASELINE,764,742,711,673.716152784,665,633,877,784,801,651,630,651.716152784,0.400965540518,0.00455870691337,0.0498462556604,0.999999961103,3.1748602767e-05,-0.000273858589049,-4.2281721766e-05,1793196681407148032
+35,0.583333333,BASELINE,764,742.300757753,711,673.699242247,664.699242247,633,877,784,801,651,630,651.699242247,0.40096497733,0.00455781130891,0.0498457204053,0.99999996083,3.07121261115e-05,-0.000275000155605,-4.20877003131e-05,1793196681423814656
+36,0.600000000,BASELINE,764,742.893601112,711,673.106398888,664.106398888,633,877,784,801,651,630,651.106398888,0.400965821228,0.00455626734392,0.0498455832091,0.999999960992,2.86499328193e-05,-0.000274716149369,-4.15534275939e-05,1793196681440481280
+37,0.616666667,BASELINE,764,742.526941129,711,673.473058871,664.473058871,633,877,784.473058871,801,651,629.526941129,651.473058871,0.400966202157,0.00455682364061,0.049846127433,0.999999961329,2.79201821941e-05,-0.00027351605102,-4.18473296091e-05,1793196681457147904
+38,0.633333333,BASELINE,764,742,711,673.950692018,665,633,877,785,801,650.950692018,629.049307982,651.950692018,0.400966499121,0.00455756205006,0.0498468046351,0.999999961693,2.74721995127e-05,-0.000272168181837,-4.22360133734e-05,1793196681473814272
+39,0.650000000,BASELINE,764,742,711,673.377426838,665,633,877,785,801,650.377426838,629.622573162,651.377426838,0.400966979904,0.0045553541011,0.049847311103,0.999999961945,2.69214164336e-05,-0.000271379292009,-4.17069854977e-05,1793196681490481920
+40,0.666666667,BASELINE,764,742.19671947,711,673.19671947,665,633,877,784.80328053,801,650.19671947,630,651,0.400967208039,0.00455421394812,0.0498474665135,0.999999961988,2.67919118002e-05,-0.000271282790732,-4.13850706338e-05,1793196681507149056
+41,0.683333333,BASELINE,764,742.772563883,711,673.772563883,665,633,877,784.227436117,801,650.772563883,630,651,0.400966949257,0.00455513169064,0.0498469453532,0.999999961629,2.74743104005e-05,-0.000272520685991,-4.14623115592e-05,1793196681523814656
+42,0.700000000,BASELINE,764,743,711,674,665,633.359229474,877.359229474,784.359229474,801,650.640770526,630,651,0.400967269302,0.00455631570177,0.0498471100412,0.999999961721,2.76737604781e-05,-0.000272120069613,-4.1750583261e-05,1793196681540481024
+43,0.716666667,BASELINE,764,743,711,674,665,633.952958957,877.952958957,784.952958957,801,650.047041043,630,651,0.400967967198,0.0045576735293,0.0498477224416,0.999999962105,2.75579484434e-05,-0.000270649855556,-4.21766129188e-05,1793196681557147648
+44,0.733333333,BASELINE,764,743,711.528736088,674,664.471263912,633.471263912,876.942527823,784.471263912,801.528736088,650,630,651,0.400967448872,0.00455704844524,0.0498472924342,0.999999962006,2.85631450589e-05,-0.000270926590317,-4.20881748316e-05,1793196681573815296
+45,0.750000000,BASELINE,764,743,711.897046168,674,664.102953832,633,876.102953832,784,801.897046168,650.102953832,630,651.102953832,0.400967034515,0.00455640332945,0.0498468969675,0.999999961921,2.90623870119e-05,-0.000271201493771,-4.19816405282e-05,1793196681590482944
+46,0.766666667,BASELINE,764,743,711.322895586,674,664.677104414,633,876.677104414,784,801.322895586,650.677104414,630,651.677104414,0.400967574969,0.00455644744167,0.0498470701062,0.999999962098,2.68045122233e-05,-0.000270780033723,-4.19948911624e-05,1793196681607148800
+47,0.783333333,BASELINE,764,742.740181638,711,674,664.740181638,633,877,784,801,651,630,651.740181638,0.400967494875,0.00455650648735,0.0498470820729,0.999999962038,2.61453923852e-05,-0.000271063947678,-4.20007415168e-05,1793196681623814656
+48,0.800000000,BASELINE,764,742.146462561,711,674,664.146462561,633,877,784,801,651,630,651.146462561,0.400966617297,0.00455658472449,0.0498468869124,0.999999961678,2.75408823016e-05,-0.000272254359801,-4.19970815415e-05,1793196681640481536
+49,0.816666667,BASELINE,764,742,711,673.564076387,664.435923613,633,877,784,801,651,629.564076387,651,0.400965369326,0.00455608086535,0.04984616838,0.999999961169,2.71910869834e-05,-0.000274181614637,-4.18063306366e-05,1793196681657148416
+50,0.833333333,BASELINE,764,742.014481072,711,673.014481072,664.985518928,633.014481072,876.985518928,784,801,651,629.014481072,651,0.400964116313,0.00455541290546,0.0498453533539,0.999999960652,2.63280535351e-05,-0.000276181481355,-4.15626441158e-05,1793196681673815552
+51,0.850000000,BASELINE,764,742.588498118,711,673.588498118,664.411501882,633.588498118,876.411501882,784,801,651,629.588498118,651,0.400967355128,0.00455576956162,0.0498474321714,0.999999961848,2.77172291081e-05,-0.000271663661884,-4.16408529663e-05,1793196681690482432
+52,0.866666667,BASELINE,764,742.833133319,711,674,664.166866681,633.833133319,876.166866681,784,801,650.833133319,630,651,0.400969488942,0.00455592624728,0.049848599802,0.999999962623,2.81541439492e-05,-0.000268742453714,-4.16991751577e-05,1793196681707148800
+53,0.883333333,BASELINE,764,742.243746386,711,674,664.756253614,633.243746386,876.756253614,784,801,650.243746386,630,651,0.400968824802,0.00455557659105,0.0498474602321,0.999999962374,2.61798556952e-05,-0.000269863997822,-4.17071426787e-05,1793196681723814912
+54,0.900000000,BASELINE,764,742,711,674,665,632.66054796,876.66054796,784,801,650,630,651,0.400968346316,0.00455611532862,0.0498472653073,0.999999962246,2.61071264951e-05,-0.000270331532795,-4.18075253113e-05,1793196681740481536
+55,0.916666667,BASELINE,764,742,711,674,665,632.081713706,876.081713706,784,801,650,630,651,0.400967998754,0.00455728056319,0.0498477365482,0.999999962203,2.73753803891e-05,-0.000270337859252,-4.19730792535e-05,1793196681757148160
+56,0.933333333,BASELINE,764,742.496390276,711,674,664.503609724,632.496390276,876,784,800.503609724,650,630,651,0.400967783071,0.0045569277715,0.0498477254183,0.999999962258,2.71001078027e-05,-0.000270148627329,-4.20746113132e-05,1793196681773814528
+57,0.950000000,BASELINE,764,742.926276364,710.926276364,674,664.073723636,633,876.073723636,784.073723636,800.073723636,650,630,651,0.40096760036,0.00455635571346,0.0498475904798,0.999999962293,2.66476587864e-05,-0.000270057884679,-4.21131062276e-05,1793196681790481408
+58,0.966666667,BASELINE,764,742.353348577,710.353348577,674,664.646651423,633,876.646651423,784.646651423,800.646651423,650,630,651,0.400967494135,0.00455598853961,0.0498471540874,0.999999962089,2.67134793897e-05,-0.00027085170283,-4.17960161878e-05,1793196681807148288
+59,0.983333333,BASELINE,764,742,710.226230732,674,665,633,876.773769268,784.773769268,800.773769268,650.226230732,630,651,0.400967024102,0.004555369689,0.0498467488468,0.999999961885,2.68277205821e-05,-0.000271638137681,-4.15142453531e-05,1793196681823815168
+60,1.000000000,BASELINE,764,742,710.816513813,674,665,633,876.183486187,784.183486187,800.183486187,650.816513813,630,651,0.400965968629,0.00455434583803,0.0498463937358,0.999999961678,2.7019880594e-05,-0.00027241269139,-4.12893104231e-05,1793196681840481536
+61,1.016666667,BASELINE,764,742.399072261,711,674,665,633,876.399072261,784,800.399072261,650.600927739,630,651,0.400967085145,0.00455514731706,0.0498470040453,0.999999962009,2.67253487448e-05,-0.000271189248696,-4.15214175664e-05,1793196681857148416
+62,1.033333333,BASELINE,764,742.978146468,711,674,665,633,876.978146468,784,800.978146468,650.021853532,630,651,0.400969181338,0.00455677211309,0.0498480498086,0.999999962578,2.62112940273e-05,-0.000269064607654,-4.19596740126e-05,1793196681873814784
+63,1.050000000,BASELINE,764,742.444640934,711,674,665,633,876.444640934,784,801,650,630,651,0.400967529681,0.00455481740677,0.0498474678918,0.999999962208,2.54804274987e-05,-0.000270558423396,-4.1629218364e-05,1793196681890481408
+64,1.066666667,BASELINE,764,742.134256806,711,673.865743194,665,633,876.134256806,784.134256806,801,650.134256806,630,651.134256806,0.400966176334,0.00455347481501,0.0498469967906,0.999999961885,2.54859674761e-05,-0.000271791044173,-4.13506421923e-05,1793196681907147776
+65,1.083333333,BASELINE,764,742.719054546,711,673.280945454,665,633,876.719054546,784.719054546,801,650.719054546,630,651.719054546,0.40096631732,0.00455465746836,0.0498471117871,0.999999961851,2.79912859361e-05,-0.000271670914123,-4.13473349461e-05,1793196681923814400
+66,1.100000000,BASELINE,764,742.698584889,711,673,665,633,877,784.698584889,801.301415111,650.698584889,629.698584889,651.698584889,0.400966161721,0.00455480066218,0.0498469002142,0.999999961775,2.83062302984e-05,-0.000271926847864,-4.12887463255e-05,1793196681940481536
+67,1.116666667,BASELINE,764,742.118477798,711,673,665,633,877,784.118477798,801.881522202,650.118477798,629.118477798,651.118477798,0.400965731897,0.00455398275934,0.0498463866914,0.999999961662,2.65959286981e-05,-0.000272530494645,-4.11790438917e-05,1793196681957148416
+68,1.133333333,BASELINE,764,742.459956049,710.540043951,673.459956049,665,633,876.540043951,784,801.540043951,650.459956049,629.459956049,651,0.400968023424,0.00455529162094,0.0498475399154,0.999999962255,2.8288342867e-05,-0.000270144978181,-4.13812407654e-05,1793196681973815040
+69,1.150000000,BASELINE,764,742.962491702,710.037508298,674,665,633,876.037508298,784,801,650.962491702,630,651,0.400970748989,0.0045568774424,0.0498489869674,0.999999962948,3.03810701683e-05,-0.00026729557717,-4.16359137724e-05,1793196681990482176
+70,1.166666667,BASELINE,764,742.391372685,710.608627315,674,665,633,876.608627315,784,801,650.391372685,630,651,0.400969713054,0.00455463808826,0.0498485284563,0.999999962691,2.57446939282e-05,-0.000268760902494,-4.14983163451e-05,1793196682007148544
+71,1.183333333,BASELINE,764,742.186418829,711,674,665,633,877,784,801,650,629.813581171,651,0.400968628168,0.00455365143503,0.0498479687469,0.999999962429,2.30883704216e-05,-0.000269967589909,-4.15500023642e-05,1793196682023814912
+72,1.200000000,BASELINE,764,742.778738892,711,674,665,633,877,784,801,650,629.221261108,651,0.400967436693,0.00455539236446,0.0498471886924,0.999999962196,2.47433372033e-05,-0.00027061112931,-4.20138269031e-05,1793196682040481280
+73,1.216666667,BASELINE,764,743,711,674,665,633.363559001,877,784.363559001,801,650,629.363559001,651,0.400967113928,0.00455574417444,0.0498469471743,0.999999962045,2.62107203764e-05,-0.000271045726415,-4.1915263173e-05,1793196682057147904
+74,1.233333333,BASELINE,764,743,711,674,665,633.94390688,877,784.94390688,801,650,629.94390688,651,0.40096730917,0.00455526765758,0.0498470267836,0.999999961943,2.75662480435e-05,-0.000271355731968,-4.14813493861e-05,1793196682073814784
+75,1.250000000,BASELINE,764,743,711,674,665,633.481339627,877,784.481339627,801,650,630,651,0.400967843745,0.0045563321817,0.0498475114261,0.999999962153,2.75970063094e-05,-0.000270567983597,-4.15385962459e-05,1793196682090481408
+76,1.266666667,BASELINE,764,743,711,674,665,633.092818938,877,784,801.092818938,650.092818938,630,651,0.40096838693,0.00455713986128,0.0498480258567,0.999999962394,2.73508087522e-05,-0.000269689309502,-4.16047914174e-05,1793196682107148032
+77,1.283333333,BASELINE,764,743,711,674,665,633.666996405,877,784,801.666996405,650.666996405,630,651,0.400968786482,0.00455576045306,0.0498484700231,0.999999962626,2.64034081622e-05,-0.000268948217112,-4.14448571239e-05,1793196682123814912
+78,1.300000000,BASELINE,764,743,711,674,665,633.749981045,877,784,801.749981045,651,629.749981045,651.250018955,0.400968847323,0.00455449988526,0.0498485231304,0.999999962691,2.49872266705e-05,-0.00026886156752,-4.13282362824e-05,1793196682140482048
+79,1.316666667,BASELINE,764,743,711,674,665,633.154745595,877,784,801.154745595,651,629.154745595,651.845254405,0.400968440483,0.0045534034078,0.0498480362782,0.999999962522,2.29237707361e-05,-0.000269678547269,-4.12714209917e-05,1793196682157148672
+80,1.333333333,BASELINE,764,742.574636143,711,674,665,633.425363857,877,784,801,651,629.425363857,651.574636143,0.400967459635,0.00455380881068,0.0498471042796,0.999999962161,2.40401886521e-05,-0.000270915064927,-4.13019805847e-05,1793196682173815040
+81,1.350000000,BASELINE,764,742.000160024,711,674,665,633.999839976,877.000160024,784,801,651,630,651,0.400966277655,0.00455474162602,0.0498460165237,0.999999961726,2.62734740067e-05,-0.000272298037844,-4.13632355805e-05,1793196682190481408
+82,1.366666667,BASELINE,764,742.576700153,711,674,665,633.423299847,877.576700153,784,801,651,630,651,0.400966959523,0.00455494208993,0.0498471772998,0.99999996222,2.76663871935e-05,-0.000270331472759,-4.14255784959e-05,1793196682207148032
+83,1.383333333,BASELINE,764,743,711,674,665,633,877.847709925,784,801,651,629.847709925,651,0.400967487734,0.00455569118467,0.0498480535798,0.999999962526,2.88082013504e-05,-0.000269050390824,-4.15914038117e-05,1793196682223814656
+84,1.400000000,BASELINE,764,743,711,674,665,633,877.274744656,784,801,651,629.274744656,651,0.400967591495,0.00455795577791,0.0498481439886,0.999999962329,2.92563978456e-05,-0.000269662838005,-4.20430815132e-05,1793196682240481280
+85,1.416666667,BASELINE,764,743,710.689883373,673.689883373,665,633,876.689883373,784,801,651,629,651,0.400967355689,0.00455800633229,0.0498481166034,0.999999962192,2.86077853289e-05,-0.00027022595214,-4.2139071671e-05,1793196682257148160
+86,1.433333333,BASELINE,764,743,710.094062568,673.094062568,665,633,876.094062568,784,801,651,629,651,0.400966807047,0.00455601713727,0.049847980697,0.999999962108,2.69487048151e-05,-0.000270743616698,-4.19073740578e-05,1793196682273815296
+87,1.450000000,BASELINE,764,742.515985089,710.484014911,673.484014911,665,633,876.484014911,784,801,650.515985089,629.484014911,651,0.400968991908,0.00455520228545,0.0498489182157,0.999999962721,2.57602295717e-05,-0.000268616052719,-4.17182716413e-05,1793196682290481920
+88,1.466666667,BASELINE,764,742.058885088,711,673.941114912,665,633,876.941114912,784,801.058885088,650,630,651,0.400971311992,0.00455470114122,0.0498498572297,0.999999963354,2.46408001684e-05,-0.000266376712345,-4.1580110531e-05,1793196682307148288
+89,1.483333333,BASELINE,764,742.634799861,711,673.365200139,665,633,876.365200139,784,801.634799861,650,630,651,0.400970319994,0.00455502146823,0.0498490425048,0.999999963072,2.33529940417e-05,-0.000267510012444,-4.1819118067e-05,1793196682323814656
+90,1.500000000,BASELINE,764,743,711,673.216211603,665,633,876,784,801.567576794,650,629.783788397,651,0.400969737858,0.0045556398109,0.0498486593414,0.999999962863,2.39599100871e-05,-0.000268225243066,-4.1901830918e-05,1793196682340481024
+91,1.516666667,BASELINE,764,743,711,673.807150356,665,633,876,784,800.385699287,650,629.192849644,651,0.400969866075,0.00455677465938,0.0498490241391,0.999999962772,2.78506640907e-05,-0.000268215896434,-4.17136616029e-05,1793196682357147648
+92,1.533333333,BASELINE,764.389861427,743,711,674,665,633.389861427,876.389861427,784.389861427,800.389861427,650,629.389861427,651,0.400969738114,0.00455626764597,0.0498487506562,0.999999962741,2.79290845164e-05,-0.000268330818362,-4.16673909061e-05,1793196682373814528
+93,1.550000000,BASELINE,764.968586744,743,711,674,665,633.968586744,876.968586744,784.968586744,800.968586744,650,629.968586744,651,0.40096948605,0.00455496525153,0.0498481679656,0.999999962741,2.61606640807e-05,-0.000268505940767,-4.16898613482e-05,1793196682390481152
+94,1.566666667,BASELINE,764.457516337,742.457516337,711,674,664.457516337,633.457516337,876.457516337,784.457516337,801,650.542483663,630,651,0.400967650762,0.00455564066075,0.049847429129,0.999999962088,2.60157233371e-05,-0.000270918380765,-4.18313678684e-05,1793196682407148032
+95,1.583333333,BASELINE,764,742,711,674,664.119221316,633.119221316,876.119221316,784.119221316,801,651,630,651,0.400966114077,0.0045566183192,0.0498468964824,0.999999961553,2.65767634641e-05,-0.000272818441257,-4.19251619581e-05,1793196682423814912
+96,1.600000000,BASELINE,764,742,711,674,664.708245367,633.708245367,876.708245367,784.708245367,801,651,630,651,0.400966112155,0.00455833969462,0.0498472116619,0.999999961645,2.95526008888e-05,-0.000272193403761,-4.18040181305e-05,1793196682440481280
+97,1.616666667,BASELINE,764,742.292219639,711,674,665,633.707780361,876.707780361,784.707780361,801,651,630,651,0.400966779258,0.00455831193074,0.0498474210629,0.999999961841,2.98781312253e-05,-0.000271450432355,-4.17106399727e-05,1793196682457147904
+98,1.633333333,BASELINE,764,742.871237779,711,674,665,633.128762221,876.128762221,784.128762221,801,651,630,651,0.400968102977,0.00455656747678,0.0498475266476,0.999999962142,2.76025217028e-05,-0.000270591714938,-4.16445123951e-05,1793196682473814528
+99,1.650000000,BASELINE,764,742.551203786,711,674.448796214,664.551203786,633,876.448796214,784,801,651,630,651,0.400967782871,0.00455655945391,0.0498480858503,0.99999996223,2.81353977337e-05,-0.000270229102326,-4.15195475557e-05,1793196682490481152
+100,1.666666667,BASELINE,764,742.02579492,711,674.97420508,664.02579492,633.02579492,877,784,801,650.97420508,629.97420508,651.02579492,0.400967040119,0.00455700165169,0.0498487216205,0.999999962257,2.9311718028e-05,-0.000270025605975,-4.1389047748e-05,1793196682507148032
+101,1.683333333,BASELINE,764,742.599769923,711,674.400230077,664.599769923,633.599769923,877,784,801,650.400230077,629.400230077,651.599769923,0.400967305702,0.00455645870918,0.0498482277464,0.999999962271,2.70938771056e-05,-0.000270188535461,-4.14984994636e-05,1793196682523814912
+102,1.700000000,BASELINE,764,743,711,674,665,633.821441614,877,784,801,650.178558386,629.178558386,651.821441614,0.400967637498,0.00455548037468,0.049848030844,0.999999962374,2.51549717215e-05,-0.000270004526949,-4.14390539285e-05,1793196682540481536
+103,1.716666667,BASELINE,764,743,711,674,665,633.231565188,877,784,801,650.768434812,629.768434812,651.231565188,0.400968121823,0.00455349909335,0.0498485180304,0.999999962689,2.38586083972e-05,-0.000269021329648,-4.09905452414e-05,1793196682557148416
+104,1.733333333,BASELINE,764,743,711,674,664.647089196,633,877,784,801,651,630,651,0.400967914836,0.00455452640968,0.0498485876197,0.999999962632,2.5451125558e-05,-0.000269062655709,-4.11415742095e-05,1793196682573814784
+105,1.750000000,BASELINE,764,743,711,674,664.066103275,633,877,784,801,651,630,651,0.400967261077,0.00455749808754,0.0498483873292,0.999999962327,2.8910634893e-05,-0.000269766098791,-4.16800654017e-05,1793196682590481664
+106,1.766666667,BASELINE,764,742.490531804,711,673.490531804,664.509468196,633,876.490531804,784,801,650.490531804,630,651,0.400966563621,0.00455685688503,0.049848035453,0.999999962078,2.80333459754e-05,-0.000270757143301,-4.18182087866e-05,1793196682607148032
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,711,675,665,634,877,784,801,650,629,652,0.400968970199,0.00455598595563,0.0498486415044,0.999999962697,2.70078965647e-05,-0.000268572587922,-4.17881958804e-05,1793196682649918720
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,743,711,674.415978894,665,633.415978894,877,784,801,650,629.584021106,651.415978894,0.40096874754,0.0045559634951,0.0498490824001,0.99999996277,2.62829866128e-05,-0.000268390883083,-4.16615326047e-05,1793196682666585344
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,877,784.165467593,801,650.165467593,630,651,0.40096852352,0.00455577727423,0.0498493712852,0.99999996285,2.55722898596e-05,-0.000268173519476,-4.15755241117e-05,1793196682683251712
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,877,784.740540878,801,650.740540878,630,651,0.400968296131,0.00455518567386,0.049849283877,0.999999962949,2.48967769272e-05,-0.000267867884563,-4.15901542137e-05,1793196682699918336
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633.31509872,876.68490128,784.68490128,801,651,630,651,0.400967869996,0.00455495002136,0.0498488871287,0.999999962795,2.52363641148e-05,-0.000268432773531,-4.1432664621e-05,1793196682716584960
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633.889232791,876.110767209,784.110767209,801,651,630,651,0.400967280474,0.00455500698541,0.0498482360791,0.999999962433,2.64104416172e-05,-0.000269713300016,-4.11336794169e-05,1793196682733251584
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,743,711,673.521669288,665,634,876.478330712,784,801.478330712,650.521669288,630,651,0.400968932545,0.00455522237758,0.0498492641576,0.999999962854,2.51529517572e-05,-0.000268212096101,-4.14955574611e-05,1793196682749918464
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.930655407,743,711,673,665,633.930655407,877,784,801.930655407,650,630,651,0.40097174996,0.00455561423872,0.0498508756714,0.999999963527,2.40712482292e-05,-0.000265726131309,-4.19129363645e-05,1793196682766585088
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.351845571,743,711,673,665,633.351845571,877,784,801.351845571,650,630,651,0.400979192195,0.00455702435268,0.049853824623,0.999999964696,2.85514812188e-05,-0.000260890697835,-4.15774264694e-05,1793196682783251712
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.225597827,743,711,673.225597827,665,633,877,784,801,650.225597827,630,651,0.400995978332,0.00455721207446,0.0498601287696,0.999999967817,3.00670015352e-05,-0.000248519862964,-4.12340405669e-05,1793196682799918592
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.800922886,743,711,673.800922886,665,633,877,784,801,650.800922886,630,651,0.401027249611,0.00455550481406,0.0498716342206,0.999999973608,2.69865518107e-05,-0.000224467466135,-4.08784451032e-05,1793196682816584960
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.61634297,711,673.61634297,665,633,877,784.38365703,801,650.61634297,630,651,0.401075319508,0.00455423764271,0.0498882403515,0.999999980855,2.51127092913e-05,-0.000189780219525,-4.0539835124e-05,1793196682833251584
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.029688539,711,673.029688539,665,633,877,784.970311461,801,650.029688539,630,651,0.401132277751,0.00455320332743,0.0499075453125,0.999999987736,2.38772963776e-05,-0.00014946594769,-4.0210212284e-05,1793196682849918464
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.549811375,711,673.549811375,665,633.549811375,877,784.450188625,800.450188625,650,630,651,0.401200828754,0.00455268972343,0.0499218692004,0.999999991303,2.34539508846e-05,-0.000123690284443,-3.93027947983e-05,1793196682866584832
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.128963292,743,711,674,665,633.871036708,877,784,800.128963292,650,629.871036708,651,0.401271784375,0.00455202564235,0.0499335439177,0.999999993645,2.2679372092e-05,-0.000103538901793,-3.84147125158e-05,1793196682883251456
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.708231874,743,711,674,665,633.291768126,877,784,800.708231874,650,629.291768126,651,0.401348978614,0.00455073921891,0.0499368955392,0.999999994047,2.05272357704e-05,-0.000100320018406,-3.77016845513e-05,1793196682899918080
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.715240191,742.715240191,711,674,664.715240191,633,876.715240191,784,801,650,629.284759809,651,0.401435693672,0.00454908191922,0.0499375033259,0.999999994025,1.92574363651e-05,-0.000101184759858,-3.6624990844e-05,1793196682916585472
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.141493621,742.141493621,711,674,664.141493621,633,876.141493621,784,801,650,629.858506379,651,0.401532070872,0.00454704823812,0.0499353265484,0.999999993564,1.88830713435e-05,-0.000106193743343,-3.51792332116e-05,1793196682933253120
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.443328477,711,674,664,633,876.443328477,784,801,650.443328477,630,651,0.401647988638,0.00454438280818,0.0499356794177,0.999999993499,1.39337352401e-05,-0.000108013547382,-3.37635658702e-05,1793196682949919232
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,743,711,674.03126977,664,633,877,784,801,650.96873023,630,651.03126977,0.401772161278,0.00454161298583,0.0499368693298,0.999999993542,7.75141483603e-06,-0.000108666757333,-3.23725145721e-05,1793196682966585344
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,743,711,674.610342126,664,633,877,784,801,650.389657874,630,651.610342126,0.401928891705,0.00454063714037,0.0499382167082,0.99999999375,6.20427076732e-06,-0.000107171337061,-3.12401476475e-05,1793196682983252480
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,743,711,674.811139734,664,633,876.811139734,784,801,650,629.811139734,651.811139734,0.402094399799,0.00453924667829,0.0499386718685,0.999999993668,4.57327468953e-06,-0.000108433344887,-2.97482760154e-05,1793196682999919360
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,743,711,674.233761782,664,633,876.233761782,784,801,650,629.233761782,651.233761782,0.402277965029,0.00453700327946,0.0499372915844,0.999999992963,2.76978096026e-06,-0.000115367851416,-2.7516842202e-05,1793196683016585984
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,743,711,674,664.340856035,633,876.340856035,784,801,650,629.340856035,651,0.402490743519,0.0045328277349,0.0499385899226,0.999999993172,-2.1807683563e-06,-0.000114088136355,-2.52111923249e-05,1793196683033252608
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,743,711,674,664.913596192,633,876.913596192,784,801,650,629.913596192,651,0.402723395788,0.00452733775273,0.0499417105256,0.999999993948,-9.2722575812e-06,-0.000107220292752,-2.28550530849e-05,1793196683049918720
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,743,711,674,664.497789484,633,877,784,801.502210516,650,630,651,0.402988931659,0.00452419183145,0.0499468588323,0.999999995258,-1.41022606255e-05,-9.40549369411e-05,-2.09581100439e-05,1793196683066585344
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,743,711,674,664.091694125,633,877,784,801.908305875,650,630,651,0.403267938544,0.00452100505366,0.0499531011998,0.999999996553,-1.90407198712e-05,-7.85603849811e-05,-1.89846454085e-05,1793196683083251712
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,743,711,674,664.670807221,633,877,784,801.329192779,650,630,651,0.403587498118,0.00451538735692,0.0499632443057,0.999999997909,-2.66914549425e-05,-5.66318921802e-05,-1.61707478555e-05,1793196683099918592
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.751471383,711,673.751471383,664.751471383,633,877,784,801,650.248528617,630,651,0.403923431836,0.0045093896025,0.0499724353209,0.999999998587,-3.30165893867e-05,-3.96035256001e-05,-1.29674994764e-05,1793196683116585216
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.175583156,711,673.175583156,664.175583156,633,877,784,801,650.824416844,630,651,0.404280933405,0.00450289123991,0.0499803722505,0.999999998829,-3.7595654423e-05,-2.90295615788e-05,-9.25140194401e-06,1793196683133252096
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.40752907,742.40752907,711,673.40752907,664.40752907,633,876.59247093,784,801,650.59247093,630,651,0.404667455062,0.0044958650101,0.0499860894398,0.999999998846,-4.45314053602e-05,-1.71524800033e-05,-5.59185659903e-06,1793196683149919232
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.993809895,742.993809895,711,673.993809895,664.993809895,633,876.006190105,784,801,650.006190105,630,651,0.405066705596,0.00448860724559,0.0499908329991,0.999999998609,-5.2500853573e-05,-4.70382095071e-06,-1.95711645944e-06,1793196683166586112
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.423267688,743,711,674,665,633,876.576732312,784,801,650,630,651,0.405480460568,0.00448421795394,0.0499760144792,0.99999999798,-5.43740892024e-05,-3.29016806839e-05,1.37991493003e-06,1793196683183252480
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,877,784,801,650,629.842481495,651,0.405901168375,0.00447878137013,0.0499593413129,0.999999996244,-5.8057474181e-05,-6.41607518818e-05,4.88416156691e-06,1793196683199918592
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,877,784,801,650,629.267265069,651,0.406339902794,0.00447048647412,0.0499383036499,0.999999992494,-6.67134035745e-05,-0.000102387196923,8.84024293227e-06,1793196683216585216
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,877.307974643,784,801,650.307974643,629.307974643,651,0.406815202652,0.00446278849119,0.0499234753868,0.999999989099,-7.32893255478e-05,-0.000127538804185,1.27957022426e-05,1793196683233252096
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,877.883234628,784,801,650.883234628,629.883234628,651,0.407322237011,0.00445560855686,0.0499140361417,0.999999986824,-7.80600496144e-05,-0.000141343012456,1.67506221342e-05,1793196683249918976
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,743,711,673.529282301,665,633,877.529282301,784,801,651,629.529282301,651,0.407901339717,0.0044474528778,0.0499282751179,0.999999993863,-1.04086248607e-05,-0.000108294765948,2.0924871114e-05,1793196683266585856
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.940219794,711,673.059780206,665,633,877,784,801,651,629,651,0.408502752946,0.0044391077622,0.049949311,0.999999995451,6.64678695568e-05,-6.35343027138e-05,2.53518800779e-05,1793196683283252480
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.364394107,711,673.635605893,665,633,877,784,801,651,629,651,0.409138323034,0.00443127244885,0.0499769657279,0.999999997258,6.37645207576e-05,-2.06708211734e-05,3.14786360798e-05,1793196683299919616
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.211451852,711,674,665,633,877.211451852,784,801,651,629,651,0.409768654304,0.00442559137679,0.049993445479,0.999999997741,5.62771670771e-05,3.03372182279e-06,3.66343128352e-05,1793196683316586496
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.787332717,711,674,665,633,877.787332717,784,801,651,629,651,0.410389956635,0.00442362305597,0.049990665592,0.999999998354,4.05447680607e-05,-6.28142043688e-06,4.01163721281e-05,1793196683333252864
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.363351217,742.636648783,711,674,665,633.363351217,878,784,801,650.636648783,629,651,0.411007317149,0.00443157327587,0.049964918954,0.999999997446,-4.39774551744e-07,-6.37373005788e-05,3.23334022775e-05,1793196683349918976
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.939450284,742.060549716,711,674,665,633.939450284,878,784,801,650.060549716,629,651,0.411622369645,0.0044453309574,0.0499257249223,0.999999987102,-5.62098438026e-05,-0.000149380338931,1.79545803175e-05,1793196683366585344
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.469749357,742.530250643,711,673.469749357,665.530250643,633.469749357,877.469749357,784,801,650,629.530250643,651,0.412361148335,0.00445441097489,0.0499311170873,0.999999991823,-3.71309672499e-05,-0.00012102646449,1.81004250494e-05,1793196683383251712
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,711,673.119310035,665.880689965,633,877.119310035,784,801,650,629.880689965,651,0.413119651323,0.00445864639528,0.0499442171901,0.99999999634,-1.54422314346e-05,-8.15890730325e-05,2.0622298795e-05,1793196683399918592
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,743,711,673.695102221,665.304897779,633,877.695102221,784,801,650,629.304897779,651,0.413898022734,0.00444644823284,0.0499667729969,0.999999998219,-1.74018180629e-05,-5.09709531558e-05,2.5708179867e-05,1793196683416585472
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.270766452,743,711,674,665,633,878,784,801,650,629.270766452,651,0.414655071738,0.00443878681074,0.0499657270587,0.99999999786,-2.09093953917e-05,-5.55081811178e-05,2.75855110374e-05,1793196683433252352
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.846286741,743,711,674,665,633,878,784,801,650,629.846286741,651,0.415388121984,0.00443623159212,0.0499381168192,0.999999994362,-2.61592719061e-05,-9.9613553447e-05,2.58515465169e-05,1793196683449919744
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.569523749,743,711.430476251,674,665.430476251,633,877.569523749,784,801,650.430476251,630,651,0.41617266474,0.00443710820014,0.0499235112502,0.999999991904,-3.25556850766e-05,-0.000120562713544,2.44489175916e-05,1793196683466586624
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.017685119,743,711.982314881,674,665.982314881,633,877.017685119,784,801,651,629.982314881,651,0.416977951815,0.00443933318407,0.0499149275396,0.999999990405,-3.86279418103e-05,-0.000130977301784,2.32782269057e-05,1793196683483252992
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.600426973,743,711.399573027,674,665.399573027,633,877.600426973,784,801,651,629.399573027,651,0.417846491268,0.00444468179958,0.0499473288329,0.999999996681,-2.09934597961e-05,-7.44202484969e-05,2.56602968627e-05,1793196683499918848
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.819238776,743,711,674,665.180761224,633.180761224,878,784,801,651,629.180761224,651,0.418698867405,0.00444777549526,0.0499681930694,0.999999998678,-8.92829485795e-06,-4.20751711707e-05,2.81852649198e-05,1793196683516585472
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.244156616,743,711,674,665.755843384,633.755843384,878,784,801,651,629.755843384,651,0.41951598408,0.00444595020365,0.0499638898316,0.999999997522,-9.01229829802e-06,-6.25472276885e-05,3.10219575519e-05,1793196683533252096
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.331487893,743,711,674,665.668512107,633.668512107,878,784,801,651,630,651,0.420363140858,0.00444277057808,0.0499595364581,0.999999997345,-1.46686584738e-05,-6.41573451897e-05,3.12750781903e-05,1793196683549918720
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.907547275,743,711,674,665.092452725,633.092452725,878,784,801,651,630,651,0.421232461163,0.00443859172614,0.0499551460947,0.999999997918,-2.44362987881e-05,-5.18511389438e-05,2.96220414462e-05,1793196683566585344
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743,711,674,665.492351571,633,878,784,801.492351571,651,629.507648429,651,0.422142506241,0.00443557172865,0.0499736194964,0.999999999114,-2.65265939754e-05,-1.34283275577e-05,2.97929045552e-05,1793196683583252224
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.921736039,743,711,674.078263961,666,633,878,784,801.921736039,650.921736039,629.078263961,651,0.423052390457,0.00443353467127,0.0499906854906,0.99999999902,-2.60431485884e-05,1.90238130004e-05,3.03286493547e-05,1793196683599919360
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.339454141,743,711,674.660545859,666,633,878,784,801.339454141,650.339454141,629.660545859,651,0.423911099918,0.00443640099903,0.0499705390398,0.999999999168,-1.8436856145e-05,-1.91285422918e-05,3.09687254591e-05,1793196683616585728
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.239473498,743,711,675,665.760526502,633.239473498,878,784,801,650,629.760526502,651,0.42478694747,0.0044372398505,0.0499624264875,0.999999998765,-1.40452857841e-05,-3.54961158566e-05,3.18085270546e-05,1793196683633252352
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.813712228,743,711,675,665.186287772,633.813712228,878,784,801,650,629.186287772,651,0.425686752856,0.00443524444903,0.0499711363817,0.999999999129,-1.41476445528e-05,-2.14102728705e-05,3.29275294151e-05,1793196683649918720
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743,711,675,665.388215904,633.611784096,878.388215904,784,801,650.388215904,629.388215904,651,0.426570992388,0.00443229930232,0.0499842171731,0.999999999135,-1.88791359963e-05,-1.28585888104e-05,3.4772451854e-05,1793196683666585344
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743,711,675,665.962846769,633.037153231,878.962846769,784,801,650.962846769,629.962846769,651,0.427447757396,0.00442889810352,0.0499993967976,0.999999998959,-2.58334616217e-05,-6.96431866398e-06,3.69659492353e-05,1793196683683251968
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,711,675,665.444650887,633,878.444650887,784,801,650.444650887,630,651,0.428290933949,0.00442921323543,0.0499611469554,0.999999996636,-2.33946471162e-05,-6.9483092348e-05,3.67934047153e-05,1793196683699918848
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743,711,675,665,633,877.855407467,784,801,650,630,651,0.429148571154,0.00442964592492,0.0499322934922,0.999999992854,-2.06269788888e-05,-0.0001120471139,3.62177316472e-05,1793196683716585472
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,743,711,675,665,633,877.279568286,784,801,650,630,651,0.430056261937,0.00442966305007,0.0499424800076,0.999999995933,-1.88150478977e-05,-8.09917534507e-05,3.49275260081e-05,1793196683733252352
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743,711.295547664,675,665.591095328,633,877.591095328,784,801.295547664,650,630,651,0.430924360744,0.00442894847517,0.0499422670819,0.999999996183,-1.83101935502e-05,-7.8042505708e-05,3.47585968415e-05,1793196683749919232
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743,711.869981125,675,666.739962249,633,878.739962249,784,801.869981125,650,630,651,0.431755099571,0.00442754345071,0.049932240996,0.999999994021,-1.90387278814e-05,-0.000101614855376,3.56477308731e-05,1793196683766585856
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743,712,675,666.085065552,633,878.542532776,783.542532776,801.542532776,650,630,651,0.432579015983,0.00442498388925,0.0499235918527,0.999999992532,-2.80382177213e-05,-0.000113364911212,3.60249620585e-05,1793196683783252224
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633,878.047605742,783.047605742,801,650,630,651,0.433405373582,0.00442237673066,0.0499185989134,0.999999991787,-3.7692857475e-05,-0.000116993424712,3.629245844e-05,1793196683799918592
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743,712,675,665,633,878.624770131,783.624770131,801,650,630,651,0.434281088826,0.00442299745349,0.0499497958676,0.999999996568,-2.77181547048e-05,-6.8753835466e-05,3.70052261258e-05,1793196683816585472
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743.202012495,712,674.797987505,665.202012495,633,879,784,801.202012495,650,629.797987505,651,0.435118696049,0.00442302373897,0.0499690734992,0.999999998106,-1.99199440785e-05,-4.4049441068e-05,3.80803196668e-05,1793196683833252096
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743.779399847,712,674.220600153,665.779399847,633,879,784,801.779399847,650,629.220600153,651,0.435885491997,0.00442194545508,0.0499662029319,0.999999997087,-1.616603824e-05,-6.30775829917e-05,3.98286788228e-05,1793196683849918720
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,743.637488681,712,674.362511319,666,633.362511319,879,784,801.637488681,650,629.362511319,651,0.436627373104,0.00442066442732,0.049952172502,0.999999994761,-1.98547922757e-05,-9.158713825e-05,4.11828568859e-05,1793196683866585088
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,743.050838043,712,674.949161957,666,633.949161957,879,784,801.050838043,650,629.949161957,651,0.437353849418,0.00441925804389,0.0499312419734,0.999999990777,-2.81453137556e-05,-0.000125959012745,4.22933141946e-05,1793196683883251968
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,743,712,675,666,633.471008029,878.471008029,784,801,650.528991971,630,651,0.43814396037,0.0044210043667,0.04995434908,0.999999995724,-3.35969529294e-05,-7.57708268991e-05,4.10126415575e-05,1793196683899918592
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,743,711.892077881,675,666,633,878,784,801,650.784155762,630,650.892077881,0.438923230824,0.00442235109847,0.0499751682854,0.999999998145,-3.44188433803e-05,-3.10398909634e-05,3.95178547808e-05,1793196683916585472
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,743,711.314248148,675,666,633,878,784,801,649.628496296,630,650.314248148,0.439629011399,0.00442065550517,0.0499678327564,0.99999999813,-1.62549807769e-05,-4.50041574902e-05,3.8078613903e-05,1793196683933251840
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.737766706,743,711,675,666,633,878,784,801,649.262233294,630,650.262233294,0.440304329761,0.00441799562138,0.0499553139326,0.999999997015,-1.20556343688e-05,-6.62086309808e-05,3.79490083176e-05,1793196683949918720
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.162892769,743,711,675,666,633,878,784,801,649.837107231,630,650.837107231,0.440943330313,0.0044141860881,0.0499366154647,0.999999994312,-2.45051108193e-05,-9.60450468793e-05,3.93807805329e-05,1793196683966585088
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.421726045,743,711,675,666,633,878,784,801,650,630,650.578273955,0.441582639571,0.00441146478614,0.0499466294232,0.999999995692,-3.34475524226e-05,-7.61769193353e-05,4.11681196369e-05,1793196683983251968
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,743,711,675.010031155,666,633,878.010031155,784,801,650,630,650,0.4422216919,0.0044092419733,0.0499679719281,0.999999997565,-4.07570142736e-05,-3.67722986084e-05,4.3096410739e-05,1793196683999918336
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,743,711,675.588879663,666,633,878.588879663,784,801,650,630,650,0.442839250726,0.00441088728327,0.049987951845,0.999999998396,-3.40978737926e-05,-3.95303597076e-06,4.50453817157e-05,1793196684016585216
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,743,711,675.833052244,666,633,879,784,801,650,630,650.166947756,0.44342712239,0.00441438831061,0.0499950858892,0.999999998571,-2.53671232231e-05,6.34130688524e-06,4.66309473609e-05,1793196684033251840
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,743,711,675.256896916,666,633,879,784,801,650,630,650.743103084,0.443942227638,0.00442243790861,0.0499707332702,0.999999998069,-1.15586238857e-05,-3.85754346537e-05,4.7325766443e-05,1793196684049918464
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,743,711,675,665.681983306,633,879,784,801,650,630.318016694,650.681983306,0.44443409604,0.00442683927431,0.0499455872266,0.999999995735,-3.72009916172e-06,-7.87765774138e-05,4.8064037082e-05,1793196684066585088
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,743,711,675,665.108068902,633,879,784,801,650,630.891931098,650.108068902,0.444907266476,0.00442830502541,0.0499198027414,0.999999992174,-6.85420068261e-07,-0.000115183228193,4.8837271748e-05,1793196684083251968
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.520018407,743,711,675.479981593,665.479981593,633,878.520018407,783.520018407,801,650,630.520018407,650,0.445376209679,0.00442583451898,0.0499224793523,0.999999993944,-7.52422394883e-06,-9.83696428958e-05,4.87640900648e-05,1793196684099918592
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711.069866803,675.930133197,665.930133197,633,878,783.069866803,801,650,630,650,0.44584134742,0.00442251827973,0.0499321188502,0.99999999627,-1.985431809e-05,-6.94149182456e-05,4.74128551309e-05,1793196684116584960
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711.649217425,675.350782575,665.350782575,633,878,783.649217425,801,650,630,650,0.446285886055,0.00441969366424,0.0499443861419,0.99999999685,-5.55253084563e-05,-4.19560199486e-05,3.81736459948e-05,1793196684133251584
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.226368141,743,711.773631859,675,665,632.773631859,878,784,801,650,630,650,0.446689943355,0.00441482239013,0.0499439627901,0.999999994847,-8.75432588628e-05,-4.05676985046e-05,3.15564158499e-05,1793196684149918464
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.800142615,743,711.199857385,675,665,632.199857385,878,784,801,650,630,650,0.447031874061,0.00440681011699,0.0499240631542,0.999999989952,-0.000113954899331,-7.91897959053e-05,2.89631279006e-05,1793196684166585088
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,743,711,675.383363239,665,632,878,784,800.616636761,650,630,650.383363239,0.447330391336,0.00440564382356,0.0498934596911,0.999999984779,-0.000117021755345,-0.000126371262886,2.78855091736e-05,1793196684183251712
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,743,711,675.971632852,665,632,878,784,800.028367148,650,630,650.971632852,0.447605704307,0.0044081366827,0.0498571350663,0.999999977964,-0.000107610904163,-0.000178127687717,2.7618010312e-05,1793196684199918592
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764.865096966,743,711,675,665,632,878.134903034,783.134903034,801,650,630,650.134903034,0.448145935427,0.00441570138005,0.0498303481107,0.999999975332,2.71158105386e-05,-0.000218514874018,2.91853145322e-05,1793196684233251840
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.290260008,743,711,675,665,632,878.709739992,783.709739992,801,650,630,650.709739992,0.448405740673,0.00442422378726,0.0498380997712,0.999999977844,3.123185042e-05,-0.000205706228333,3.19472776505e-05,1793196684249918464
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.284878182,743,711,675,664.715121818,632,878.715121818,784,801,650,630,650.715121818,0.448651083523,0.00443899678649,0.0498477896937,0.999999980203,4.23312722805e-05,-0.000191700018224,3.24593388588e-05,1793196684266584832
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.860323582,743,711,675,664.139676418,632,878.139676418,784,801,650,630,650.139676418,0.448881675145,0.00446014520199,0.049859456585,0.999999982125,6.05535344979e-05,-0.000176472328959,3.06765672806e-05,1793196684283251456
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,743,711,675,664,631.555035685,878.444964315,784,801,650,630,650,0.449066023121,0.00446316763599,0.0498618150578,0.999999982343,6.03247190898e-05,-0.000175216276646,3.12079538097e-05,1793196684299918080
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.967780096,743,711.032219904,675,664,631,878.967780096,784,801,650,630,650,0.449233718316,0.00446025585197,0.0498607491642,0.999999981998,5.41032117537e-05,-0.000178947935712,3.24605130184e-05,1793196684316584960
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.386193828,743,711.613806172,675,664,631,878.386193828,784,801,650,630,650,0.449370204797,0.00445522429887,0.049852168215,0.99999998005,4.65416328324e-05,-0.000191365173335,3.33621529829e-05,1793196684333251584
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.192880874,743,712,675,664,631,878,783.807119126,801.192880874,650,630,650,0.449498897849,0.00445236477052,0.0498448242956,0.999999978034,4.06547765284e-05,-0.000202828655985,3.37587798356e-05,1793196684349918208
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.766991386,743,712,675,664,631,878,783.233008614,801.766991386,650,630,650,0.449612187146,0.00445379825633,0.0498399253706,0.999999976167,3.80780155266e-05,-0.000212407037584,3.3157246626e-05,1793196684366584832
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.657321614,743,712,675,664,631,878,783.342678386,801.657321614,650,630,650,0.449712254465,0.00445216098494,0.0498363435598,0.999999974768,3.37641676308e-05,-0.00021954296781,3.35371253718e-05,1793196684383251456
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.080557648,743,712,675,664,631,878,783.919442352,801.080557648,650,630,650,0.449803289787,0.00444842606175,0.0498336614767,0.999999973688,2.82637054077e-05,-0.000225010446393,3.45874122186e-05,1793196684399918080
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,711.491393854,675.508606146,664,631.508606146,878.508606146,783.491393854,801.508606146,650,630,650,0.449878906997,0.00445119139388,0.0498356511511,0.999999974256,3.13060351617e-05,-0.000222118088999,3.42212649862e-05,1793196684416584960
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,711,675.902565314,663.902565314,631.902565314,878.902565314,783,802,650,630,650,0.449948795374,0.00445408348365,0.049838230206,0.999999975036,3.47398271792e-05,-0.000218123904777,3.3800832096e-05,1793196684433251584
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,711,675.325301211,663.325301211,631.325301211,878.325301211,783,802,650,630,650,0.450002798184,0.00445240286304,0.0498399766764,0.999999975664,3.32714749243e-05,-0.0002153873118,3.42454996463e-05,1793196684449918208
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.250850634,743,711,675.250850634,663.250850634,631,878.250850634,783.250850634,802,650,630,650,0.45004906937,0.00445192266468,0.0498412714895,0.999999976059,3.36092216777e-05,-0.000213475507248,3.4374748978e-05,1793196684466585088
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.825566445,743,711,675.825566445,663.825566445,631,878.825566445,783.825566445,802,650,630,650,0.450085358502,0.00445299229294,0.0498419831823,0.999999976155,3.62787648005e-05,-0.000212628560638,3.40967719764e-05,1793196684483251968
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.589336532,743,711,676,663.589336532,631.410663468,878.589336532,783.589336532,801.589336532,650,630,650.410663468,0.450110832521,0.0044539978131,0.0498416063444,0.999999975564,3.85821575183e-05,-0.000214985621995,3.41392387516e-05,1793196684499918592
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,711,675.999720778,663,631.999720778,878,783,801.000279222,650,630,650.999720778,0.45013159003,0.0044549764084,0.0498407551111,0.999999974659,4.07260373024e-05,-0.000218737166787,3.43208378811e-05,1793196684516584704
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,711,675.420757488,663,631.420757488,878,783,801.579242512,650,630,650.420757488,0.450145013471,0.0044580522857,0.0498398220845,0.999999974566,4.29669558649e-05,-0.000218867100675,3.34465665437e-05,1793196684533251584
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,711,675.15773123,663.15773123,631,878.15773123,783.15773123,801.84226877,650,630,650,0.450157371016,0.00446003306106,0.0498393444376,0.999999974554,4.43482899989e-05,-0.000218709667937,3.30298417632e-05,1793196684549918208
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711,675.734957706,663.734957706,631,878.734957706,783.734957706,801.265042294,650,630,650,0.450166893751,0.00445910134959,0.0498400778995,0.999999974768,4.34435097184e-05,-0.00021778796717,3.38299884168e-05,1793196684566584832
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711.316099158,675.683900842,663.683900842,631,879,784,801,650,630,650.316099158,0.450172206865,0.00445984318469,0.0498397513353,0.999999974606,4.40802192957e-05,-0.000218408760877,3.37878729643e-05,1793196684583251712
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711.900564464,675.099435536,663.099435536,631,879,784,801,650,630,650.900564464,0.450173946037,0.00446200584994,0.0498385248157,0.999999974121,4.60256437196e-05,-0.000220339122339,3.30306825049e-05,1793196684599918336
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,712,675,663,631,879,784,801.48063012,650,630,651,0.450175352614,0.00446216267576,0.0498379584745,0.999999973806,4.66924377481e-05,-0.000221591097385,3.32302607068e-05,1793196684616584960
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,711.940240327,675,663,631,879,784,801.940240327,650,630,651,0.450176514278,0.00446205357321,0.0498374646331,0.999999973517,4.71380528423e-05,-0.000222759438703,3.35113122368e-05,1793196684633251840
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711.361406937,675,663,631,879,784,801.361406937,650,630,651,0.450176140894,0.00446320643675,0.0498364249385,0.999999973133,4.79393779347e-05,-0.000224409348279,3.27963120708e-05,1793196684649918464
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,711.216441259,675.216441259,663.216441259,631,878.783558741,784,801,650,630,651,0.45017617301,0.00446347492541,0.0498356492128,0.999999972856,4.81885027067e-05,-0.000225615880653,3.26183656149e-05,1793196684666585088
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711.792651828,675.792651828,663.792651828,631,878.207348172,784,801,650,630,651,0.450176879148,0.00446227340345,0.049835312257,0.999999972758,4.75197583996e-05,-0.000226085430016,3.33331114921e-05,1793196684683251968
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711.624874476,675.624874476,664,631,878.375125524,784,801,650,630,651,0.450177278666,0.00446252331531,0.0498351633302,0.999999972699,4.74787313155e-05,-0.00022635764739,3.33281311958e-05,1793196684699918336
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711.038880116,675.038880116,664,631,878.961119884,784,801,650,630,651,0.450177505823,0.00446358911987,0.0498351201,0.999999972661,4.77905621412e-05,-0.000226518938766,3.29185721133e-05,1793196684716584960
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711,675.542946994,664,631,879,784,802.085893989,650,630,650.457053006,0.45017882594,0.00446455248896,0.0498357265834,0.999999972832,4.86201639091e-05,-0.000225600048492,3.28172354062e-05,1793196684733251584
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,711.12317899,675.753642021,664,631,878.87682101,784,802.753642021,650,630,650,0.450179631688,0.00446573600304,0.0498360279494,0.999999972857,4.9615828935e-05,-0.000225288774305,3.26913069259e-05,1793196684749918208
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,711.698641333,674.602717333,664,631,878.301358667,784,801.602717333,650,630,650,0.450178263614,0.00446775456428,0.0498350394685,0.999999972294,5.10861359254e-05,-0.000227490370608,3.23946590737e-05,1793196684766584832
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,712,674.546724014,663.726637993,631,878.273362007,784,801,650,630,650.273362007,0.45017735459,0.00446818318613,0.0498338672778,0.999999971855,5.18217079494e-05,-0.000229266343608,3.22676639342e-05,1793196684783251456
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,712,675.694534671,663.152732665,631,878.847267335,784,801,650,630,650.847267335,0.450176950261,0.00446686377575,0.0498324931102,0.999999971556,5.1749487993e-05,-0.00023057437241,3.2327190617e-05,1793196684799918080
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,712,675.564558733,663.870882534,631,878.564558733,784,801.435441267,650,629.564558733,651,0.450177369654,0.00446713245203,0.0498328699842,0.99999997158,5.29359949276e-05,-0.000230230867844,3.21145647503e-05,1793196684816584704
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711.971965711,675,664.943931423,631,878.028034289,783.971965711,802.028034289,650,629.028034289,651,0.450178070983,0.00446793683005,0.0498338357281,0.999999971712,5.4511735936e-05,-0.000229327931479,3.18337676697e-05,1793196684833251584
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711.394181916,675,663.788363832,631,878.605818084,783.394181916,802.605818084,650,629.605818084,651,0.450178443315,0.00446795295469,0.0498338970217,0.999999971717,5.47691744459e-05,-0.000229199090883,3.21514895192e-05,1793196684849918208
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,711,675,663.182612717,631,878.817387283,783,802.817387283,650,630,651,0.450179035932,0.00446777328182,0.0498339817905,0.999999971823,5.46356486956e-05,-0.000228754187373,3.22607238601e-05,1793196684866584832
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,711,675,663.757283644,631,878.242716356,783,802.242716356,650,630,651,0.450180101484,0.00446717324381,0.049834116959,0.999999972143,5.36627468387e-05,-0.00022763071634,3.19223483936e-05,1793196684883251456
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,743,711,675.331763672,664,631,878,783.331763672,802,650,630,651,0.450180398882,0.00446737297992,0.0498343694595,0.999999972259,5.35626527562e-05,-0.000227179522283,3.16715092568e-05,1793196684899918080
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,711,675.906104096,664,631,878,783.906104096,802,650,630,651,0.450180134628,0.00446815748957,0.0498347077499,0.999999972226,5.4100732487e-05,-0.000227219879274,3.1484674365e-05,1793196684916584704
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.494207386,743,711,675.505792614,664,631,878.494207386,784,802,650,630,651,0.450178925457,0.0044676694487,0.0498332096974,0.999999971726,5.38071660101e-05,-0.00022946857256,3.15669078443e-05,1793196684933251584
+245,4.083333333,HOLD_POSE2,764,743,712,675,663,631,879,783,802,650,630,651,0.450180269923,0.00446844905566,0.0498339116665,0.999999971924,5.48799300881e-05,-0.000228269304903,3.21420634899e-05,1793196684976214272
+246,4.100000000,HOLD_POSE2,764,743,712,675.573166193,663.573166193,631,879,783,801.426833807,650,630,650.426833807,0.450179544896,0.00446859833342,0.0498332761443,0.999999971628,5.45686841165e-05,-0.000229651792421,3.20480542515e-05,1793196684992880896
+247,4.116666667,HOLD_POSE2,764,743,712,675.850149055,664,631,879,783.149850945,801,650,630,650.149850945,0.450179280935,0.00446837196029,0.0498330734212,0.9999999715,5.37084491959e-05,-0.000230421683895,3.19715150551e-05,1793196685009547264
+248,4.133333333,HOLD_POSE2,764,743,712,675.263200961,664,631,879,783.736799039,801,650,630,650.736799039,0.45018036185,0.00446704985883,0.0498341331211,0.999999971863,5.12468795857e-05,-0.000229404706843,3.19459338448e-05,1793196685026214144
+249,4.150000000,HOLD_POSE2,764,743,711.678816872,675,664,631,878.678816872,784,801.321183128,650,630,651,0.450180469394,0.00446763669493,0.0498341385356,0.999999971865,5.19581036551e-05,-0.000229259194527,3.17740955581e-05,1793196685042880768
+250,4.166666667,HOLD_POSE2,764,743,711.096517309,675,664,631,878.096517309,784,801.903482691,650,630,651,0.450179785604,0.00446977546495,0.0498332868339,0.999999971569,5.52487553013e-05,-0.000229822168316,3.14833527513e-05,1793196685059547392
+251,4.183333333,HOLD_POSE2,764.480103901,743,711,675.480103901,664,631,878.480103901,784,802,650,630,651,0.450179210476,0.00446936555575,0.0498329034252,0.999999971396,5.51622425389e-05,-0.00023059834921,3.14546157333e-05,1793196685076214272
+252,4.200000000,HOLD_POSE2,765,743,711,675.94434794,664,631,879,783.94434794,802,650,630,651,0.450178875235,0.00446869760371,0.0498327902258,0.999999971305,5.45161426519e-05,-0.000231146019613,3.14614633459e-05,1793196685092880896
+253,4.216666667,HOLD_POSE2,765,743,711,675.368284053,664,631,879,783.368284053,802,650,630,651,0.45018058134,0.00447035191838,0.0498343337426,0.999999971745,5.49117857774e-05,-0.000229160725788,3.13142803003e-05,1793196685109547520
+254,4.233333333,HOLD_POSE2,764.787042412,743,711,675.212957588,664,631,879,783.212957588,802,650,629.787042412,650.787042412,0.450181308301,0.0044715931734,0.0498347848067,0.99999997188,5.5423024581e-05,-0.000228469356462,3.11526220212e-05,1793196685126213888
+255,4.250000000,HOLD_POSE2,764.19662341,743,711,675.80337659,664,631,879,783.80337659,802,650,629.19662341,650.19662341,0.450180299754,0.00447210229147,0.0498332995284,0.999999971478,5.61391534733e-05,-0.000230071432611,3.09653068082e-05,1793196685142880512
+256,4.266666667,HOLD_POSE2,764,742.614631842,711,676,663.614631842,631,878.614631842,783.614631842,802,650,629.385368158,650.385368158,0.450180799553,0.00446984218043,0.0498335529125,0.999999971643,5.49026469325e-05,-0.000229603178361,3.13458452362e-05,1793196685159547392
+257,4.283333333,HOLD_POSE2,764,742.036848067,711,676,663.036848067,631,878.036848067,783.036848067,802,650,629.963151933,650.963151933,0.450182052474,0.00446619938404,0.0498346744164,0.999999972084,5.26911830157e-05,-0.000228101201321,3.20099148803e-05,1793196685176214016
+258,4.300000000,HOLD_POSE2,764,743.075646722,711,675.462176639,663,631,878.537823361,783.537823361,802,650,630,650.462176639,0.450182024379,0.00446714559876,0.0498344753153,0.999999971921,5.4380541921e-05,-0.000228458084613,3.1757471257e-05,1793196685192880896
+259,4.316666667,HOLD_POSE2,764,743.884776328,711,675,663,631,878.884776328,783.884776328,802.115223672,650,630,650,0.450182046014,0.00446838718034,0.0498343984337,0.999999971822,5.56334120316e-05,-0.000228625327567,3.14777848647e-05,1793196685209547520
+260,4.333333333,HOLD_POSE2,764,743.295270575,711,675,663,631,878.295270575,783.295270575,802.704729425,650,630,650,0.450182631531,0.00446955782984,0.049835194916,0.999999972175,5.399585802e-05,-0.000227490768044,3.13429441364e-05,1793196685226214144
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,743,711,676,664,631,879,784,802,650,630,651,0.450179763501,0.00446845157006,0.049833165447,0.999999971276,5.66620575727e-05,-0.000230682359102,3.19791673127e-05,1793196685263328000
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,743,711.575866314,674.848267372,664,631,878.424133686,783.424133686,802,650,630,650.424133686,0.450181246483,0.00446927481682,0.0498335077249,0.999999971544,5.62859224076e-05,-0.000229681638369,3.14797964853e-05,1793196685279994624
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,711.848473127,674.151526873,664,631,878.151526873,783,802,650.151526873,629.848473127,650,0.450182200317,0.00446993985764,0.049833759346,0.999999971692,5.59736601401e-05,-0.000229166773239,3.10834466609e-05,1793196685296661504
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711.273387579,674.726612421,664,631,878.726612421,783,802,650.726612421,629.273387579,650,0.450181675036,0.00447016267021,0.0498337575572,0.999999971509,5.58399398459e-05,-0.000230010005965,3.09750683469e-05,1793196685313328128
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711.309860556,675.309860556,664,631,878.690139444,783,802,650.690139444,629.309860556,650.309860556,0.450181248585,0.00447081800716,0.0498336852062,0.999999971329,5.66059683465e-05,-0.00023060798156,3.09467324322e-05,1793196685329995008
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711.900505288,675.900505288,664,631,878.099494712,783,802,650.099494712,629.900505288,650.900505288,0.450180911691,0.00447186528172,0.0498335489142,0.99999997115,5.81873159418e-05,-0.000230983714161,3.09909279862e-05,1793196685346661632
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711.519739135,675.519739135,663.519739135,631,878,783.480260865,802,650,630,651,0.450183238901,0.00447004200819,0.0498350412466,0.999999971973,5.64873672703e-05,-0.000227837017242,3.08870888303e-05,1793196685363328000
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.942497392,743,711,675,663,631,878,783.942497392,802,650,630,651,0.450185542811,0.00446797836051,0.0498364360154,0.999999972798,5.44232178142e-05,-0.000224711159593,3.07742706802e-05,1793196685379994880
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.368024327,743,711,675,663,631,878,783.368024327,802,650,630,651,0.4501827853,0.00446898157594,0.0498339875561,0.999999971973,5.50607482526e-05,-0.000228187797644,3.08503327058e-05,1793196685396661504
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.211675541,743,711,675.211675541,663.211675541,631,878,783,802,650.211675541,630,651,0.450179608138,0.00446917857877,0.049831930915,0.999999971204,5.48246642694e-05,-0.000231570040771,3.1016603625e-05,1793196685413327872
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.800692868,743,711,675.800692868,663.800692868,631,878,783,802,650.800692868,630,651,0.45017568289,0.00446793839275,0.0498305727461,0.999999970541,5.30312381477e-05,-0.000234784011134,3.13436847311e-05,1793196685429994752
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.383477757,743,711,676,664,631,878.383477757,783.383477757,802,650.616522243,630,651,0.450164421384,0.00446811701094,0.0498252720812,0.999999968457,5.30341785953e-05,-0.000243508969248,3.12376280745e-05,1793196685446661376
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.96307528,743,711,676,664,631,878.96307528,783.96307528,802,650.03692472,630,651,0.450149407937,0.00446902123969,0.0498179551289,0.999999965541,5.39558240285e-05,-0.000255052379571,3.09100543544e-05,1793196685463328000
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.460137093,743,711,676,663.460137093,631,878.460137093,783.460137093,802,650,630,651,0.450115176872,0.00447030974498,0.0498031076953,0.999999958261,5.64719105309e-05,-0.000281736749366,3.02362963611e-05,1793196685479994880
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.884005089,711.115994911,675.884005089,663,631,878,783,802,650,630,650.884005089,0.450075734998,0.00447129272542,0.0497874860608,0.999999949519,5.84400559895e-05,-0.000310901015064,2.98045652882e-05,1793196685496661504
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.309707908,711.690292092,675.309707908,663,631,878,783,802,650,630,650.309707908,0.450020871363,0.00447096525221,0.0497708299975,0.99999993808,5.78146092573e-05,-0.000345793014555,3.04221635543e-05,1793196685513328128
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.27215695,711.72784305,675,663.27215695,631,878.5443139,783.27215695,802,650,630,650.27215695,0.449963658964,0.00447202519656,0.0497565586791,0.999999929109,5.86410958534e-05,-0.000370732339312,3.00056066896e-05,1793196685529994752
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.862879915,711.137120085,675,663.862879915,631,879.72575983,783.862879915,802,650,630,650.862879915,0.449903697285,0.0044747091453,0.0497450787605,0.99999992399,6.11671041382e-05,-0.000384021825975,2.83785472798e-05,1793196685546661376
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.444824022,743,711,675,663.555175978,631,879.110351955,783.555175978,801.555175978,650,630,651,0.449836317487,0.00447608553021,0.0497386264408,0.999999920516,6.23676996806e-05,-0.000392825235651,2.76854928923e-05,1793196685563328000
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,743,711.023972996,675.023972996,663,631,878,783.023972996,801.023972996,650,630,650.976027004,0.449766155718,0.00447709390922,0.0497338973883,0.999999917689,6.32863239224e-05,-0.000399842770488,2.72631783337e-05,1793196685579994624
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,743,711.59986759,675.59986759,663,631,878,783.59986759,801.59986759,650,630,650.40013241,0.449683572275,0.00447872986077,0.0497338527303,0.999999918616,6.69374844743e-05,-0.000396965777531,2.65737660802e-05,1793196685596661248
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.821035589,743,711.821035589,675.821035589,663.178964411,631,878.178964411,783.821035589,801.821035589,650,629.821035589,650,0.449593566388,0.00448038726071,0.049733648764,0.999999919037,7.0132079405e-05,-0.000395402775731,2.57897416507e-05,1793196685613328128
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.234648802,743,711.234648802,675.234648802,663.765351198,631,878.765351198,783.234648802,801.234648802,650,629.234648802,650,0.449486662907,0.00448209348886,0.0497330821233,0.999999918343,7.22872769621e-05,-0.000396831147848,2.4790327467e-05,1793196685629995008
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,711,675.347324107,664,631,879,783.347324107,801,650,629.347324107,650,0.44936686022,0.00448389278778,0.0497320112948,0.999999917546,7.57868079771e-05,-0.000398222159727,2.41487005508e-05,1793196685646661632
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,711,675.926352521,664,631,879,783.926352521,801,650,629.926352521,650,0.449238452298,0.00448575417556,0.0497306041161,0.999999916668,8.01831610657e-05,-0.000399588248255,2.37457579473e-05,1793196685663328256
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,711,675.495157113,663.495157113,631,878.495157113,783.495157113,801.504842887,650,630,650,0.449092839415,0.00448910943871,0.0497315774416,0.999999915738,8.45169081086e-05,-0.000401071587852,2.28641265852e-05,1793196685679994880
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,711,675,663.082516952,631,878,783.082516952,801.917483048,650,630,650,0.448941237096,0.0044924291807,0.0497329286607,0.999999915148,8.88675754117e-05,-0.000401651102052,2.19736626859e-05,1793196685696661504
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,711,675,663.655802639,631,878,783.655802639,801.344197361,650,630,650,0.44876892427,0.00449424290881,0.0497344641971,0.999999916704,9.33731387528e-05,-0.000396753502051,2.14455502868e-05,1793196685713328128
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,711,675,664,631.235785945,878,783.764214055,801,650,630,650.235785945,0.448582068494,0.00449728586811,0.0497349400911,0.999999917044,9.90218885758e-05,-0.000394573683855,2.04624194415e-05,1793196685729995008
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,711,675,664,631.825832158,878,783.174167842,801,650,630,650.825832158,0.448373362445,0.00450217570486,0.0497338239087,0.999999915567,0.00010638823647,-0.00039647723957,1.8795639075e-05,1793196685746661632
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,743,711,675,664,632,878.408408019,783.408408019,801,650,630,651,0.448143422672,0.00450612663343,0.0497304639121,0.999999913259,0.000112982637571,-0.000400516244259,1.74100885385e-05,1793196685763328000
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,743,711,675,664,632,878.987855318,783.987855318,801,650,630,651,0.447904590324,0.00450968435173,0.049726164217,0.999999910564,0.000119253750942,-0.000405449564467,1.61423157203e-05,1793196685779994880
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,743,711,675,664,632,878.435827011,784,801.564172989,650,630,651,0.447640683488,0.00451413562038,0.0497235850881,0.999999909478,0.000124656722127,-0.000406583893674,1.39166194244e-05,1793196685796661504
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,743,711,675,664,632,878,784,802,650,630,651,0.447369890686,0.00451895675514,0.0497228649707,0.999999909134,0.000130482194785,-0.000405668259779,1.1847061232e-05,1793196685813328384
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,743,711,675,664,632,878,784,802,650,630,651,0.447079392265,0.00452486645705,0.0497278002697,0.999999911011,0.000137676647559,-0.000398642657027,1.03257493122e-05,1793196685829995008
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.296851981,743,711,675,664,632,878.296851981,784,801.703148019,650,629.703148019,651,0.446773067557,0.00452934976625,0.0497333128511,0.999999913913,0.000143295758798,-0.000389306665706,8.94488749106e-06,1793196685846661632
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.88776025,743,711,675,664,632,878.88776025,784,801.11223975,650,629.11223975,651,0.446451065578,0.00453242011693,0.0497393972786,0.999999917792,0.000147354365609,-0.000377682043745,7.70315285518e-06,1793196685863328256
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,743,711.468589982,675,664.468589982,632,879,784,801,650,629.468589982,651,0.446116916458,0.00453829095859,0.0497552795449,0.999999926678,0.00015590276915,-0.000349722306415,5.64693755846e-06,1793196685879994624
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,743,711.953355109,675.046644891,665,632.046644891,878.953355109,784,801.046644891,650,630,650.953355109,0.445777093594,0.00454468885285,0.0497738721182,0.999999935638,0.000165250576646,-0.000318440834056,3.54147084034e-06,1793196685896661504
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,743,711.379947707,675.620052293,665,632.620052293,878.379947707,784,801.620052293,650,630,650.379947707,0.445405362663,0.00454962299792,0.0497971273518,0.999999942353,0.000171736983538,-0.000292902708692,3.03657210899e-06,1793196685913328128
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.801032517,743,711,675.801032517,665,632.801032517,878,784,801.801032517,650,630,650,0.445009096334,0.00455508072805,0.0498134040308,0.999999945539,0.000178823863293,-0.000277380387435,2.11502235003e-06,1793196685929994752
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.21130027,743,711,675.21130027,665,632.21130027,878,784,801.21130027,650,630,650,0.444564643414,0.00456156675956,0.0498159750858,0.999999942869,0.000187090049303,-0.000281528736221,3.75185442688e-07,1793196685946661632
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764.37167963,743,711,675,665,632.37167963,878,784,801,650,630,650,0.44408929584,0.00456870857673,0.0498072745914,0.9999999363,0.000195758365636,-0.000298445643452,-2.82284315584e-06,1793196685963328512
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.950889289,743,711,675,665,632.950889289,878,784,801,650,630,650,0.443596698026,0.00457621655639,0.0497922805451,0.999999927035,0.000204651213983,-0.000322491968007,-6.8350636477e-06,1793196685979995136
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,743,711,675,665,632.895628081,878,784,801,650,629.104371919,650.104371919,0.442562562446,0.00458868576606,0.0497596974131,0.999999906227,0.000221367832862,-0.000371921559493,-1.46890832305e-05,1793196686013328384
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,743,711,675,665,632.320511912,878,784,801,650,629.679488088,650.679488088,0.44206715188,0.00459215662128,0.0497766818452,0.999999916958,0.000226900802762,-0.000338086856838,-1.72691712168e-05,1793196686029995008
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764.260674834,742.739325166,711,675,665,632.260674834,878,784,801.260674834,650,630,651,0.441552048806,0.00459417382608,0.0497975390119,0.999999927641,0.000230268548337,-0.00030208952071,-2.09025225533e-05,1793196686046661888
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.825788121,665.174211879,633,877,784.825788121,801,650,629.825788121,651,0.40280472253,0.00458864034245,0.0498249861953,0.999999940602,8.12742782353e-05,-0.000331071749109,-5.08216703495e-05,1793196687096662272
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.409195015,743,711,673.590804985,665,633,877,784.590804985,801.409195015,650,630,651,0.4025830762,0.00459038538725,0.0498219120624,0.999999937659,8.4705824489e-05,-0.000338896697825,-5.15337003203e-05,1793196687113328896
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.990876455,743,711,673.009123545,665,633,877,784.009123545,801.990876455,650,630,651,0.402372052729,0.00459239647391,0.0498206756311,0.999999935569,8.95017531283e-05,-0.000343710430122,-5.21107891088e-05,1793196687129995520
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.433628772,743,711,673.566371228,665,633,877,784,800.867257543,650,630,651,0.402197456867,0.00459202390056,0.0498174636906,0.999999932749,9.98147305438e-05,-0.000349331733223,-5.00730053117e-05,1793196687146661888
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742.8586014,711,674,665,633,876.8586014,784,800.1413986,650.1413986,630,651,0.40203096074,0.00459004253888,0.0498150955212,0.999999931932,9.98625132912e-05,-0.000352119004941,-4.66446400811e-05,1793196687163328512
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742.284702257,711,674,665,633,876.284702257,784,800.715297743,650.715297743,630,651,0.401887464087,0.00458325650321,0.0498154045094,0.999999936981,6.82429046327e-05,-0.000346198369539,-3.90903070504e-05,1793196687179995136
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742.299172227,711,674,664.700827773,633,876.299172227,784,801,650.700827773,629.700827773,651.299172227,0.401756028957,0.00457266666438,0.0498168906389,0.999999940944,3.85830503958e-05,-0.000339652820343,-3.54862588265e-05,1793196687196661504
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,664,633,877,784,801,650.472330038,629.472330038,652,0.401537081376,0.00455595701451,0.0498241001435,0.999999947011,6.41602577733e-06,-0.000323385907584,-3.68586033107e-05,1793196687229995264
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,664.048537933,633.048537933,877.048537933,784,800.951462067,650.951462067,630,651.951462067,0.401443558784,0.00455642172426,0.0498287337643,0.999999949857,7.3385409677e-06,-0.0003142932371,-3.81012135047e-05,1793196687246662144
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,664.623429498,633.623429498,877.623429498,784,800.376570502,650.376570502,630,651.376570502,0.401365454389,0.00455912652273,0.0498295333097,0.99999995113,1.07552458008e-05,-0.00030999192512,-3.91093244605e-05,1793196687263329024
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742.796243458,711,674,664.796243458,633.796243458,878,784,800.407513084,650.203756542,630,651,0.401292210069,0.00456078474994,0.0498300009695,0.99999995201,1.30773245967e-05,-0.000306942341915,-3.99531388932e-05,1793196687279995648
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742.205595607,711,674,664.205595607,633.205595607,878,784,801.588808787,650.794404393,630,651,0.401228194024,0.00456045575578,0.0498298384474,0.999999952191,1.33209359263e-05,-0.000306269531682,-4.04849883289e-05,1793196687296662016
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.622868672,742.377131328,711,674,664.377131328,633,877.622868672,784,801.622868672,650.622868672,629.622868672,651,0.401175521738,0.00456030253866,0.0498297747943,0.999999952714,1.3808587229e-05,-0.000304466420131,-4.10075857566e-05,1793196687313328384
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.044371066,742.955628934,711,674,664.955628934,633,877.044371066,784,801.044371066,650.044371066,629.044371066,651,0.401128906364,0.00456024317631,0.0498297639314,0.999999953414,1.44265417289e-05,-0.000302059793191,-4.15252431308e-05,1793196687329995008
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.532669488,743,711,674,665,633,877,784,801,650,629,651,0.401094754726,0.00455967562552,0.0498316384278,0.999999954133,1.63137050831e-05,-0.000299597748922,-4.13437949955e-05,1793196687346661632
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742.88871452,711,674,664.88871452,633,877,784.11128548,801,650,629.11128548,651.11128548,0.401063405153,0.0045593134323,0.0498332845419,0.999999954752,1.83722561021e-05,-0.000297427745666,-4.11764166683e-05,1793196687363328512
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742.302864245,711,674,664.302864245,633,877,784.697135755,801,650,629.697135755,651.697135755,0.401039589382,0.0045600069911,0.0498332888509,0.999999954969,2.07120503784e-05,-0.000296522751884,-4.13166973314e-05,1793196687379995392
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,664,633,877,784.720022228,801,650.279977772,629.720022228,651.720022228,0.401019341869,0.00456148210459,0.0498337678413,0.999999955274,2.29866480228e-05,-0.000295270636353,-4.17016426204e-05,1793196687396662272
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,664,633,877,784.140399711,801,650.859600289,629.140399711,651.140399711,0.401002913262,0.00456379367297,0.0498347548572,0.999999955672,2.51914696034e-05,-0.000293647015472,-4.2348438963e-05,1793196687413328896
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.438608924,742.438608924,711,674,664.877217847,633,876.561391076,784,801,650.561391076,629,651.438608924,0.400992391597,0.00456224982011,0.0498361551749,0.999999956459,2.36716633147e-05,-0.000291132876465,-4.19996667356e-05,1793196687429995264
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.982709213,743,711,673.982709213,665.982709213,633,876,784.017290787,801,650,629.017290787,651.982709213,0.400983883101,0.00455959637313,0.0498376704826,0.999999957342,2.10819677123e-05,-0.000288375484053,-4.13582097452e-05,1793196687446661888
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.408232767,743,711,673.408232767,665.408232767,633,876,784.591767233,801,650,629.591767233,651.408232767,0.40097940218,0.00456090040445,0.0498386339814,0.999999957716,2.23819524573e-05,-0.000286952340127,-4.15402009282e-05,1793196687463328512
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742.829878403,711,673.170121597,665,633,876,784.829878403,801,650.170121597,629.829878403,651,0.40097598772,0.00456160476284,0.0498396589708,0.999999958273,2.33886650631e-05,-0.000284912046374,-4.16157127493e-05,1793196687479994880
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742.24200135,711,673.75799865,665,633,876,784.24200135,801,650.75799865,629.24200135,651,0.400975192091,0.00456083654718,0.0498408349581,0.999999959281,2.36752101421e-05,-0.000281356261947,-4.14297507947e-05,1793196687496661760
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742.340880696,711,674,665,633,876.340880696,784,801,651,629,651,0.400974553836,0.00456068325112,0.0498419320496,0.99999995989,2.41032875134e-05,-0.000279149330295,-4.14013699917e-05,1793196687513328640
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742.920267827,711,674,665,633,876.920267827,784,801,651,629,651,0.400974025691,0.00456096020029,0.0498429739395,0.999999960226,2.46303917836e-05,-0.000277886160256,-4.14832451275e-05,1793196687529995520
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,743,711,674.495226092,664.504773908,633,877,784,801,650.504773908,629.495226092,651,0.400973650065,0.0045605784828,0.0498431269879,0.999999960473,2.32828814358e-05,-0.000277105304267,-4.15322424349e-05,1793196687546662144
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,742.928921887,711,674.928921887,664,633,876.928921887,784,801,650,630,651,0.400973491605,0.0045602115772,0.0498432594347,0.999999960745,2.19665666651e-05,-0.00027622335488,-4.15747203593e-05,1793196687563329280
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,742.341442163,711,674.341442163,664,633,876.341442163,784,801,650,630,651,0.400974734082,0.00456071591038,0.0498442726842,0.999999961318,2.30502341077e-05,-0.000274047763638,-4.16079501487e-05,1793196687579995392
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,742.242796657,711,674,664,633,876.242796657,784.242796657,801,650,630,651,0.40097457016,0.00456073047184,0.0498448018726,0.999999961491,2.35085708503e-05,-0.000273403356736,-4.1413015235e-05,1793196687596662016
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,742.822537948,711,674,664,633,876.822537948,784.822537948,801,650,630,651,0.400972454486,0.00456006534544,0.0498446592981,0.999999961116,2.30990958638e-05,-0.000274883873134,-4.09014414006e-05,1793196687613328640
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,742.598670825,711,674,664,633,876.598670825,784.598670825,801,650,630,651,0.400972955897,0.00455931431493,0.0498451766383,0.999999961455,2.23871838141e-05,-0.000273705364404,-4.09194805792e-05,1793196687629995264
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764,742.020298744,711,674,664,633,876.020298744,784.020298744,801,650,630,651,0.400974611814,0.00455852538861,0.049845985094,0.999999962104,2.15418542864e-05,-0.000271353849575,-4.11711540021e-05,1793196687646661888
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,664,633,876.554961609,784,801,650,630,651,0.400973450747,0.00455905554026,0.0498458820482,0.999999961872,2.25953780103e-05,-0.000272170027902,-4.0847640561e-05,1793196687663328768
+406,6.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.867107664,664.132892336,633,877,784,801,650.132892336,630,651,0.400972390389,0.00455946051454,0.0498456676121,0.999999961649,2.33706931914e-05,-0.000272960816447,-4.06097168948e-05,1793196687679995648
+407,6.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.279655785,664.720344215,633,877,784,801,650.720344215,630,651,0.400972024979,0.00455927320675,0.0498451855679,0.999999961568,2.29581496016e-05,-0.000273270654038,-4.07361151299e-05,1793196687696663040
+408,6.800000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.303767678,665,633,877,784.303767678,801,650.696232322,630,651,0.400972459017,0.00455972299874,0.0498453911958,0.999999961666,2.30809788496e-05,-0.000272883984558,-4.08673924387e-05,1793196687713329408
+409,6.816666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.883530991,665,633,877,784.883530991,801,650.116469009,630,651,0.400973619414,0.00456075164351,0.0498462216252,0.999999961924,2.36902343514e-05,-0.000271864486334,-4.10031027435e-05,1793196687729995264
+410,6.833333333,POSE2_TO_POSE3_RETREAT,764,742.46131408,711,674,665,633.46131408,876.53868592,784.53868592,801,650.46131408,630,651,0.400973587882,0.00456063859248,0.0498467709241,0.999999962079,2.38853425815e-05,-0.000271304831434,-4.08177436318e-05,1793196687746661888
+411,6.850000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,665,633.961576407,876.076847185,784,801,650.961576407,629.961576407,651,0.40097315622,0.00456020003577,0.0498471708136,0.999999962173,2.39099290113e-05,-0.000270990634132,-4.05715746703e-05,1793196687763328512
+412,6.866666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,665,633.386920386,877.226159229,784,801,650.386920386,629.386920386,651,0.400971322155,0.00455922430362,0.0498464718903,0.999999961786,2.30077375411e-05,-0.000272488685174,-4.06031936096e-05,1793196687779995136
+413,6.883333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,665,633,877.614644744,784,801,650,629.192677628,651,0.40097052904,0.00455881126737,0.0498460162888,0.999999961633,2.29014144454e-05,-0.00027303680379,-4.0759614839e-05,1793196687796661760
+414,6.900000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,665,633,876.435077755,784,801,650,629.782461123,651,0.400971881309,0.00455955793926,0.0498460621698,0.999999961963,2.44353646477e-05,-0.000271627125388,-4.11732518291e-05,1793196687813328896
+415,6.916666667,POSE2_TO_POSE3_RETREAT,764,742.634569973,711,674,665,633,876.365430027,784,800.634569973,650.365430027,629.634569973,651,0.400972611506,0.0045601911573,0.0498461772274,0.999999962358,2.45834412685e-05,-0.000270148168733,-4.12358283465e-05,1793196687829995520
+416,6.933333333,POSE2_TO_POSE3_RETREAT,764,742.055583534,711,674,665,633,876.944416466,784,800.055583534,650.944416466,629.055583534,651,0.400972978165,0.00456075807314,0.0498463327118,0.999999962789,2.39216166726e-05,-0.000268628726121,-4.10932459589e-05,1793196687846662144
+417,6.950000000,POSE2_TO_POSE3_RETREAT,764,742.520628065,711,674,664.479371935,633,877,784,800.520628065,650.479371935,629.520628065,651,0.400971614192,0.00456061814072,0.0498460451036,0.999999962333,2.45783815731e-05,-0.000270262435824,-4.10862811757e-05,1793196687863328512
+418,6.966666667,POSE2_TO_POSE3_RETREAT,764,742.903577957,711,674,664,633,876.903577957,784,801,650.096422043,630,651,0.40097054357,0.0045604620444,0.0498458786935,0.999999961921,2.54157420752e-05,-0.00027170784383,-4.10610846785e-05,1793196687879995136
+419,6.983333333,POSE2_TO_POSE3_RETREAT,764,742.328394439,711,674,664,633,876.328394439,784,801,650.671605561,630,651,0.400971842064,0.00456059840682,0.0498465477049,0.999999962215,2.64545240381e-05,-0.000270555644493,-4.08738524415e-05,1793196687896661760
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0994985ab19379fd0312319e2ecb0a9c5d31d28a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/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
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+1,0.016666667,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+2,0.033333333,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+3,0.050000000,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+4,0.066666667,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+5,0.083333333,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+6,0.100000000,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+7,0.116666667,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
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+9,0.150000000,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
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+379,6.316666667,pose2_to_pose3_retreat,0.578776395393,0.0100013544233,1.04001171456,0.549347628898,0.0186750160138,1.0396612558
+380,6.333333333,pose2_to_pose3_retreat,0.578690393776,0.0100013274617,1.04001160816,0.549261626784,0.0186749871819,1.03966114578
+381,6.350000000,pose2_to_pose3_retreat,0.578614871334,0.0100012420198,1.04001167175,0.549186105185,0.0186749042613,1.03966120229
+382,6.366666667,pose2_to_pose3_retreat,0.57854815411,0.0100011471811,1.04001178362,0.549119390312,0.0186748172074,1.03966131005
+383,6.383333333,pose2_to_pose3_retreat,0.578490150262,0.0100011341132,1.04001147486,0.549061386595,0.0186748049024,1.03966100738
+384,6.400000000,pose2_to_pose3_retreat,0.5784404956,0.0100012030105,1.0400115572,0.549011730062,0.0186748673957,1.03966108822
+385,6.416666667,pose2_to_pose3_retreat,0.578398676303,0.0100013411093,1.04001170369,0.54896991024,0.018675003938,1.03966124003
+386,6.433333333,pose2_to_pose3_retreat,0.578364377961,0.0100013392984,1.04001168232,0.548935611821,0.0186750020588,1.03966122333
+387,6.450000000,pose2_to_pose3_retreat,0.578336157463,0.0100012348059,1.04001154224,0.548907391638,0.0186748986494,1.03966108357
+388,6.466666667,pose2_to_pose3_retreat,0.578313562422,0.010001274211,1.04001155504,0.548884798206,0.0186749433642,1.03966109273
+389,6.483333333,pose2_to_pose3_retreat,0.578295457867,0.0100012933738,1.04001167216,0.548866692623,0.0186749589014,1.03966120651
+390,6.500000000,pose2_to_pose3_retreat,0.578281541789,0.0100013046824,1.04001163933,0.548852775742,0.0186749672725,1.03966116847
+391,6.516666667,pose2_to_pose3_retreat,0.578271122829,0.0100012650552,1.04001157403,0.54884235746,0.0186749301506,1.03966110814
+392,6.533333333,pose2_to_pose3_retreat,0.578263797448,0.0100012357528,1.04001160897,0.548835032273,0.018674901751,1.03966114901
+393,6.550000000,pose2_to_pose3_retreat,0.578259354119,0.0100012854136,1.04001179583,0.548830586613,0.0186749432686,1.03966132994
+394,6.566666667,pose2_to_pose3_retreat,0.578256566751,0.0100012681773,1.04001174072,0.548827800291,0.0186749295232,1.03966127338
+395,6.583333333,pose2_to_pose3_retreat,0.578255033,0.0100012542284,1.040011695,0.548826267334,0.0186749182472,1.03966122708
+396,6.600000000,pose2_to_pose3_retreat,0.578254244196,0.0100011930086,1.04001158682,0.548825479114,0.0186748591275,1.03966112191
+397,6.616666667,pose2_to_pose3_retreat,0.578253901897,0.0100011664425,1.04001153988,0.548825137068,0.0186748334726,1.03966107627
+398,6.633333333,pose2_to_pose3_retreat,0.578253839088,0.0100011615679,1.04001153127,0.548825074306,0.0186748287653,1.0396610679
+399,6.650000000,pose2_to_pose3_retreat,0.57825383685,0.0100011613941,1.04001153096,0.548825072069,0.0186748285975,1.0396610676
+400,6.666666667,pose2_to_pose3_retreat,0.578253621386,0.0100011446718,1.04001150141,0.548824856765,0.0186748124488,1.03966103887
+401,6.683333333,pose2_to_pose3_retreat,0.578253526193,0.0100011372837,1.04001148835,0.548824761642,0.0186748053142,1.03966102618
+402,6.700000000,pose2_to_pose3_retreat,0.578253372576,0.0100011253614,1.04001146729,0.548824608138,0.0186747938008,1.0396610057
+403,6.716666667,pose2_to_pose3_retreat,0.578253196588,0.0100011117028,1.04001144315,0.548824432281,0.0186747806108,1.03966098223
+404,6.733333333,pose2_to_pose3_retreat,0.578252957235,0.0100011550232,1.04001148915,0.5488241922,0.0186748214714,1.03966102845
+405,6.750000000,pose2_to_pose3_retreat,0.578252919054,0.0100011735896,1.04001151133,0.548824153733,0.0186748390623,1.03966105054
+406,6.766666667,pose2_to_pose3_retreat,0.578252874884,0.0100011950684,1.04001153699,0.548824109231,0.0186748594125,1.03966107609
+407,6.783333333,pose2_to_pose3_retreat,0.578252786665,0.0100012379672,1.04001158824,0.54882402035,0.0186749000572,1.03966112712
+408,6.800000000,pose2_to_pose3_retreat,0.578252774475,0.0100012438952,1.04001159532,0.548824008068,0.0186749056737,1.03966113418
+409,6.816666667,pose2_to_pose3_retreat,0.578252706396,0.0100012770001,1.04001163487,0.548823939479,0.018674937039,1.03966117356
+410,6.833333333,pose2_to_pose3_retreat,0.578252643919,0.0100013073813,1.04001167116,0.548823876533,0.0186749658239,1.0396612097
+411,6.850000000,pose2_to_pose3_retreat,0.578252472354,0.0100013908091,1.04001177083,0.548823703682,0.018675044868,1.03966130895
+412,6.866666667,pose2_to_pose3_retreat,0.578252332218,0.01000135393,1.04001171882,0.548823564217,0.018675010199,1.03966125527
+413,6.883333333,pose2_to_pose3_retreat,0.578252257805,0.0100012996375,1.04001164711,0.54882349073,0.0186749589938,1.03966118223
+414,6.900000000,pose2_to_pose3_retreat,0.578252244235,0.0100012897365,1.04001163404,0.548823477329,0.0186749496559,1.03966116891
+415,6.916666667,pose2_to_pose3_retreat,0.578252221978,0.0100012734974,1.04001161259,0.548823455348,0.0186749343403,1.03966114706
+416,6.933333333,pose2_to_pose3_retreat,0.578252220871,0.0100012726895,1.04001161152,0.548823454255,0.0186749335782,1.03966114598
+417,6.950000000,pose2_to_pose3_retreat,0.57825221788,0.0100012705072,1.04001160864,0.548823451301,0.0186749315201,1.03966114304
+418,6.966666667,pose2_to_pose3_retreat,0.578252164132,0.01000124382,1.04001159141,0.548823398048,0.0186749064972,1.03966112546
+419,6.983333333,pose2_to_pose3_retreat,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7f599cdfc9260f85bd04d7b4c6f300bbd5bed26b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e032cb635a5c3a47f62cafc43f8529f2d52965999a89ac2876cd5411ec7de32
+size 26855035
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d043561cbb52cd3aa1847215a3bf78dbcaceb3f5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_03/franka_data.csv
@@ -0,0 +1,424 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,742,711,674,665,633,877,784,800,650,630,651,0.400970928814,0.004559513453,0.0498463107193,0.999999962266,2.43709731268e-05,-0.000270623048938,-4.04670610548e-05,1793196688049346048
+1,0.016666667,BASELINE,764,742,711,674,665,633,876.422837269,784,800.577162731,650,629.422837269,651,0.400971873959,0.00456008038502,0.0498470609409,0.999999962445,2.51584618235e-05,-0.00026985996113,-4.06564399806e-05,1793196688066012160
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+15,0.250000000,BASELINE,764,742.695788426,711,674,664.695788426,633,876,784,801,650.695788426,630,651,0.400971209998,0.00455856714009,0.049847379276,0.999999962849,2.33416979753e-05,-0.000268550447336,-4.04656778033e-05,1793196688299345152
+16,0.266666667,BASELINE,764,742.722674823,711,674,664.722674823,633,876,784,800.722674823,650.722674823,629.722674823,651,0.400970556138,0.00455906370236,0.0498473318522,0.999999962727,2.42238252515e-05,-0.000268920162666,-4.05122696733e-05,1793196688316011520
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+18,0.300000000,BASELINE,764,742,711,674,664.445953967,633,876,784,800.891907935,650.445953967,629,651,0.400970573881,0.00456052982122,0.0498474252788,0.999999962635,2.59922040423e-05,-0.00026905939691,-4.07727296809e-05,1793196688349345024
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+21,0.350000000,BASELINE,764,742,711,673.824037876,664,633,877.824037876,784,801,650,629,651,0.400970903647,0.00455942864912,0.049847581256,0.999999962762,2.40657171379e-05,-0.000268855543748,-4.01719844594e-05,1793196688399345152
+22,0.366666667,BASELINE,764,742,711,673.248096837,664,633,877.248096837,784,801,650,629,651,0.400971128547,0.00455959284636,0.0498470901726,0.999999962763,2.30788391393e-05,-0.000268878729848,-4.05628832521e-05,1793196688416011776
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+24,0.400000000,BASELINE,764,742,711,673.926427137,664.926427137,633,877,784,801,650,629.926427137,651,0.400973131193,0.00455943854825,0.0498486521288,0.999999963406,2.32914642699e-05,-0.000266412489117,-4.08691998712e-05,1793196688449344768
+25,0.416666667,BASELINE,764,742.506940162,711,674,664.493059838,633,876.493059838,784.506940162,801,650,629.493059838,651,0.400972247859,0.00455846821924,0.0498485748394,0.999999963216,2.23183787967e-05,-0.000267256280289,-4.05383517261e-05,1793196688466011392
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+27,0.450000000,BASELINE,764,743,711,674,664.661684838,633,876.661684838,784.338315162,801,650,629.661684838,651,0.400972639904,0.00456004121085,0.0498486900662,0.999999963294,2.36621168488e-05,-0.000266824972849,-4.06962275226e-05,1793196688499344896
+28,0.466666667,BASELINE,764,743,711,674,664.763104314,633,877,784,801,650.236895686,630,651,0.400972731193,0.00456054870758,0.0498483909755,0.999999963255,2.38044394666e-05,-0.000266932527759,-4.08763625945e-05,1793196688516011520
+29,0.483333333,BASELINE,764,743,711,674,664.189136525,633,877,784,801,650.810863475,630,651,0.400971220044,0.00455868209016,0.0498472607502,0.99999996277,2.12511746081e-05,-0.000268981030307,-4.07054002934e-05,1793196688532677888
+30,0.500000000,BASELINE,764,742.601491671,711,674,664.398508329,633,877,784,801,650.601491671,630,651,0.400970915444,0.00455841961925,0.0498472884595,0.999999962776,2.24808687261e-05,-0.000268899402381,-4.04392922311e-05,1793196688549344768
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+34,0.566666667,BASELINE,764.717736371,743,711,674,664,633,877,784.717736371,801,650,629.717736371,651.717736371,0.400972004551,0.00455800365837,0.0498482661602,0.999999963283,2.26834198768e-05,-0.000267066119079,-3.99360920403e-05,1793196688616011264
+35,0.583333333,BASELINE,764.699010262,743,711,674,664.300989738,633,877,784.699010262,801,650.300989738,629.699010262,651.699010262,0.400973006503,0.00455813919663,0.0498491186906,0.99999996359,2.26005217817e-05,-0.000265902071812,-4.00710565968e-05,1793196688632678144
+36,0.600000000,BASELINE,764.108092795,743,711,674,664.891907205,633,877,784.108092795,801,650.891907205,629.108092795,651.108092795,0.400974294783,0.00455756429829,0.0498506115494,0.999999964049,2.31272805411e-05,-0.000264122638254,-4.00887818895e-05,1793196688649344768
+37,0.616666667,BASELINE,764,742.527205754,711,674,665,633,876.527205754,784,801,650.527205754,629,651,0.400972486011,0.00455714958349,0.0498492528568,0.999999963538,2.23292801311e-05,-0.000266112845456,-4.01045902546e-05,1793196688666011392
+38,0.633333333,BASELINE,764,742,711,674,665,633,876.051053461,784,801,650,629.051053461,651,0.400970415499,0.00455700767155,0.0498475805555,0.999999962922,2.1572135945e-05,-0.000268472369862,-4.01606902479e-05,1793196688682678016
+39,0.650000000,BASELINE,764,742,711,674,665,633,876.625395012,784,801,650,629.625395012,651,0.400972768956,0.0045592943652,0.049849237234,0.999999963511,2.42736635793e-05,-0.000265967190292,-4.06341703884e-05,1793196688699344896
+40,0.666666667,BASELINE,764.204562669,742.204562669,711,673.795437331,664.795437331,633,876.795437331,784,801,650,630,651,0.400973168639,0.00456036766392,0.04984950546,0.99999996355,2.54453231227e-05,-0.000265675235419,-4.08646852924e-05,1793196688716011520
+41,0.683333333,BASELINE,764.792781628,742.792781628,711,673.207218372,664.207218372,633,876.207218372,784,801,650,630,651,0.400969904028,0.00455916524621,0.0498471696499,0.999999962568,2.37477223368e-05,-0.000269534172855,-4.06395200487e-05,1793196688732678144
+42,0.700000000,BASELINE,764.624669083,742.624669083,711,673.375330917,664,633,876.375330917,784,801,649.624669083,630,651,0.400969822054,0.00455756941311,0.0498474385091,0.999999962847,2.10427549155e-05,-0.000268786989021,-4.02090876881e-05,1793196688749344768
+43,0.716666667,BASELINE,764.045203431,742.045203431,711,673.954796569,664,633,876.954796569,784,801,649.045203431,630,651,0.400971471049,0.00455575960952,0.0498491239942,0.999999963801,1.77899016377e-05,-0.000265534630812,-3.96670147883e-05,1793196688766011392
+44,0.733333333,BASELINE,764,742,711,674,664.533383375,633,876.466616625,784,801,650.066766749,629.466616625,651,0.400971695452,0.00455664909318,0.0498490687186,0.999999963667,1.83752850644e-05,-0.000265941969437,-4.00342082871e-05,1793196688782677760
+45,0.750000000,BASELINE,764,742.110858944,710.889141056,674,665,633,876.110858944,784,801,650.889141056,629.110858944,651,0.400971658917,0.00455778675027,0.0498487794476,0.999999963414,1.96215922223e-05,-0.000266753282814,-4.0367691195e-05,1793196688799344384
+46,0.766666667,BASELINE,764,742.684010472,710.315989528,674,665,633,876.684010472,784,801,650.315989528,629.684010472,651,0.400971036883,0.0045590069301,0.0498481285817,0.999999963042,2.22697777884e-05,-0.000267957966273,-4.02397828315e-05,1793196688816011264
+47,0.783333333,BASELINE,764,742.73558643,710.26441357,674,664.73558643,633,877,784,801.26441357,650,630,651,0.400971382871,0.00455921139503,0.049848164263,0.999999963049,2.33600281751e-05,-0.000267861857747,-4.00873438108e-05,1793196688832677888
+48,0.800000000,BASELINE,764,742.14627284,710.85372716,674,664.14627284,633,877,784,801.85372716,650,630,651,0.400972918321,0.00455816779333,0.0498490435436,0.999999963527,2.25359551866e-05,-0.000266167392148,-3.99047625568e-05,1793196688849344512
+49,0.816666667,BASELINE,764,742.435463909,711,674,664.435463909,633,877,784,801.564536091,650.435463909,629.564536091,651,0.400972043575,0.00455809630645,0.0498485185514,0.999999963274,2.31229967975e-05,-0.000267023963452,-4.01980349238e-05,1793196688866011136
+50,0.833333333,BASELINE,763.985351746,743,711,674,665,633,877,784,800.985351746,650.985351746,629.014648254,651,0.400970438751,0.00455830477605,0.0498475715846,0.999999962796,2.40810919015e-05,-0.000268657895366,-4.0625911711e-05,1793196688882677760
+51,0.850000000,BASELINE,763.408119333,743,711,674,665,633,877,784,800.408119333,650.408119333,629.591880667,651,0.400971355824,0.00455693883415,0.0498482244426,0.999999963105,2.1396921717e-05,-0.000267799991989,-4.01895800715e-05,1793196688899344640
+52,0.866666667,BASELINE,763.33719481,743,711,674,665,633.168597405,876.831402595,784,800.168597405,650,630,651,0.400971948696,0.00455641845471,0.0498487620528,0.999999963318,1.99751583326e-05,-0.000267149685006,-3.99458775801e-05,1793196688916011264
+53,0.883333333,BASELINE,764.488139258,743,711,674,665,633.744069629,876.255930371,784,800.744069629,650,630,651,0.400971759176,0.00455793866475,0.0498490215364,0.999999963315,2.15999517231e-05,-0.000267000368857,-4.01670455562e-05,1793196688932677888
+54,0.900000000,BASELINE,764.671446444,743,711,674,665,633.671446444,876.328553556,784.328553556,801.328553556,650.328553556,630,651,0.400972247968,0.0045588449581,0.0498494900073,0.999999963485,2.29665241296e-05,-0.00026624404022,-4.01976247079e-05,1793196688949344512
+55,0.916666667,BASELINE,764.079744811,743,711,674,665,633.079744811,876.920255189,784.920255189,801.920255189,650.920255189,630,651,0.40097328004,0.00455925954768,0.0498501258622,0.999999963793,2.4126279778e-05,-0.000265001537676,-4.00755557287e-05,1793196688966011136
+56,0.933333333,BASELINE,764,743,711,674,665,633,877,784.501071364,801.501071364,650.501071364,630,651,0.400972297208,0.00455913081982,0.0498492043138,0.999999963538,2.20835319436e-05,-0.000266122334278,-4.01890759763e-05,1793196688982678016
+57,0.950000000,BASELINE,764,743,711,674,665,633,877,784,801,650.075279414,629.924720586,651.075279414,0.400971160543,0.00455901854413,0.049848216244,0.999999963245,2.00864692697e-05,-0.000267350834856,-4.03636917435e-05,1793196688999344896
+58,0.966666667,BASELINE,764,743,711,674,665,633,877,784,801,650.64968502,629.35031498,651.64968502,0.400971084853,0.00455957647303,0.0498483955557,0.999999963331,2.16997613101e-05,-0.000266852703731,-4.07000806828e-05,1793196689016011520
+59,0.983333333,BASELINE,764,743,711,673.770019448,665,633,877,784,800.770019448,651,629.229980552,651.770019448,0.400971170983,0.00455982042081,0.0498485199611,0.999999963376,2.3181954254e-05,-0.000266533799303,-4.08790244603e-05,1793196689032677888
+60,1.000000000,BASELINE,764,743,711,673.18051626,665,633,877,784,800.18051626,651,629.81948374,651.18051626,0.400971510081,0.0045595735301,0.0498485585331,0.999999963358,2.4459203626e-05,-0.000266495075252,-4.08118383481e-05,1793196689049344512
+61,1.016666667,BASELINE,764,743,711,673.401691148,665,633,877,784,800.401691148,650.598308852,630,651,0.400972109742,0.00455886349726,0.0498491030735,0.999999963485,2.42169271511e-05,-0.000266102883259,-4.03969068165e-05,1793196689066011392
+62,1.033333333,BASELINE,764,743,711,673.980678351,665,633,877,784,800.980678351,650.019321649,630,651,0.400972824409,0.00455794904551,0.0498498709352,0.999999963676,2.33039712957e-05,-0.000265554679683,-3.98284894785e-05,1793196689082677760
+63,1.050000000,BASELINE,764,743,711,674,665,633,877,784.556736648,801.556736648,650,630,651,0.400971522877,0.00455823264414,0.0498486166805,0.999999963425,2.37923900102e-05,-0.000266432973932,-3.99749447681e-05,1793196689099345664
+64,1.066666667,BASELINE,764.132198558,743,711,674,665,633,877,784.867801442,801.867801442,650.132198558,630,651,0.400970991809,0.00455851302906,0.0498479378773,0.999999963358,2.40557341942e-05,-0.000266637691588,-4.01314789161e-05,1793196689116013056
+65,1.083333333,BASELINE,764.706005988,743,711,674,665,633,877,784.293994012,801.293994012,650.706005988,630,651,0.400973266998,0.00455864451237,0.0498494145702,0.999999963955,2.34056028598e-05,-0.000264427816597,-4.02392381527e-05,1793196689132679424
+66,1.100000000,BASELINE,764.711394784,742.711394784,711,674,665,633,876.711394784,784,801,651,630,651,0.400973750196,0.00455874702855,0.049849801712,0.999999963982,2.32955341811e-05,-0.000264347105788,-4.01634361219e-05,1793196689149346048
+67,1.116666667,BASELINE,764.119558236,742.119558236,711,674,665,633,876.119558236,784,801,651,630,651,0.400972350589,0.00455881910956,0.0498490440856,0.99999996341,2.37528978321e-05,-0.000266503462411,-3.98947701841e-05,1793196689166012416
+68,1.133333333,BASELINE,764,742.461618871,711,674,664.538381129,633,876.461618871,784,801,650.538381129,630,651,0.400971724512,0.00455805824573,0.0498486342073,0.999999963245,2.12206117845e-05,-0.000267303953741,-4.0094741124e-05,1793196689182678528
+69,1.150000000,BASELINE,764,743,711,674,664.039898179,633,877,784,801,650.039898179,629.960101821,651,0.400971290438,0.0045572407922,0.0498483588474,0.999999963193,1.82350430476e-05,-0.000267675699777,-4.038822179e-05,1793196689199344896
+70,1.166666667,BASELINE,764,743,711,674,664.615500418,633,877,784,801,650.615500418,629.384499582,651,0.400970805112,0.00455849471606,0.0498487076354,0.999999963382,1.9325221512e-05,-0.000266899386255,-4.03443318295e-05,1793196689216011520
+71,1.183333333,BASELINE,764,742.805177678,711,674,665,633,876.805177678,784,801,650.805177678,629,651,0.400970499172,0.00455945219969,0.0498489527413,0.99999996343,2.04898070934e-05,-0.000266635008365,-4.03308369363e-05,1793196689232678400
+72,1.200000000,BASELINE,764,742.21837168,711,674,665,633,876.21837168,784,801,650.21837168,629,651,0.400970554159,0.00455981324403,0.0498489892382,0.999999963196,2.18041004361e-05,-0.000267400647883,-4.03784970921e-05,1793196689249344768
+73,1.216666667,BASELINE,764,742.363614179,711,674,665,633,876.363614179,784.363614179,801,650,629.363614179,651,0.400971088917,0.00455916699449,0.0498492141874,0.999999963288,2.17809101702e-05,-0.000267101810104,-4.00806242001e-05,1793196689266011392
+74,1.233333333,BASELINE,764,742.942743097,711,674,665,633,876.942743097,784.942743097,801,650,629.942743097,651,0.400971908037,0.00455792372015,0.0498495508325,0.999999963573,2.09649910268e-05,-0.000266172054782,-3.95779532831e-05,1793196689282678528
+75,1.250000000,BASELINE,764,743,711,674,665,633,876.480801909,785,801,650.519198091,630,651,0.400972339467,0.00455665465141,0.0498499686946,0.999999963773,2.09315634609e-05,-0.000265435738408,-3.94958321638e-05,1793196689299345408
+76,1.266666667,BASELINE,764,742.904849806,711,674,664.904849806,633,876.095150194,784.904849806,801,650.904849806,629.904849806,651.095150194,0.400972754636,0.00455591212337,0.0498503224759,0.999999963957,2.12146284408e-05,-0.000264713869845,-3.95342263901e-05,1793196689316012544
+77,1.283333333,BASELINE,764,742.329954131,711,674,664.329954131,633,876.670045869,784.329954131,801,650.329954131,629.329954131,651.670045869,0.400973302279,0.00455783867249,0.0498503082351,0.999999964108,2.26605855767e-05,-0.000263957840673,-3.99476177338e-05,1793196689332679168
+78,1.300000000,BASELINE,764,742,711,674,664.251326837,633,877,784.251326837,801,650,629.251326837,651.748673163,0.400973265599,0.00455895193765,0.0498501476637,0.999999964106,2.35293276517e-05,-0.000263860641733,-4.01400099822e-05,1793196689349345536
+79,1.316666667,BASELINE,764,742,711,674,664.841209213,633,877,784.841209213,801,650,629.841209213,651.158790787,0.400972441795,0.00455896964998,0.0498497899745,0.9999999639,2.36205189196e-05,-0.000264650935116,-4.00347003344e-05,1793196689366011904
+80,1.333333333,BASELINE,764,742,711,674,665,633,877,784.575419177,801,650,630,651,0.400972709524,0.00455830662863,0.0498496998331,0.999999963948,2.27617350643e-05,-0.00026452182046,-4.0181256777e-05,1793196689382678272
+81,1.350000000,BASELINE,764,742.005488721,711,674,665,633.005488721,877,784.005488721,801,650,630,651,0.400973374003,0.0045574135481,0.0498497086764,0.999999964088,2.15743787699e-05,-0.000264055610389,-4.04179205256e-05,1793196689399344640
+82,1.366666667,BASELINE,764,742.579605898,711,674,665,633.579605898,877,784.579605898,801,650,630,651,0.400973488239,0.00455866355759,0.0498497625405,0.999999964147,2.25985632549e-05,-0.000263751506331,-4.03783325174e-05,1793196689416011776
+83,1.383333333,BASELINE,764,743,711,674,664.846819927,633.846819927,877,784.846819927,801,650.153180073,629.846819927,651,0.400973403145,0.004559336401,0.0498497910494,0.999999964148,2.33453461095e-05,-0.000263693011582,-4.03058143915e-05,1793196689432678656
+84,1.400000000,BASELINE,764,743,711,674,664.274730597,633.274730597,877,784.274730597,801,650.725269403,629.274730597,651,0.400972772937,0.00455843083951,0.049849750218,0.999999963993,2.33335049899e-05,-0.000264306196909,-4.0143240607e-05,1793196689449345024
+85,1.416666667,BASELINE,764,742.689339001,711,674,664.310660999,633.310660999,877,784.310660999,801,650.689339001,629.310660999,651,0.400972533995,0.00455819424154,0.0498497813679,0.99999996394,2.2780788807e-05,-0.000264558450251,-4.0124023409e-05,1793196689466011392
+86,1.433333333,BASELINE,764,742.091657436,711,674,664.908342564,633.908342564,877,784.908342564,801,650.091657436,629.908342564,651,0.400972656545,0.00455857570091,0.0498498790217,0.99999996398,2.17283566433e-05,-0.000264477237489,-4.02372537713e-05,1793196689482678016
+87,1.450000000,BASELINE,764,742.488774206,711,674,665,633.511225794,877,784.511225794,801,650.488774206,630,651,0.400972723542,0.00455747913548,0.0498499023619,0.999999963942,2.06930953271e-05,-0.000264715569465,-4.01788147686e-05,1793196689499344896
+88,1.466666667,BASELINE,764,743,711,674,665,633,876.934322508,784.065677492,800.934322508,651,630,651,0.400972723563,0.00455641616163,0.0498498906005,0.999999963872,1.98812437736e-05,-0.000265050931835,-4.01160274778e-05,1793196689516011264
+89,1.483333333,BASELINE,764,743,711,674,665,633,876.360543386,784.639456614,800.360543386,651,630,651,0.400972283271,0.0045576842159,0.0498497114187,0.999999963678,2.07736985491e-05,-0.000265689174304,-4.02601604091e-05,1793196689532678144
+90,1.500000000,BASELINE,764,743,710.780754152,674,665,633,876.219245848,784.780754152,800.219245848,651,630,651,0.400971934896,0.00455855316935,0.0498493683106,0.999999963505,2.18075740633e-05,-0.000266253831792,-4.02827499279e-05,1793196689549344768
+91,1.516666667,BASELINE,764,743,710.190802956,674,665,633,876.809197044,784.190802956,800.809197044,651,630,651,0.400971741937,0.00455874731489,0.0498487480328,0.999999963367,2.30805665548e-05,-0.000266694070231,-4.00998313527e-05,1793196689566011392
+92,1.533333333,BASELINE,764,742.608034586,710.391965414,674,665,633,877,784,801,650.608034586,630,651.391965414,0.400971463326,0.00455938172349,0.0498488537359,0.999999963372,2.38534773629e-05,-0.000266605663306,-4.01008158914e-05,1793196689582678272
+93,1.550000000,BASELINE,764,742.028699738,710.971300262,674,665,633,877,784,801,650.028699738,630,651.971300262,0.40097114377,0.00456022658904,0.0498493064764,0.999999963447,2.43873365232e-05,-0.000266264550493,-4.01897107787e-05,1793196689599344896
+94,1.566666667,BASELINE,764,742,711,674,664.452500156,633,877,784,801,650,629.452500156,651.452500156,0.400972531903,0.00455986791999,0.0498493269636,0.999999963663,2.43104772872e-05,-0.000265404452113,-4.05279287031e-05,1793196689616012544
+95,1.583333333,BASELINE,764,742.12318029,711,673.87681971,664.12318029,633,877,784.12318029,801,650,629.12318029,651,0.400973528581,0.0045594864796,0.0498494398314,0.999999963869,2.42460556838e-05,-0.000264595897905,-4.07741683969e-05,1793196689632679680
+96,1.600000000,BASELINE,764,742.697557924,711,673.302442076,664.697557924,633,877,784.697557924,801,650,629.697557924,651,0.400972765376,0.00455925140236,0.0498499736036,0.99999996401,2.43437869942e-05,-0.00026407522668,-4.06359015032e-05,1793196689649345536
+97,1.616666667,BASELINE,764,742.72021012,711,673.27978988,665,633,877,784.72021012,801,650.27978988,630,651,0.400972372459,0.0045581314514,0.0498501062248,0.999999964031,2.26187262687e-05,-0.000264195882815,-4.03464465525e-05,1793196689666011904
+98,1.633333333,BASELINE,764,742.129242759,711,673.870757241,665,633,877,784.129242759,801,650.870757241,630,651,0.40097239137,0.00455602735915,0.0498497926929,0.999999963906,1.88663876553e-05,-0.000265029812217,-3.98888428584e-05,1793196689682678784
+99,1.650000000,BASELINE,764,742,711,674,665,633,877.451510761,784,801,650.548489239,629.548489239,651,0.400971678301,0.00455780189272,0.0498495005736,0.999999963759,2.10980754772e-05,-0.000265393450982,-4.00416287042e-05,1793196689699345152
+100,1.666666667,BASELINE,764,742,711,674,665,633,877.970687359,784,801.029312641,650.029312641,629.029312641,651,0.400970860732,0.0045604943288,0.0498492345379,0.999999963601,2.47873419988e-05,-0.00026562414958,-4.03443793629e-05,1793196689716011776
+101,1.683333333,BASELINE,764,742,711,674,665,633,877.394613555,784,801.605386445,650.605386445,629.605386445,651,0.400971915743,0.00456005729034,0.0498493432334,0.999999963559,2.44209694946e-05,-0.000265830605975,-4.02574517866e-05,1793196689732678912
+102,1.700000000,BASELINE,764,742.179079801,711,674,665,633,877,784,801.820920199,651,630,651,0.40097318124,0.00455931655994,0.0498498712848,0.999999963775,2.36044843957e-05,-0.000265111193176,-4.0121622032e-05,1793196689749345792
+103,1.716666667,BASELINE,764,742.747596428,711,674,665,633,877,784,801.252403572,651,630,651,0.400974904469,0.00455791540432,0.0498513112905,0.999999964546,2.18091596313e-05,-0.00026237833405,-3.98794469103e-05,1793196689766012416
+104,1.733333333,BASELINE,764,743,711,674,665,633.333352458,877,784,801.333352458,651,630,651,0.40097420855,0.00455678375172,0.0498512116884,0.999999964456,2.09113390048e-05,-0.000262837537061,-3.95810617767e-05,1793196689782679040
+105,1.750000000,BASELINE,764,743,711,674,665,633.932873522,877,784,801.932873522,651,630,651,0.400971581036,0.00455586728636,0.0498498827714,0.999999963678,2.07301393456e-05,-0.000265845473735,-3.92377951705e-05,1793196689799345152
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,877,785,801,651,630,652,0.400973234885,0.00455821786823,0.0498497622926,0.999999964122,2.39371223307e-05,-0.000263804282665,-3.98904742632e-05,1793196689830248192
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,876.423418804,784.423418804,801,650.423418804,629.423418804,651.423418804,0.400973177813,0.00455878963389,0.0498496884923,0.999999964126,2.36140702528e-05,-0.000263767993538,-4.02190985521e-05,1793196689846916096
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,743,711,674,664.844026908,633,876,784,800.844026908,650,629.155973092,651,0.400973175673,0.00455925831778,0.049849653715,0.999999964115,2.35424980263e-05,-0.00026378098137,-4.04455185617e-05,1793196689863583232
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,743,711,674,664.256864672,633,876,784,800.256864672,650,629.743135328,651,0.400973325392,0.00455944203126,0.0498497268173,0.999999964063,2.41661442442e-05,-0.000263930195828,-4.0389393912e-05,1793196689880249344
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.672542394,711,674,664,633,876.654915211,784,800.327457606,650.327457606,630,651,0.400973340914,0.00455939537196,0.0498498917466,0.999999964075,2.42370752737e-05,-0.000263899800372,-4.02500738555e-05,1793196689896915712
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742.09042872,711,674,664,633,877.81914256,784,800.90957128,650.90957128,630,651,0.400973252074,0.00455916955718,0.0498501280876,0.999999964136,2.38781726803e-05,-0.000263729726505,-4.00460546936e-05,1793196689913582080
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,710.514262491,674,664.485737509,633,877.514262491,784,801,650.514262491,629.514262491,651,0.400972411913,0.00455881993508,0.0498499243905,0.999999963843,2.33731651497e-05,-0.00026492140321,-3.98020214499e-05,1793196689930248704
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.060733855,710.060733855,674,665,633,877,784.060733855,801,650,629,651,0.400971797759,0.0045584924607,0.0498497218289,0.999999963573,2.29557172105e-05,-0.000266008119505,-3.95933887944e-05,1793196689946914816
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742.63508705,710.63508705,674,665,633,877,784.63508705,801,650,629,651,0.400974263494,0.00455854485157,0.0498502132865,0.999999964062,2.35059960871e-05,-0.000264089189782,-3.9746371066e-05,1793196689963581440
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,877,785,801,650.216134216,629,651,0.400980643742,0.00455832749184,0.0498528562568,0.999999965445,2.37318575966e-05,-0.000258792896691,-3.96712971848e-05,1793196689980248064
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,877,785,801,650.808844393,629,651,0.400993844343,0.004557640139,0.0498592478604,0.999999968302,2.33924786859e-05,-0.000247612140486,-3.91988754383e-05,1793196689996914944
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,877,785,801,650.609342763,629,651.390657237,0.4010203653,0.00455716865016,0.0498688624,0.999999972925,2.33718247382e-05,-0.000228224473821,-3.89573133705e-05,1793196690013581824
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,877,785,801,650.032717421,629,651.967282579,0.401053227269,0.00455679992096,0.0498800111836,0.999999977972,2.35028962826e-05,-0.000204929996128,-3.88256494692e-05,1793196690030248704
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,743,710.458077169,674.541922831,664.458077169,633,877,784.458077169,801,650,629.541922831,651.458077169,0.401115772501,0.00455676758813,0.0499004474077,0.999999985809,2.28747008389e-05,-0.000162351212723,-3.87345807497e-05,1793196690046915328
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.880307804,710.119692196,674.760615609,664.119692196,633,877.119692196,784,801,650,630,651,0.401180544346,0.00455645594373,0.0499191865323,0.999999991213,2.20168079435e-05,-0.000124963330463,-3.83917246891e-05,1793196690063581952
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742.28975893,710.71024107,673.579517859,664.71024107,633,877.71024107,784,801,650,630,651,0.401247051421,0.0045549659139,0.0499290517283,0.99999999277,2.04349772039e-05,-0.000112559219374,-3.70487573848e-05,1793196690080248064
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,673.294952572,665,633,877.705047428,784,801,650,629.705047428,651,0.401321547386,0.00455334352398,0.0499348963458,0.999999993733,1.77669353603e-05,-0.000104498135741,-3.60361012062e-05,1793196690096914432
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,673.874040743,665,633,877.125959257,784,801,650,629.125959257,651,0.401403739255,0.00455159362817,0.0499368678334,0.999999994214,1.40525177849e-05,-0.000100620805855,-3.53416425378e-05,1793196690113581312
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.451251686,711,674,665,633.451251686,877,784.451251686,801,650,629.451251686,651,0.40149981665,0.00454990420666,0.0499356687908,0.999999993866,1.29327475457e-05,-0.000104634476042,-3.39418544827e-05,1793196690130247936
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,743,711,674,665,634,877,784.971659151,801,650,630,651,0.401601150298,0.00454817716254,0.0499337597722,0.9999999933,1.23506078519e-05,-0.000110451651989,-3.23669041088e-05,1793196690146914816
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,743,711,674,665,634,877,784.386713081,801,650,630,651,0.40172990883,0.00454538107038,0.0499352161566,0.999999993582,8.16221371131e-06,-0.000108609197223,-3.12024772509e-05,1793196690163581696
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.803560564,742.803560564,711,674,665,633.803560564,877,784.196439436,801,650,629.803560564,651,0.401870878531,0.00454300833546,0.0499370635494,0.9999999938,4.30871423542e-06,-0.000107162301728,-2.99564062325e-05,1793196690180248576
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.223906981,742.223906981,711,674,665,633.223906981,877,784.776093019,801,650,629.223906981,651,0.402035669769,0.00454146148636,0.0499396737213,0.999999993922,1.10852792217e-06,-0.000106487063662,-2.8551063884e-05,1793196690196915456
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.353230703,742,711,674,664.646769297,633,877,784.646769297,801.353230703,650,629.353230703,651,0.402221123554,0.00453878347762,0.0499399871271,0.999999993901,-3.07849278096e-06,-0.000107117333626,-2.67150620546e-05,1793196690213581824
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.928784938,742,711,674,664.071215062,633,877,784.071215062,801.928784938,650,629.928784938,651,0.402419582371,0.00453539351646,0.0499388549477,0.999999993772,-7.88662771568e-06,-0.000108569290746,-2.46080028557e-05,1793196690230247936
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.506607391,711,674,664.506607391,633.506607391,877,784,801.493392609,650,630,651,0.4026477679,0.00453128547267,0.0499405908178,0.999999993951,-1.30736376273e-05,-0.00010691131463,-2.22959567523e-05,1793196690246914816
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,743,711,674,664.913948209,634,877,784,801,650,630,651,0.402886953907,0.00452753439732,0.0499435144043,0.999999994374,-1.75534065812e-05,-0.000102673141847,-2.00281981753e-05,1793196690263581440
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,743,711,674,664.32692563,634,877,784,801,650,630,651,0.403165744849,0.00452645180063,0.0499509948643,0.999999995984,-1.7604351076e-05,-8.59702856865e-05,-1.81867797267e-05,1793196690280247808
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,743,711,674,664.256649922,633.743350078,877,784,801,650.256649922,629.743350078,651,0.403467833072,0.00452300279169,0.0499597370444,0.999999997437,-1.94470999335e-05,-6.70826671006e-05,-1.5716552822e-05,1793196690296914688
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743,711,674,664.835892741,633.164107259,877,784,801,650.835892741,629.164107259,651,0.403799204506,0.00451657935064,0.0499700651273,0.999999998613,-2.35420347788e-05,-4.54489398182e-05,-1.24559531344e-05,1793196690313581824
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,877,784,801,650.586757384,629.413242616,651,0.404160896649,0.00450924683298,0.0499767483135,0.999999999042,-2.9471997919e-05,-3.11243028047e-05,-8.92171460755e-06,1793196690330248704
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,877,784,801,650.010155821,629.989844179,651,0.404534574864,0.00450155494837,0.0499819906352,0.99999999914,-3.61273660272e-05,-1.96890229028e-05,-5.2793039838e-06,1793196690346915584
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.433471427,711,674,665,633,877,784,801,650,629.433471427,651,0.404937697862,0.00449636591233,0.04998386219,0.999999999012,-4.10500294663e-05,-1.69590131732e-05,-1.93237222446e-06,1793196690363581696
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.146208579,711,674,665,633,877.146208579,784.146208579,801,650,629,651,0.405340219228,0.00449106269612,0.0499810099117,0.999999998636,-4.64420068918e-05,-2.38514963954e-05,1.48596683458e-06,1793196690380248064
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.734950882,711,674,665,633,877.734950882,784.734950882,801,650,629,651,0.405739321684,0.0044852780681,0.0499640427904,0.9999999968,-5.33484970515e-05,-5.93962543725e-05,5.13647035733e-06,1793196690396914688
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,877.681083734,784.681083734,801,650,629,651,0.406173545439,0.00447809306199,0.0499451192991,0.999999993958,-5.91901258853e-05,-9.2199090786e-05,8.9100884017e-06,1793196690413581568
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,877.101029762,784.101029762,801,650,629,651,0.406636527555,0.00446976138586,0.0499245938746,0.999999990325,-6.41598167426e-05,-0.000122756767733,1.27845165136e-05,1793196690430248192
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742.526297413,711,674,665,633.473702587,877,784.473702587,801,650.473702587,629.473702587,651,0.407154666745,0.0044626377171,0.04991768265,0.999999988573,-7.22461611973e-05,-0.00013174585334,1.66720427701e-05,1793196690446915584
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.047484629,711,674,665,633.952515371,877,784.952515371,800.952515371,651,630,651,0.407690742821,0.00445569705855,0.0499160493722,0.999999988034,-7.85004511389e-05,-0.000131702708453,2.06113494246e-05,1793196690463582976
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.62318109,711,674,665,633.37681891,877,784.37681891,800.37681891,651,630,651,0.408296942363,0.00444795806391,0.0499411868662,0.999999994712,-5.70632618932e-05,-8.17885217238e-05,2.50959266074e-05,1793196690480249600
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,877,784,800.204216529,650.795783471,630,651,0.40890929596,0.00444014827643,0.0499653710807,0.999999998793,-9.75628739866e-06,-3.76703432366e-05,2.99876307223e-05,1793196690496915968
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,877,784,800.795367845,650.204632155,630,651,0.409533309781,0.00443220435624,0.0499877490884,0.999999995607,8.65668938031e-05,-4.5340272e-06,3.56507293117e-05,1793196690513582592
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.378183171,743,711,674,665,633,877.378183171,784,801,650.378183171,630,651,0.410158033751,0.00442747893429,0.0499883845022,0.999999992776,0.000112459704317,-9.98956992493e-06,4.12522303866e-05,1793196690530248960
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.956585213,743,711,674,665,633,877.956585213,784,801,650.956585213,630,651,0.410783133672,0.0044244574596,0.0499775088859,0.999999993153,0.000101065053388,-3.58765316468e-05,4.68211202518e-05,1793196690546915328
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633,878,784,801,650.468315293,629.468315293,651,0.4114291416,0.00445082471732,0.0499439768293,0.999999993891,3.54414772815e-05,-0.000101220758669,2.67569327358e-05,1793196690563581696
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.891032551,743,711,674,665,633,877.891032551,784,800.891032551,650,629,651,0.412096208113,0.00447437398183,0.0499188209226,0.999999988793,-2.47523688551e-05,-0.000147417337614,8.36497249145e-06,1793196690580248064
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.30297266,743,711,674,665,633,877.30297266,784,800.30297266,650,629,651,0.412848401965,0.00447504778505,0.0499385757485,0.999999994563,-4.17250150071e-05,-9.53501782981e-05,6.47094057459e-06,1793196690596915200
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.281776815,743,711,674.281776815,665,633,877,784,800.281776815,650,629,651,0.41360895346,0.00447066769409,0.0499560679371,0.999999997232,-4.2129493511e-05,-6.06545975243e-05,9.11036808008e-06,1793196690613581824
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.863008261,743,711,674.863008261,665,633,877,784,800.863008261,650,629,651,0.414378387025,0.00446091664315,0.0499711555398,0.999999998566,-2.4926370306e-05,-4.44204288215e-05,1.65676701866e-05,1793196690630248448
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,743,711,674.558679298,665,633,877.441320702,784,801,650.441320702,629,651,0.415129822199,0.00445760127777,0.049949442531,0.99999999623,-1.06803997301e-05,-8.39979407341e-05,1.92554365991e-05,1793196690646914816
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633,878,784,801.018464705,650.981535295,629.018464705,651,0.415878402008,0.00445624857642,0.0499176007182,0.999999990204,1.54071316537e-06,-0.000138467996244,2.04069730738e-05,1793196690663581184
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633,878,784,801.587608388,650.412391612,629.587608388,651,0.416707352914,0.00445424182815,0.0499221292318,0.999999991956,-1.943003194e-05,-0.00012379880505,1.96071229196e-05,1793196690680247808
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.836449993,743.163550007,711,674.163550007,665,633,878,784,801.836449993,650.163550007,629.836449993,651,0.417544182071,0.0044550270404,0.0499344585538,0.999999994631,-2.78570093456e-05,-9.7883202938e-05,1.95222386538e-05,1793196690696914688
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.24262404,743.75737596,711,674.75737596,665,633,878,784,801.24262404,650.75737596,629.24262404,651,0.418401737698,0.00446315748913,0.0499673106517,0.999999998869,-3.28318260866e-06,-4.23799531373e-05,2.13183242278e-05,1793196690713582080
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.343335681,743.656664319,711,674.656664319,665,633,878,784,801.343335681,651,629.343335681,651,0.419230322505,0.0044655775001,0.0499704380013,0.999999998698,9.64431331648e-06,-4.41067030782e-05,2.37788451194e-05,1793196690730248448
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.923861077,743.076138923,711,674.076138923,665,633,878,784,801.923861077,651,629.923861077,651,0.420038893102,0.00446405251702,0.0499530303311,0.999999995894,1.45260674632e-05,-8.53701771114e-05,2.66983838435e-05,1793196690746914816
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743,711,674.498746207,665,633,878.498746207,784,801.501253793,650.501253793,630,651,0.420930605453,0.00445968964719,0.0499567960181,0.99999999781,9.01423401573e-07,-6.10353165622e-05,2.557171029e-05,1793196690763581696
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743,711,675,665,633,878.927183734,784,801,650.072816266,630,651,0.421836162653,0.00445508115806,0.049964597968,0.999999999238,-1.23957295742e-05,-2.80465306217e-05,2.41705803996e-05,1793196690780248320
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743,711,675,665,633,878.352863617,784,801,650.647136383,630,651,0.422750633639,0.00445173145224,0.049978185685,0.99999999967,-4.19709575251e-06,-3.65563481219e-06,2.50858660726e-05,1793196690796914944
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743,711.229617692,675,665.229617692,633,878.229617692,784,801,651,630,651,0.42364278366,0.00445036675688,0.0499795220509,0.999999999663,1.47174949599e-06,-9.74279811341e-07,2.59066266881e-05,1793196690813581568
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,711.825102947,675,665.825102947,633,878.825102947,784,801,651,630,651,0.424499368107,0.00445216493115,0.0499613373973,0.999999999101,3.10968895151e-06,-3.28844052112e-05,2.65767733918e-05,1793196690830247936
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,711.594114856,674.594114856,665.594114856,633,878.594114856,784,801,650.594114856,630,651,0.425393211382,0.00445362283639,0.0499696855419,0.999999999336,3.87158101376e-06,-2.36138535849e-05,2.74814198163e-05,1793196690846914560
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743,711.019446802,674.019446802,665.019446802,633,878.019446802,784,801,650.019446802,630,651,0.426302548283,0.00445493924437,0.0499890670624,0.999999999581,4.26917822169e-06,2.78123540438e-06,2.8483580343e-05,1793196690863581184
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743,711,674.553605533,665.553605533,633,878,784,801,650,630,651,0.427162520092,0.004452003639,0.0499863787143,0.999999999237,1.2562689304e-06,-2.3537197239e-05,3.11674877143e-05,1793196690880247808
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,711,674.868643599,665.868643599,633,878,784,801,650,630,650.868643599,0.428021288758,0.00444932447149,0.0499760809861,0.999999997894,-2.01891916353e-06,-5.58886295078e-05,3.29425735547e-05,1793196690896914688
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743,711,674.274126252,665.274126252,633,878,784,801,650,630,650.274126252,0.428881911643,0.00444807461936,0.0499416782867,0.999999994188,-5.79770517528e-06,-0.000103002280031,3.13054727565e-05,1793196690913581568
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,743,711,674.311104475,665,633,878.311104475,784,801,650,630,650,0.429770734852,0.00444640493868,0.0499322960874,0.999999993778,-4.4374249652e-06,-0.000107315403308,3.01284716836e-05,1793196690930248448
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743,711,674.888389553,665,633,878.888389553,784,801,650,630,650,0.43068368618,0.00444437605329,0.0499443213986,0.999999996755,1.31983409613e-06,-7.50084464027e-05,2.93451314652e-05,1793196690946915328
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743,711,675,665,633,878.534884189,784,801,650,630,650,0.431526066386,0.00444348369954,0.0499350617426,0.99999999502,-3.84658214433e-06,-9.51348052881e-05,2.99017776939e-05,1793196690963581696
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743,711,675,665,633,878,784,801,650,630,650,0.432353505325,0.0044428091709,0.0499222397804,0.999999991778,-1.17522498209e-05,-0.000123948144533,3.07076914168e-05,1793196690980247808
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743,711,675,665,633,878,784,801,650,630,650,0.433206244142,0.00444143477662,0.0499291567402,0.999999994002,-2.12112371362e-05,-0.000103003108558,3.05916115476e-05,1793196690996914688
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743,711.190147153,675,665.190147153,633,878,784,801,650,630,650.190147153,0.434064371517,0.00444052370288,0.049943088083,0.999999996481,-1.94766528238e-05,-7.55709956519e-05,3.07694569119e-05,1793196691013581312
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743,711.787688762,675,665.787688762,633,878,784,801,650,630,650.787688762,0.434934044155,0.0044406053033,0.0499720478973,0.999999998896,6.24040297006e-06,-3.4240173847e-05,3.1577043509e-05,1793196691030248192
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743,711.629266152,675,665.629266152,633,878,784,801,650,630,651,0.43572281649,0.0044396811957,0.0499685376353,0.999999997823,7.30378306471e-06,-5.62776210224e-05,3.3671218674e-05,1793196691046914816
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,743,711.054210541,675,665.054210541,633,878,784,801,650,630,651,0.436467002361,0.00443820281435,0.0499471322069,0.99999999291,-5.22016670872e-06,-0.000113239091045,3.64744685702e-05,1793196691063581696
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,743,711,675,665,633,878,783.479242739,801,650,629.479242739,651,0.437240446314,0.00444127876767,0.0499417435813,0.999999993315,-1.48291749985e-05,-0.000109156490837,3.51543037679e-05,1793196691080248320
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.901511769,743,711.098488231,675,665,633,878,783.098488231,801,650,629.098488231,651,0.438018887676,0.00444400481387,0.0499426429738,0.999999994851,-2.09811805038e-05,-9.34601867598e-05,3.3509191387e-05,1793196691096914944
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.309900066,743,711.690099934,675,665,633,878,783.690099934,801,650,629.690099934,651,0.438807103396,0.00444260549732,0.0499666791752,0.999999998089,-1.13432869941e-05,-5.14268335842e-05,3.23859272096e-05,1793196691113581312
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711.724900528,675,665,633,878.275099472,784,801.275099472,650,630,650.724900528,0.439542013401,0.00443998504078,0.049969167308,0.999999998518,-3.75086165463e-06,-4.38755554071e-05,3.2013886166e-05,1793196691130247936
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711.147174814,675,665,633,878.852825186,784,801.852825186,650,630,650.147174814,0.440218283807,0.00443602125569,0.0499479512462,0.999999996715,1.59142297023e-06,-7.4256671111e-05,3.24682366084e-05,1793196691146914816
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.429090511,742.570909489,711,674.570909489,665.429090511,633,878.570909489,784,801.570909489,650,630,650,0.440886512962,0.00443321161792,0.0499394620263,0.999999995664,-4.94729844868e-06,-8.67457531404e-05,3.35120875607e-05,1793196691163581696
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,742.004835844,711,674.004835844,666,633,878,784,801,650,630,650.004835844,0.441551910384,0.0044308214844,0.0499355654915,0.999999994983,-1.54300370171e-05,-9.26729801829e-05,3.47636436295e-05,1793196691180248320
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,742.578131904,711,674.578131904,666,633,878,784,801,650,630,650.578131904,0.442207544972,0.00443136817635,0.0499601494184,0.999999998185,-1.21290568028e-05,-4.61912945633e-05,3.67436190073e-05,1793196691196915200
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.844004247,743,711,675,666,633,878.155995753,783.844004247,801,650,630,650.844004247,0.442848825108,0.00443285283842,0.0499809125561,0.999999999187,-7.46791327866e-06,-8.52470856863e-06,3.8709948088e-05,1793196691213582336
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.253414712,743,711,675,666,633,878.746585288,783.253414712,801,650,630,650.253414712,0.443450114847,0.00443695062289,0.0499910312352,0.999999999163,9.82555341349e-07,4.58360718721e-06,4.06382601315e-05,1793196691230249216
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.330436494,742.669563506,711,675.330436494,665.669563506,633,878.669563506,783.330436494,801,650,630,650.330436494,0.443992120167,0.00444256141836,0.0499749074276,0.999999998702,1.14424157004e-05,-2.62941827114e-05,4.21241024503e-05,1793196691246915584
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.909223254,742.090776746,711,675.909223254,665.090776746,633,878.090776746,783.909223254,801,650,630,650.909223254,0.444489568321,0.00444930936609,0.0499390602273,0.999999994719,2.34124990691e-05,-9.02311579968e-05,4.32773920436e-05,1793196691263581440
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,742.485560484,711,675.514439516,665.485560484,633,878.485560484,784,801,650,630.485560484,651,0.444990201502,0.00444951584482,0.0499249689798,0.999999993548,2.54052280786e-05,-0.000101721698441,4.37284545407e-05,1793196691280248320
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.937164187,743,711.062835813,675.062835813,665.937164187,633,878.937164187,784,801,650,630.937164187,651,0.445488976904,0.00444837509996,0.0499176383154,0.999999993741,2.50497262703e-05,-9.97062383022e-05,4.41385849523e-05,1793196691296915200
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.348219328,743,711.651780672,675.651780672,665.348219328,633,878.348219328,784,801,650,630.348219328,651,0.445967237059,0.00444614239599,0.0499330285438,0.999999996565,2.05722973438e-05,-6.62910603569e-05,4.52996850599e-05,1793196691313582080
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,712,675.762977368,665,633,878.237022632,784,801.237022632,650,630,651,0.446424687778,0.00444406194254,0.0499414728554,0.999999997707,1.56827540893e-05,-4.71179437494e-05,4.60426828372e-05,1793196691330248704
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,712,675.183091854,665,633,878.816908146,784,801.816908146,650,630,651,0.446852036762,0.00444220172583,0.0499398696146,0.999999997703,1.01970711056e-05,-4.85465513488e-05,4.61808785394e-05,1793196691346915584
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,712,675,665,632.606416427,878.606416427,784,801.606416427,650,630,650.606416427,0.447203947541,0.00444026449079,0.0499132647,0.999999994539,-3.79591501e-05,-9.19516705848e-05,3.2026175636e-05,1793196691363582208
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,712,675,665,632.031222176,878.031222176,784,801.031222176,650,630,650.031222176,0.447521049021,0.00443829171713,0.0498751233002,0.999999982369,-0.000105804774129,-0.000154725948231,1.12763216781e-05,1793196691380248832
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.555466251,743,711.444533749,675,665,631.444533749,878,784,801,650,630,650,0.447809648694,0.00443207117851,0.0498448179023,0.999999975522,-9.7243819367e-05,-0.000198384583402,1.19507499873e-05,1793196691396914944
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.859185865,742.859185865,711,675,665,631.140814135,878.28162827,783.859185865,801,650,630,650,0.448099505595,0.00442816758985,0.0498232140731,0.999999971102,-7.17051321604e-05,-0.000229050143146,1.37943610737e-05,1793196691413581312
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.280064016,742.280064016,711,675,665,631.719935984,879.439871969,783.280064016,801,650,630,650,0.448398367946,0.00443223478851,0.0498272953805,0.999999975061,-6.97094079042e-06,-0.000222687716344,1.54496583917e-05,1793196691430247936
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742,711,675,664.701547881,631.701547881,879.403095762,783.298452119,801,650,630,650,0.448686750688,0.00443795820851,0.0498374368103,0.999999977863,2.69086447179e-05,-0.000207924082468,1.78079094155e-05,1793196691446914560
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742,711,675,664.123599026,631.123599026,878.247198052,783.876400974,801,650,630,650,0.448965319388,0.00444523265916,0.0498532534699,0.999999982108,3.18932676721e-05,-0.000185292822498,2.08244678742e-05,1793196691463581184
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.451800505,711,675.451800505,664,631,878,784,801,650,630,650,0.449192581826,0.00446362903352,0.0498594600487,0.999999982704,4.96682333412e-05,-0.00017795924675,2.13383014423e-05,1793196691480248320
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711,675.972843427,664,631,878,783.972843427,801,650,630,650.027156573,0.449403571856,0.00448413754534,0.0498624900791,0.9999999819,6.99418951206e-05,-0.000175667183413,2.12118563737e-05,1793196691496915456
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711,675.384043234,664,631,878,783.384043234,801,650,630,650.615956766,0.449566677381,0.00448575511782,0.0498538914102,0.999999978964,6.99325422049e-05,-0.000191575164173,2.19240528758e-05,1793196691513581824
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.201459828,743,711,675,664,631,878,783.201459828,801,650,630,651,0.449722916992,0.00448382105508,0.0498450336694,0.999999976145,6.55332790278e-05,-0.00020709492715,2.29472685316e-05,1793196691530248448
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.780778707,743,711,675,664,631,878,783.780778707,801,650,630,651,0.449866278839,0.00447522552754,0.0498356900132,0.999999973683,5.29002784205e-05,-0.000221886545159,2.45538331756e-05,1793196691546914816
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,742.641102763,711,675.358897237,664,631.358897237,878.358897237,784,801,650,630,650.641102763,0.449999741014,0.00447349318439,0.0498348022151,0.999999973204,5.0397047694e-05,-0.000224519934653,2.53573778582e-05,1793196691563581440
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,742.063714931,711,675.936285069,664,631.936285069,878.936285069,784,801,650,630,650.063714931,0.45012717645,0.00447593903152,0.0498390622001,0.999999974064,5.40606491166e-05,-0.000219751600777,2.5672057666e-05,1793196691580248064
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,742.509773192,711,675.490226808,664,631.490226808,879,784,801,650,630,650,0.450226357329,0.00447532846731,0.0498434069001,0.999999974929,5.34512559497e-05,-0.000215834465458,2.6460604066e-05,1793196691596914688
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.914595784,743,711,675,664,631,878.914595784,784,801,650,630,650,0.450318112288,0.00447477335598,0.0498468255906,0.999999975535,5.25781151608e-05,-0.000213128187655,2.72292253978e-05,1793196691613581312
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.323409142,743,711,675,664,631,878.323409142,784,801,650,630,650,0.450386644594,0.00447679182643,0.0498446980218,0.999999974664,5.32818584023e-05,-0.000216967597785,2.75317536457e-05,1793196691630248448
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.262479337,743,711,675,664,631,878.262479337,783.737520663,801,650,629.737520663,650,0.450448574876,0.00447770279854,0.0498430744407,0.99999997426,5.31371882477e-05,-0.000218838818826,2.7662660186e-05,1793196691646915328
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.84196891,743,711,675,664,631,878.84196891,783.15803109,801,650,629.15803109,650,0.450502531539,0.00447727618595,0.0498420595525,0.999999974435,5.19678441354e-05,-0.000218332953149,2.75862900574e-05,1793196691663581696
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.581135705,743,711,675,664,631,879,783.418864295,801,650,629.418864295,650.418864295,0.450542687254,0.00447723932764,0.0498418088784,0.999999974062,5.08245736827e-05,-0.000220322933245,2.73970852399e-05,1793196691680248832
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.005213056,743,711,675,664,631,879,783.994786944,801,650,629.994786944,650.994786944,0.450577668133,0.00447734861254,0.049841844756,0.999999973476,4.96910798973e-05,-0.000223248761625,2.71655716601e-05,1793196691696915712
+219,3.650000000,POSE1_TO_POSE2_PRESS,764.580763858,743,711,675.580763858,664,631,879.580763858,783.419236142,801,650,630,650.419236142,0.450598328452,0.00448047648552,0.0498407247921,0.999999972498,5.30771172024e-05,-0.000226815222595,2.72387239927e-05,1793196691713582336
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.835189593,743,711,675.835189593,664,631,879.670379186,783.164810407,801,650,630,650.164810407,0.450616986658,0.00448265540002,0.0498394874529,0.999999971688,5.54962171061e-05,-0.000229799211018,2.71480864393e-05,1793196691730248960
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.256224761,743,711,675.256224761,664,631,878.512449521,783.743775239,801,650,630,650.743775239,0.450630942432,0.00448238037465,0.0498379816909,0.999999971361,5.53817452039e-05,-0.000231304790362,2.66388656872e-05,1793196691746915072
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711.322379,675,663.677621,631,878.322379,784,801,650,630,651,0.450641740054,0.00448250693694,0.0498372499928,0.999999971124,5.61879136342e-05,-0.000232166233959,2.6350608804e-05,1793196691763581696
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711.900696167,675,663.099303833,631,878.900696167,784,801,650,630,651,0.450650030406,0.0044829523215,0.0498371328275,0.999999970958,5.77249826329e-05,-0.000232516295394,2.62377760947e-05,1793196691780248576
+224,3.733333333,POSE1_TO_POSE2_PRESS,764.476797902,743,711.523202098,675.476797902,663,631,878.523202098,784,801,650,630,651,0.450655170429,0.00448140227188,0.0498375183383,0.999999971018,5.62831023787e-05,-0.000232537361709,2.68696403874e-05,1793196691796915456
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,743,711,675.358668715,663,631,878,784,801,650,630,650.358668715,0.450656779632,0.00448389903029,0.0498347467636,0.999999969443,5.95863864847e-05,-0.00023840880569,2.69207902562e-05,1793196691830248192
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,743,711.225590489,675,663,631,878.225590489,784,801,650,630,650,0.450656406886,0.00448616197219,0.0498329274604,0.999999968591,6.19777631896e-05,-0.000241398607695,2.65376981451e-05,1793196691846914560
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,743,711.804330522,675,663,631,878.804330522,784,801,650,630,650,0.450658992965,0.00448582445289,0.0498328752465,0.999999968867,6.068775451e-05,-0.000240583304641,2.65068056673e-05,1793196691863581184
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,743,712,675,663,631,879,784,801,650,630,650,0.450659507741,0.00448485469434,0.0498325443314,0.999999968826,5.95729074381e-05,-0.000241036321711,2.64832793758e-05,1793196691880247808
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+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711.112404376,676,663.112404376,631,878,783.112404376,801.887595624,650,630,650.112404376,0.450659745126,0.00448525132327,0.0498326436559,0.999999968798,5.79609216436e-05,-0.000241609176224,2.58700136053e-05,1793196691930247936
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,711.702015341,676,663.702015341,631,878,783.702015341,801.297984659,650,630,650.702015341,0.450659116525,0.00448717134903,0.0498311847919,0.999999968163,6.14371579621e-05,-0.000243397058775,2.56214465948e-05,1793196691946914560
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765,743,711.556740943,675,663,631,878.556740943,784,801,650,630,650.443259057,0.450659408362,0.00448890069602,0.0498300475912,0.999999967607,6.49882761988e-05,-0.000244725298285,2.5928726034e-05,1793196691996914432
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764.407369015,743,711,675,663,630.407369015,878.592630985,784,801,650,630,650.407369015,0.450660511772,0.00448752588281,0.0498313718789,0.99999996806,6.17400538797e-05,-0.000243703828762,2.60155725247e-05,1793196692030248704
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.170785659,743,711.170785659,675,663.170785659,630.170785659,878.829214341,783.829214341,801.170785659,650,630,650.170785659,0.450661873713,0.0044869032312,0.0498321329471,0.999999968451,6.02272889555e-05,-0.000242483754199,2.5936997432e-05,1793196692046915840
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.76254045,743,711.76254045,675,663.76254045,630.76254045,878.23745955,783.23745955,801.76254045,650,630,650.76254045,0.450662359322,0.00448618581109,0.0498322956979,0.999999968474,6.0465675355e-05,-0.000242326317013,2.5942345559e-05,1793196692063582464
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.654325363,743,712,675.345674637,664,631,878,783.345674637,801.654325363,650,630,651,0.45066256019,0.00448733062075,0.0498322183552,0.999999968302,6.18712124418e-05,-0.000242714083579,2.5639460439e-05,1793196692080248832
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.076968993,743,712,675.923031007,664,631,878,783.923031007,801.076968993,650,630,651,0.450662570214,0.00448972355389,0.0498319800945,0.999999967994,6.40590096686e-05,-0.000243467262409,2.51299879528e-05,1793196692096915200
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.499248093,743,711.500751907,675.500751907,664,631,878,784,801,650.499248093,629.500751907,651,0.450660743624,0.00448946843621,0.0498302898393,0.999999967336,6.48880142737e-05,-0.000245913077632,2.53905679054e-05,1793196692113581312
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,743,711,675,664,631,878.076914777,784,801,650.923085223,629.076914777,650.923085223,0.45065897159,0.00448903143656,0.0498286623195,0.999999966697,6.5558414742e-05,-0.000248287954812,2.5699722824e-05,1793196692130247936
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+246,4.100000000,HOLD_POSE2,764,742,711,676,663,631,878,784,801,650,630,650,0.450659422409,0.0044858357734,0.0498288085032,0.999999966927,6.32179812131e-05,-0.000247920859389,2.61678496101e-05,1793196692185054720
+247,4.116666667,HOLD_POSE2,764,742.573394461,711,676,663,631,878.573394461,784,801,650,630,650.573394461,0.450660932395,0.00448619195815,0.0498291936748,0.999999967211,6.23142782314e-05,-0.000247011093587,2.61030175246e-05,1793196692201722112
+248,4.133333333,HOLD_POSE2,764,743,711.147239699,675.852760301,663.147239699,631,879,784,801,650,630.147239699,651,0.450662250034,0.00448664261124,0.0498298255524,0.999999967481,6.21272658901e-05,-0.000245958556384,2.61225891685e-05,1793196692218388992
+249,4.150000000,HOLD_POSE2,764,743,711.722395145,675.277604855,663.722395145,631,879,784,801,650,630.722395145,651,0.450663008664,0.00448736781325,0.0498311744199,0.999999967714,6.40231373166e-05,-0.000244491089222,2.63874593477e-05,1793196692235055104
+250,4.166666667,HOLD_POSE2,764.307433777,743,711.692566223,675,664,631,879,784,801,650,630.692566223,650.692566223,0.45066279828,0.00448792751641,0.0498314372679,0.999999967635,6.48090349101e-05,-0.000244619284936,2.63069376077e-05,1793196692251721472
+251,4.183333333,HOLD_POSE2,764.901693061,743,711.098306939,675,664,631,879,784,801,650,630.098306939,650.098306939,0.450661683838,0.00448833281459,0.0498306868957,0.999999967264,6.45593636586e-05,-0.000246236181223,2.59041766591e-05,1793196692268387840
+252,4.200000000,HOLD_POSE2,764.519229737,743,711.480770263,675,664,631,878.519229737,784,801.480770263,650,630,650.480770263,0.45066126559,0.00448876551628,0.0498301057171,0.999999967151,6.539995998e-05,-0.00024648562143,2.58062341084e-05,1793196692285054464
+253,4.216666667,HOLD_POSE2,764.05659644,743,712,675.05659644,664,630.94340356,878.05659644,784,802,650,630,651,0.450661004116,0.0044891231392,0.0498295560346,0.999999967095,6.61475508709e-05,-0.000246518555414,2.57523647304e-05,1793196692301721088
+254,4.233333333,HOLD_POSE2,764.630215071,743,712,675.630215071,664,630.369784929,878.630215071,784,802,650,630,651,0.450660914175,0.00448874527785,0.0498289877052,0.999999967104,6.40712863119e-05,-0.000247049806755,2.55491571751e-05,1793196692318387712
+255,4.250000000,HOLD_POSE2,764.579771076,743,711.789885538,676,663.789885538,630.210114462,878.789885538,783.789885538,801.789885538,650,630,650.789885538,0.450661561972,0.00448909879167,0.0498291609713,0.999999967244,6.36855673104e-05,-0.000246595657011,2.54132453767e-05,1793196692335054848
+256,4.266666667,HOLD_POSE2,763.397183943,743,711.198591972,676,663.198591972,630.801408028,878.198591972,783.198591972,801.198591972,650,630,650.198591972,0.450663548136,0.00449077912963,0.0498306796027,0.999999967621,6.6366751388e-05,-0.000244353842045,2.53994181832e-05,1793196692351721472
+257,4.283333333,HOLD_POSE2,763.384323365,743,711.384323365,675.615676635,663,631,878,783,801.384323365,650,630,650,0.450663508127,0.00449139034585,0.0498303945006,0.999999967423,6.66659850542e-05,-0.000245118124355,2.50425854209e-05,1793196692368388096
+258,4.300000000,HOLD_POSE2,763.963001823,743,711.963001823,675.036998177,663,631,878,783,801.963001823,650,630,650,0.450662443467,0.00449146089965,0.0498291972377,0.999999966933,6.57606494839e-05,-0.000247402611507,2.45122922708e-05,1793196692385054720
+259,4.316666667,HOLD_POSE2,764.539032531,743,712,675.539032531,663,631,878.539032531,783,802,650,630,650.539032531,0.450662232888,0.00449038884081,0.0498292318721,0.999999966928,6.58858201072e-05,-0.000247356274914,2.487607035e-05,1793196692401721344
+260,4.333333333,HOLD_POSE2,764.885988599,743,711.885988599,675.885988599,663.114011401,630.885988599,878.885988599,783,802,650,630,650.885988599,0.450662322854,0.00448929333965,0.0498294784336,0.999999967035,6.5572375749e-05,-0.000246966524561,2.52513208841e-05,1793196692418387968
+261,4.350000000,HOLD_POSE2,764.314504416,743,711.314504416,675.314504416,663.685495584,630.314504416,878.314504416,783,802,650,630,650.314504416,0.450663384689,0.00448841692603,0.0498302377362,0.99999996746,6.32165548669e-05,-0.000245837618539,2.54275709497e-05,1793196692435054592
+262,4.366666667,HOLD_POSE2,764,743,711.267303295,675.267303295,663.732696705,630.267303295,878,783.267303295,802,650,630,650,0.450663871574,0.0044889733718,0.0498306429258,0.99999996755,6.36162357292e-05,-0.000245376782618,2.53465507515e-05,1793196692451720960
+263,4.383333333,HOLD_POSE2,764,743,711.861745409,675.861745409,663.138254591,630.861745409,878,783.861745409,802,650,630,650,0.450663654805,0.00449128342089,0.0498306147345,0.999999967226,6.73882342487e-05,-0.000245733563555,2.49506706379e-05,1793196692468387584
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742.102304157,710.102304157,674,664.897695843,633,876.897695843,784,800,650,629.102304157,651,0.401549778966,0.00455834482774,0.049823714279,0.999999948746,1.11729190208e-05,-0.000318277864989,-3.29065187979e-05,1793196694451091200
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,710.472401984,674,665,633,877,784,800.944803967,650.472401984,629,651,0.401455922012,0.00455957486436,0.0498255350526,0.99999994933,2.24234760994e-05,-0.000315973217161,-3.1607683287e-05,1793196694467757568
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.045986828,742.045986828,711,674,665,633,876.954013172,784,801.954013172,650.954013172,629.045986828,651,0.401365747011,0.00456402336518,0.0498265155472,0.999999949214,2.8901270348e-05,-0.000315658562938,-3.31008439758e-05,1793196694484424448
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.621576066,742.621576066,711,674,665,633,876.378423934,784,801.378423934,650.378423934,629.621576066,651,0.401296725275,0.00456546388114,0.0498280139447,0.999999951143,2.93164950891e-05,-0.000309312729272,-3.43453180581e-05,1793196694501091328
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.797338137,743,711,674,664.797338137,633,876.202661863,784,801,650,630,651.202661863,0.401233668767,0.00456627290334,0.049829153758,0.999999952586,2.94607532792e-05,-0.000304485950069,-3.53237371823e-05,1793196694517758208
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.205702703,743,711,674,664.205702703,633,876.794297297,784,801,650,630,651.794297297,0.401182061464,0.00456586988497,0.0498296053324,0.999999953161,2.90849391165e-05,-0.000302574727416,-3.57915108372e-05,1793196694534424576
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.043759719,664,633,877,784,801.956240281,650,629.043759719,651.043759719,0.401097946524,0.00456734328129,0.0498324261026,0.9999999543,3.13799700564e-05,-0.000298379607328,-3.72097599461e-05,1793196694567757824
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,664.529477475,633,877,784,801.470522525,650,629,651,0.40106769403,0.00456788303488,0.0498327625494,0.999999954784,3.0049956554e-05,-0.000296827890927,-3.77250561484e-05,1793196694584424448
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,743,710.894659171,673,665,633,876.894659171,784,801,650.105340829,629.105340829,651,0.401039970657,0.00456827029222,0.0498329765124,0.999999955227,2.88153167447e-05,-0.000295396386391,-3.81678484874e-05,1793196694601091328
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,743,710.304646741,673,665,633,876.304646741,784,801,650.695353259,629.695353259,651,0.40102019717,0.00456812029584,0.0498331070429,0.999999955536,2.90725588967e-05,-0.000294297787609,-3.83691132114e-05,1793196694617757696
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,743,710.280053159,673.280053159,664.719946841,633,876.280053159,784,801,650.719946841,629.719946841,650.719946841,0.401003785082,0.00456817087671,0.0498335303144,0.99999995575,3.04508114829e-05,-0.000293403435946,-3.85511213731e-05,1793196694634424320
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,664.410922112,633,877,784,801,650,629.410922112,651,0.400973432287,0.00456694293976,0.0498369640472,0.999999957732,2.91044173648e-05,-0.000286658173557,-3.89283850671e-05,1793196694701091328
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,665,633,876.080352917,784,801.080352917,650.080352917,630,651.080352917,0.400968329893,0.00456747543632,0.0498400213308,0.999999958901,3.0345132901e-05,-0.000282405467023,-3.90430724203e-05,1793196694767758336
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+408,6.800000000,POSE2_TO_POSE3_RETREAT,764,742.434428889,711,674,664,634,877,784,801,650,629,651,0.400966896285,0.00456757391192,0.0498419706453,0.999999959984,3.07050351972e-05,-0.000278487539997,-3.91532799358e-05,1793196694901091072
+409,6.816666667,POSE2_TO_POSE3_RETREAT,764.151051819,742,711,674,664.151051819,633.848948181,877,784,800.848948181,650.151051819,629,651,0.400966756947,0.00456707533366,0.0498419919058,0.999999960004,3.01524798754e-05,-0.000278480984718,-3.91429068715e-05,1793196694917757440
+410,6.833333333,POSE2_TO_POSE3_RETREAT,764.72968532,742,711,674,664.72968532,633.27031468,877,784,800.27031468,650.72968532,629,651,0.400966234128,0.00456742160959,0.049841798716,0.99999995994,3.05225458771e-05,-0.000278689231182,-3.89838670209e-05,1793196694934424064
+411,6.850000000,POSE2_TO_POSE3_RETREAT,764.691578692,742,711,674,665,633,877,784,800.308421308,650.691578692,629,651.308421308,0.400966358217,0.00456732148567,0.0498418629941,0.999999960061,3.03421910246e-05,-0.000278285975199,-3.8905992152e-05,1793196694951090688
+412,6.866666667,POSE2_TO_POSE3_RETREAT,764.112752881,742,711,674,665,633,877,784,800.887247119,650.112752881,629,651.887247119,0.400967049473,0.00456682998628,0.0498421530039,0.999999960342,2.9679261589e-05,-0.000277346592123,-3.88992776686e-05,1793196694967757312
+413,6.883333333,POSE2_TO_POSE3_RETREAT,764.463445779,742.463445779,711,674,665,633,877,784.463445779,801,650,629,651.536554221,0.400967096259,0.00456538789064,0.0498428292405,0.999999960655,2.93352221206e-05,-0.000276269638714,-3.87873955004e-05,1793196694984424448
+414,6.900000000,POSE2_TO_POSE3_RETREAT,764.960173469,742.960173469,711,674,665,633,877,784.960173469,801,650,629.039826531,651,0.400967051931,0.00456393004457,0.0498435913801,0.999999960974,2.90706232717e-05,-0.000275157180915,-3.86722436166e-05,1793196695001091584
+415,6.916666667,POSE2_TO_POSE3_RETREAT,764.372546723,742.372546723,711,674,665,633,877,784.372546723,801,650,629.627453277,651,0.400967898865,0.00456541870712,0.0498442498977,0.999999961287,2.88375834385e-05,-0.000274014144606,-3.8862067901e-05,1793196695017758208
+416,6.933333333,POSE2_TO_POSE3_RETREAT,764,742.211933336,711,674,665,633,877,784,801.211933336,650.211933336,630,651.211933336,0.400968281777,0.00456590259073,0.0498442769305,0.999999961435,2.86597643729e-05,-0.000273477791859,-3.89603291201e-05,1793196695034424576
+417,6.950000000,POSE2_TO_POSE3_RETREAT,764,742.790963017,711,674,665,633,877,784,801.790963017,650.790963017,630,651.790963017,0.400967860939,0.0045646460656,0.0498432101488,0.999999961299,2.85775948839e-05,-0.000273992294459,-3.88999911275e-05,1793196695051090944
+418,6.966666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,665,633,877,784,801.630890945,651,630,651.630890945,0.40096787651,0.00456456190525,0.0498437523739,0.999999961402,2.83941174361e-05,-0.000273650026318,-3.87906350644e-05,1793196695067757568
+419,6.983333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,665,633,877,784,801.053244177,651,630,651.053244177,0.400968138643,0.00456514010281,0.0498452036492,0.99999996164,2.81534034404e-05,-0.000272823703347,-3.86535849774e-05,1793196695084423936
+420,7.000000000,POSE2_TO_POSE3_RETREAT,764,743,711.515595732,674,664.484404268,633,877,784,801,650.484404268,629.484404268,651,0.400968258242,0.00456532003874,0.0498450291518,0.999999961536,2.83238707727e-05,-0.000273201460564,-3.85664836487e-05,1793196695101090816
+421,7.016666667,POSE2_TO_POSE3_RETREAT,764,743,711.912297088,674,664.087702912,633,877,784,801,650,629.087702912,651,0.4009684547,0.00456569806696,0.0498447838328,0.999999961437,2.86817055913e-05,-0.000273524254511,-3.85653293611e-05,1793196695117757696
+422,7.033333333,POSE2_TO_POSE3_RETREAT,764,743,711.316060256,674,664.683939744,633,877,784,801,650,629.683939744,651,0.400969180723,0.00456745917452,0.0498450849981,0.999999961576,2.98838932589e-05,-0.000272819477783,-3.90331216761e-05,1793196695134424320
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b9d08d73e258d3070e548739eb38339916206a7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,424 @@
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+1,0.016666667,pose1_baseline,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
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+390,6.500000000,pose2_to_pose3_retreat,0.578322903302,0.0100013283736,1.04001147875,0.548894136619,0.0186749892028,1.03966101726
+391,6.516666667,pose2_to_pose3_retreat,0.578303534927,0.0100012421705,1.04001150901,0.548874770324,0.0186749099814,1.03966104556
+392,6.533333333,pose2_to_pose3_retreat,0.57828833438,0.0100012289576,1.04001155202,0.54885957072,0.0186749000071,1.0396610896
+393,6.550000000,pose2_to_pose3_retreat,0.578277081742,0.010001314261,1.0400115661,0.548848316828,0.0186749811926,1.03966110705
+394,6.566666667,pose2_to_pose3_retreat,0.57826900551,0.010001232288,1.04001176509,0.548840241256,0.0186749012532,1.03966130097
+395,6.583333333,pose2_to_pose3_retreat,0.578263623788,0.0100011937913,1.04001168728,0.548834858818,0.0186748603007,1.03966122254
+396,6.600000000,pose2_to_pose3_retreat,0.578260561321,0.0100011767767,1.04001157918,0.548831795593,0.0186748407325,1.03966111493
+397,6.616666667,pose2_to_pose3_retreat,0.578258704005,0.0100012374659,1.04001160456,0.548829937614,0.0186748990628,1.03966113755
+398,6.633333333,pose2_to_pose3_retreat,0.578257494628,0.010001301133,1.04001165202,0.548828727738,0.0186749609182,1.03966118217
+399,6.650000000,pose2_to_pose3_retreat,0.578256514223,0.010001352746,1.04001169049,0.548827746927,0.0186750110626,1.03966121834
+400,6.666666667,pose2_to_pose3_retreat,0.578255677944,0.0100013967715,1.04001172331,0.548826910302,0.0186750538354,1.0396612492
+401,6.683333333,pose2_to_pose3_retreat,0.578254805612,0.0100013483466,1.04001171485,0.54882603861,0.0186750076772,1.03966124313
+402,6.700000000,pose2_to_pose3_retreat,0.57825424751,0.0100013094342,1.04001170585,0.548825481001,0.0186749705153,1.03966123604
+403,6.716666667,pose2_to_pose3_retreat,0.578254119109,0.0100013004817,1.04001170378,0.548825352714,0.0186749619655,1.0396612344
+404,6.733333333,pose2_to_pose3_retreat,0.578253927648,0.0100012871325,1.04001170069,0.548825161423,0.0186749492169,1.03966123197
+405,6.750000000,pose2_to_pose3_retreat,0.578253880573,0.0100012838503,1.04001169993,0.548825114389,0.0186749460824,1.03966123137
+406,6.766666667,pose2_to_pose3_retreat,0.578253815846,0.0100012793374,1.04001169889,0.54882504972,0.0186749417725,1.03966123055
+407,6.783333333,pose2_to_pose3_retreat,0.578253753558,0.0100012749944,1.04001169788,0.548824987486,0.0186749376249,1.03966122976
+408,6.800000000,pose2_to_pose3_retreat,0.578253339408,0.0100012533922,1.04001169541,0.548824573589,0.0186749169387,1.03966122867
+409,6.816666667,pose2_to_pose3_retreat,0.578253089176,0.0100013001699,1.04001172847,0.548824322585,0.0186749611196,1.03966126236
+410,6.833333333,pose2_to_pose3_retreat,0.578253079948,0.0100013018948,1.04001172969,0.548824313329,0.0186749627487,1.0396612636
+411,6.850000000,pose2_to_pose3_retreat,0.578253058234,0.0100013059541,1.04001173256,0.548824291547,0.0186749665827,1.03966126652
+412,6.866666667,pose2_to_pose3_retreat,0.578253026202,0.0100013119421,1.04001173679,0.548824259416,0.0186749722382,1.03966127084
+413,6.883333333,pose2_to_pose3_retreat,0.578252845431,0.0100013457349,1.04001176068,0.548824078087,0.0186750041551,1.03966129517
+414,6.900000000,pose2_to_pose3_retreat,0.578252636554,0.0100013847817,1.04001178828,0.548823868566,0.0186750410342,1.0396613233
+415,6.916666667,pose2_to_pose3_retreat,0.578252548439,0.0100014012539,1.04001179992,0.548823780178,0.0186750565919,1.03966133516
+416,6.933333333,pose2_to_pose3_retreat,0.578252469182,0.0100014071162,1.0400118041,0.548823700794,0.0186750620392,1.03966133975
+417,6.950000000,pose2_to_pose3_retreat,0.578252397976,0.0100013438145,1.04001175964,0.548823630374,0.0186750014859,1.03966129732
+418,6.966666667,pose2_to_pose3_retreat,0.578252374429,0.0100013228806,1.04001174494,0.548823607086,0.0186749814608,1.03966128329
+419,6.983333333,pose2_to_pose3_retreat,0.578252363098,0.0100013128078,1.04001173786,0.548823595881,0.0186749718253,1.03966127654
+420,7.000000000,pose2_to_pose3_retreat,0.578252276621,0.0100012359296,1.04001168387,0.548823510358,0.0186748982848,1.039661225
+421,7.016666667,pose2_to_pose3_retreat,0.578252176929,0.0100012283161,1.0400116707,0.548823410939,0.0186748915123,1.03966120974
+422,7.033333333,pose2_to_pose3_retreat,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b66b837551b969cc80c2a4218eb187454c8bdbb8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef47d33f6da45799960466fc41b68ad936eb23af998978a0b99fd90db1e25742
+size 26929106
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bdcaaa9e0244ba08a7ed88d6f9e4184949207be9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_04/franka_data.csv
@@ -0,0 +1,425 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,743,711,674,665,633,877,784,800,650,629,651,0.400967097664,0.00456747796876,0.0498445041838,0.999999961677,3.01390149007e-05,-0.000272387656524,-3.92649955328e-05,1793196695258307840
+1,0.016666667,BASELINE,764.558747261,743,710.441252739,673.441252739,665,633,876.441252739,784,800.558747261,650.558747261,629,651,0.400968968452,0.00456585899915,0.0498458346028,0.999999962209,2.88925521385e-05,-0.000270584203431,-3.91408924449e-05,1793196695274974464
+2,0.033333333,BASELINE,764.875141538,742.875141538,710.124858462,673.124858462,665,633,876.124858462,784,801,650.875141538,629,651,0.400970037101,0.00456454360102,0.0498467541773,0.999999962566,2.76770813102e-05,-0.000269408678478,-3.90079706962e-05,1793196695291641088
+3,0.050000000,BASELINE,764.281374763,742.281374763,710.718625237,673.718625237,665,633,876.718625237,784,801,650.281374763,629,651,0.4009680933,0.00456436827082,0.0498461308176,0.999999962283,2.657800092e-05,-0.00027059134899,-3.88419302658e-05,1793196695308307712
+4,0.066666667,BASELINE,764,742.311737426,711,674,665,633,877,784,801,650.311737426,629.311737426,651,0.400967321662,0.00456441086733,0.0498457537298,0.999999962093,2.67607086377e-05,-0.000271292030856,-3.87024472725e-05,1793196695324974592
+5,0.083333333,BASELINE,764,742.904259987,711,674,665,633,877,784,801,650.904259987,629.904259987,651,0.400967605803,0.00456464975268,0.0498455984617,0.999999961989,2.80979362786e-05,-0.000271558580474,-3.85868848486e-05,1793196695341641216
+6,0.100000000,BASELINE,764,743,711,674,665,633,877,784,801,651,630,651.485176364,0.400967388658,0.00456438649817,0.0498451917322,0.99999996184,2.82262831998e-05,-0.000272070385095,-3.87498514202e-05,1793196695358307584
+7,0.116666667,BASELINE,764,743,711,674,665,633,877,784,801,651,629.936389556,652,0.400967103049,0.00456420380578,0.0498447864621,0.999999961697,2.8124282601e-05,-0.000272577614106,-3.89493307384e-05,1793196695374974464
+8,0.133333333,BASELINE,764,743,711,674,665,633,877,784,801,651,629.359935149,652,0.40096704435,0.00456545083114,0.0498447836691,0.999999961672,2.80434709627e-05,-0.000272666885944,-3.90104180889e-05,1793196695391641088
+9,0.150000000,BASELINE,764.215258263,742.784741737,711,674,664.784741737,633,877.215258263,784,801,651,629,651.784741737,0.400966821903,0.0045661517692,0.0498447042171,0.999999961632,2.79242106143e-05,-0.000272809016941,-3.91264774241e-05,1793196695408307712
+10,0.166666667,BASELINE,764.788355378,742.211644622,711,674,664.211644622,633,877.788355378,784,801,651,629,651.211644622,0.400966327246,0.00456594490809,0.0498444973291,0.999999961566,2.77410342971e-05,-0.000273039019402,-3.93339205242e-05,1793196695424974336
+11,0.183333333,BASELINE,764.628111717,742.371888283,711,674,664,633.371888283,877.256223434,784,801,650.628111717,629.371888283,651,0.400966344501,0.00456557908832,0.0498447008315,0.999999961654,2.75078566494e-05,-0.000272772274492,-3.9132771248e-05,1793196695441641216
+12,0.200000000,BASELINE,764.03846819,742.96153181,711,674,664,633.96153181,876.076936379,784,801,650.03846819,629.96153181,651,0.400966661501,0.00456512019198,0.0498451446337,0.99999996183,2.7245401235e-05,-0.000272214664443,-3.86923750548e-05,1793196695458307840
+13,0.216666667,BASELINE,764,743,711,674,664,633.457871842,876.542128158,784,801,650.542128158,630,651,0.400967275363,0.00456596225401,0.0498454597371,0.999999961953,2.80370984155e-05,-0.000271621064599,-3.91163316097e-05,1793196695474974208
+14,0.233333333,BASELINE,764.121166471,743,711,674,664.121166471,633,876.878833529,784.121166471,801,651,630,651,0.400967895578,0.00456660350883,0.0498457426821,0.999999962079,2.87404770646e-05,-0.000271047648054,-3.93700718635e-05,1793196695491641088
+15,0.250000000,BASELINE,764.696730007,743,711,674,664.696730007,633,876.303269993,784.696730007,801,651,630,651,0.400968461919,0.00456615119023,0.0498459387121,0.999999962232,2.88367341663e-05,-0.000270559342363,-3.87592360462e-05,1793196695508307968
+16,0.266666667,BASELINE,764.720227162,743,711,674,665,633,876.279772838,785,801,650.720227162,630,651,0.400968493774,0.00456649857743,0.049845794964,0.999999962192,2.93782232877e-05,-0.000270663150623,-3.86654667853e-05,1793196695524974592
+17,0.283333333,BASELINE,764.12885422,743,711,674,665,633,876.87114578,785,801,650.12885422,630,651,0.400967930339,0.00456773664585,0.0498452727841,0.999999961935,3.04155945095e-05,-0.000271426432401,-3.91475861804e-05,1793196695541640960
+18,0.300000000,BASELINE,764.453081299,742.546918701,711,674,664.546918701,633,877,784.546918701,801,650.453081299,630,651,0.400968480377,0.00456797446785,0.0498458113313,0.99999996217,3.0119701449e-05,-0.000270583456251,-3.91987381898e-05,1793196695558307584
+19,0.316666667,BASELINE,764.967770331,742.032229669,711,674,664,633,877,784,801,650.967770331,630,651,0.400969253742,0.00456786761872,0.0498465554713,0.999999962505,2.94444303936e-05,-0.000269429666192,-3.9129788845e-05,1793196695574974464
+20,0.333333333,BASELINE,764.391289145,742.608710855,711,674,664,633,877,784,801,650.391289145,630,651,0.400968559996,0.00456664608029,0.0498457812009,0.999999962219,2.86350682336e-05,-0.000270583901032,-3.90602130255e-05,1793196695591641344
+21,0.350000000,BASELINE,764,743,711,674,664.183467347,633,877,784,801,650.183467347,630,651,0.400968296529,0.00456569017331,0.049845530611,0.999999962107,2.8134279289e-05,-0.000271068475389,-3.89361757202e-05,1793196695608307968
+22,0.366666667,BASELINE,764,743,711,674,664.75457969,633,877,784,801,650.75457969,630,651,0.400968942193,0.0045652955146,0.0498463864966,0.999999962364,2.82854694789e-05,-0.0002701381355,-3.86970676891e-05,1793196695624974336
+23,0.383333333,BASELINE,764,743,711,673.661288011,664.661288011,633,877,784,801,650.661288011,630,651,0.400968186089,0.00456592985006,0.0498461624743,0.999999962148,2.97111966643e-05,-0.000270773831934,-3.87599064537e-05,1793196695641641216
+24,0.400000000,BASELINE,764,743,711,673.067344658,664.067344658,633,877,784,801,650.067344658,630,651,0.400966373703,0.00456733956868,0.0498451247035,0.99999996157,3.20973321945e-05,-0.000272589591566,-3.90502726942e-05,1793196695658307840
+25,0.416666667,BASELINE,764.512544162,743,711,673.512544162,664.512544162,633,877,784,801,650.512544162,629.487455838,651,0.400966060513,0.00456584560584,0.0498448009412,0.999999961513,3.10182836211e-05,-0.000272949243653,-3.88587799436e-05,1793196695674974464
+26,0.433333333,BASELINE,764.909855581,743,711,674,664.909855581,633,877,784,801,650.909855581,629,651,0.400965971911,0.00456439046889,0.0498447104879,0.999999961557,2.96417632399e-05,-0.000272966803295,-3.86740557015e-05,1793196695691640832
+27,0.450000000,BASELINE,764.334896784,743,711,674,664.334896784,633,877,784,801,650.334896784,629,651,0.400966060045,0.00456514128662,0.0498453837231,0.999999961791,2.90487223227e-05,-0.000272146028489,-3.88571547021e-05,1793196695708307712
+28,0.466666667,BASELINE,764,743,711,674,664.245493633,633,876.754506367,784,801,650.245493633,629.245493633,651,0.400966976734,0.00456568503692,0.0498461290279,0.999999962138,2.92095618821e-05,-0.000270834444393,-3.89737877332e-05,1793196695724974592
+29,0.483333333,BASELINE,764,743,711,674,664.833461357,633,876.166538643,784,801,650.833461357,629.833461357,651,0.400969049293,0.00456593991926,0.0498469748727,0.99999996264,3.04220969055e-05,-0.000268838160449,-3.899769789e-05,1793196695741641216
+30,0.500000000,BASELINE,764,743,711,673.584628003,665,633,876,784,801,651,630,651.415371997,0.400968660003,0.00456609355199,0.0498463417781,0.999999962377,2.94602244601e-05,-0.000269898068008,-3.91666767466e-05,1793196695758308096
+31,0.516666667,BASELINE,764,743,711,673.005110992,665,633,876,784,801,651,630,651.994889008,0.400967297849,0.00456620717329,0.0498451242422,0.999999961805,2.76390784962e-05,-0.000272165708927,-3.93929832605e-05,1793196695774974720
+32,0.533333333,BASELINE,764,743,711,673.572270108,665,633,876.572270108,784,801,651,629.427729892,651.427729892,0.400967386697,0.00456613917935,0.0498458531795,0.999999962094,2.87347020939e-05,-0.00027103916171,-3.90432672337e-05,1793196695791641088
+33,0.550000000,BASELINE,764,743,711,674.149299472,665,633,877,784,801,650.850700528,629.149299472,651,0.400967490743,0.00456598041731,0.0498463386984,0.999999962284,2.93312175168e-05,-0.000270301996795,-3.88447017826e-05,1793196695808307456
+34,0.566666667,BASELINE,764,743,711,674.725377611,665,633,877,784,801,650.274622389,629.725377611,651,0.400967601331,0.0045655668103,0.0498460788872,0.999999962175,2.84268237009e-05,-0.000270764228323,-3.90928576124e-05,1793196695824974080
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+36,0.600000000,BASELINE,764,742.105632174,710.105632174,674.105632174,665,633,877,784,800.105632174,650.894367826,630,651,0.400971183396,0.00456492886725,0.049848350306,0.999999963442,2.80006627338e-05,-0.000266149236434,-3.86743573892e-05,1793196695858307584
+37,0.616666667,BASELINE,764,742.475265127,710.475265127,674,664.524734873,633,877,784.475265127,800.475265127,651,630,651,0.40096987221,0.00456461145759,0.0498476705717,0.999999963227,2.67627774438e-05,-0.000267058557944,-3.88572497672e-05,1793196695874974464
+38,0.633333333,BASELINE,764.054451901,743,711,674,664.054451901,633,877.054451901,784.945548099,801,650.945548099,630,651,0.400967947407,0.00456437714836,0.0498466018675,0.999999962794,2.56325856524e-05,-0.000268747946662,-3.9097338925e-05,1793196695891641344
+39,0.650000000,BASELINE,764.630350968,743,711,674,664.630350968,633,877.630350968,784.369649032,801,650.369649032,630,651,0.400967768636,0.00456499757085,0.0498465397964,0.999999962584,2.81411957147e-05,-0.000269328363748,-3.87605915589e-05,1793196695908307968
+40,0.666666667,BASELINE,764.793949613,743,711,674,665,633,877.587899227,784,801,650,629.793949613,651,0.400967215241,0.00456528546283,0.049846194139,0.999999962321,2.96445881487e-05,-0.00027016274786,-3.86173428257e-05,1793196695924974592
+41,0.683333333,BASELINE,764.218608045,743,711,674,665,633,876.43721609,784,801,650,629.218608045,651,0.400965990431,0.00456497738123,0.0498453402273,0.999999961973,2.93463919375e-05,-0.000271452301105,-3.88208895742e-05,1793196695941640960
+42,0.700000000,BASELINE,764,742.634388619,711,674,664.634388619,633,876.365611381,784,801,650,629,651,0.400966600485,0.00456518697937,0.0498458607796,0.999999962205,2.97616114447e-05,-0.000270538268634,-3.89124084581e-05,1793196695958307584
+43,0.716666667,BASELINE,764,742.04472882,711,674,664.04472882,633,876.95527118,784,801,650,629,651,0.400968334954,0.00456571381417,0.0498472236101,0.999999962788,3.06140155574e-05,-0.000268273868154,-3.89352761185e-05,1793196695974974208
+44,0.733333333,BASELINE,764,742.53556201,711,673.46443799,664.53556201,633,877,784,801,650,629,651,0.400968220282,0.00456548245245,0.0498466709935,0.999999962568,3.01599202595e-05,-0.000269157142701,-3.88450540435e-05,1793196695991641088
+45,0.750000000,BASELINE,764.113497286,743,711,673.113497286,664.886502714,633,877,784.113497286,801,650,629.113497286,651,0.400967926615,0.00456517323186,0.0498461295917,0.999999962326,2.97155491817e-05,-0.000270123817924,-3.87097220124e-05,1793196696008307968
+46,0.766666667,BASELINE,764.685029718,743,711,673.685029718,664.314970282,633,877,784.685029718,801,650,629.685029718,651,0.400967523117,0.00456480095492,0.0498462679457,0.999999962265,2.97432030892e-05,-0.000270384393175,-3.84298033494e-05,1793196696024974592
+47,0.783333333,BASELINE,764.734947504,742.734947504,711,674,664.265052496,633,877,785,801,650,629.734947504,651,0.400967600793,0.00456493905591,0.0498466045635,0.999999962379,2.87223873912e-05,-0.000270057276529,-3.85388196757e-05,1793196696041641216
+48,0.800000000,BASELINE,764.144501415,742.144501415,711,674,664.855498585,633,877,785,801,650,629.144501415,651,0.400968269187,0.00456570372598,0.0498471845811,0.999999962703,2.64144104831e-05,-0.000269008675753,-3.91253147871e-05,1793196696058307840
+49,0.816666667,BASELINE,764.437617563,742,711,674,665,633,877,784.562382437,801.437617563,650,629.437617563,651,0.400967994857,0.00456628603356,0.0498464821283,0.999999962441,2.77485195215e-05,-0.000269807167919,-3.93850042305e-05,1793196696074974464
+50,0.833333333,BASELINE,765,742.016998173,711,674,665,633.016998173,877,784.016998173,801.983001827,650.016998173,630,651,0.400967477001,0.00456673573999,0.0498454492987,0.999999962025,3.01040820647e-05,-0.000271077361647,-3.95168599238e-05,1793196696091640832
+51,0.850000000,BASELINE,765,742.59505643,711,674,665,633.59505643,877,784.59505643,801.40494357,650.59505643,630,651,0.400969003844,0.00456475911541,0.0498472282665,0.999999962917,2.72211737496e-05,-0.000268161597042,-3.89246240183e-05,1793196696108307712
+52,0.866666667,BASELINE,764.827967581,742.827967581,711,674,664.827967581,633.827967581,877,784.827967581,801,650.827967581,630,651,0.400969357918,0.00456374908187,0.0498479102544,0.999999963258,2.55234830985e-05,-0.000267091122474,-3.86522754062e-05,1793196696124974592
+53,0.883333333,BASELINE,764.253523225,742.253523225,711,674,664.253523225,633.253523225,877,784.253523225,801,650.253523225,630,651,0.400966968696,0.00456500006279,0.0498460262267,0.99999996234,2.65982103767e-05,-0.000270337082964,-3.91281954728e-05,1793196696141641216
+54,0.900000000,BASELINE,764,742.330530944,711,673.669469056,664.330530944,633,877,784,801,650.330530944,630,651,0.400966288357,0.00456598260182,0.0498459074195,0.999999962026,2.96178374717e-05,-0.000271176406009,-3.91745835012e-05,1793196696158307840
+55,0.916666667,BASELINE,764,742.922176705,711,673.077823295,664.922176705,633,877,784,801,650.922176705,630,651,0.400966958011,0.00456675307543,0.049847183112,0.999999962179,3.41739081328e-05,-0.000270114519018,-3.88816472119e-05,1793196696174974464
+56,0.933333333,BASELINE,764,743,711,674.005722545,665,633,876.497138728,784,801.502861272,650.497138728,630,651,0.400969870335,0.00456587949784,0.0498482588816,0.999999963044,3.07732993299e-05,-0.000267299192063,-3.89448577455e-05,1793196696191641344
+57,0.950000000,BASELINE,764,742.918777071,711,674.918777071,665,633,876.081222929,784,801.918777071,650,630,651,0.400972242815,0.00456492433285,0.0498488943727,0.999999963744,2.69043206712e-05,-0.000265074122312,-3.90461492575e-05,1793196696208307968
+58,0.966666667,BASELINE,764,742.344439201,711,674.344439201,665,633,876.655560799,784,801.344439201,650,630,651,0.400969275622,0.00456498559561,0.0498470407105,0.999999962935,2.75082175824e-05,-0.000268044923161,-3.90511474946e-05,1793196696224974336
+59,0.983333333,BASELINE,764,742.235536693,711,674,665,633,877,784,801,650.235536693,630,651,0.400967632896,0.00456494899729,0.0498461080909,0.999999962414,2.8261097094e-05,-0.000269916178048,-3.89785239535e-05,1793196696241640960
+60,1.000000000,BASELINE,764,742.823959685,711,674,665,633,877,784,801,650.823959685,630,651,0.400967974516,0.00456476578134,0.0498465553979,0.999999962332,2.92371857345e-05,-0.000270140069224,-3.87896057431e-05,1793196696258307584
+61,1.016666667,BASELINE,764,743,711,674,665,633,876.594154796,784,801,651,630,651.405845204,0.400968165494,0.00456438394554,0.0498469150394,0.999999962558,2.82092608893e-05,-0.000269445092937,-3.85712844333e-05,1793196696274974208
+62,1.033333333,BASELINE,764,743,711,674,665,633,876.015060066,784,801,651,630,651.984939934,0.400968292165,0.00456391732177,0.0498472372578,0.999999962911,2.63258512254e-05,-0.000268357865229,-3.83404113712e-05,1793196696291640832
+63,1.050000000,BASELINE,764,743,711,674,665,633,876.55975692,784,801,651,629.44024308,651.44024308,0.400967117215,0.004564071989,0.0498461558172,0.999999962476,2.7421870169e-05,-0.000269833897154,-3.85383959428e-05,1793196696308307968
+64,1.066666667,BASELINE,764,742.865286076,711,674,665,633.134713924,877,784.134713924,801,651,629.134713924,651.134713924,0.40096645589,0.00456426755337,0.0498454871822,0.999999962227,2.78376583289e-05,-0.000270687029307,-3.87191753055e-05,1793196696324974848
+65,1.083333333,BASELINE,764,742.289496689,711,674,665,633.710503311,877,784.710503311,801,651,629.710503311,651.710503311,0.400967590049,0.00456454270706,0.0498462928517,0.99999996266,2.57657913268e-05,-0.000269276599798,-3.88061303286e-05,1793196696341641216
+66,1.100000000,BASELINE,764.29384195,742.29384195,711,674,665,633.70615805,877,785,801,651,630,651.70615805,0.400968417622,0.00456497426106,0.0498468207352,0.999999962864,2.69130098464e-05,-0.000268396836822,-3.88659003091e-05,1793196696358307840
+67,1.116666667,BASELINE,764.884814292,742.884814292,711,674,665,633.115185708,877,785,801,651,630,651.115185708,0.400968935178,0.00456556396566,0.0498470677241,0.999999962827,3.13153394196e-05,-0.000268053679254,-3.88981810086e-05,1793196696374974208
+68,1.133333333,BASELINE,764.536131816,743,711,673.536131816,665,633,877,784.536131816,801,651,630,651,0.400968955174,0.00456557352297,0.0498475114023,0.999999962944,3.01692443423e-05,-0.000267739993601,-3.89447483632e-05,1793196696391640832
+69,1.150000000,BASELINE,764,743,711,673.040131355,665,633,877,784,801,651,630,651,0.400968830948,0.00456551673484,0.0498479176857,0.999999963071,2.79210855052e-05,-0.000267500766692,-3.90109829711e-05,1793196696408307712
+70,1.166666667,BASELINE,764,743,711,673.617661822,665,633,877,784,801,651,630,651,0.400968388466,0.00456645229368,0.0498471855667,0.999999962855,2.89026217717e-05,-0.000268163072408,-3.92942658885e-05,1793196696424974336
+71,1.183333333,BASELINE,764,743,711,674,665,633,876.801502853,784.198497147,801,650.801502853,630,651,0.40096802669,0.00456695609204,0.049846560571,0.999999962674,2.99548272535e-05,-0.000268707871089,-3.937573695e-05,1793196696441640960
+72,1.200000000,BASELINE,764,743,711,674,665,633,876.214193941,784.785806059,801,650.214193941,630,651,0.400967823,0.00456661416777,0.0498461454059,0.999999962566,3.11454581856e-05,-0.000269022499741,-3.90619035193e-05,1793196696458307840
+73,1.216666667,BASELINE,764,743,711,674,665,633,876.368041457,785,801,650.368041457,630,651,0.400968039257,0.00456548198756,0.0498463096907,0.9999999627,2.97674723493e-05,-0.000268715813231,-3.8814436499e-05,1793196696474974720
+74,1.233333333,BASELINE,764,743,711,674,665,633,876.947364268,785,801,650.947364268,630,651,0.400968496594,0.00456389614556,0.0498468066199,0.999999962967,2.69149220353e-05,-0.00026805244865,-3.86050684256e-05,1793196696491641088
+75,1.250000000,BASELINE,764,742.474480094,711,674,665,633,877,784.474480094,801,650.474480094,629.474480094,651,0.400968718969,0.00456243139782,0.0498472639555,0.99999996313,2.57693247054e-05,-0.000267633580286,-3.8067827173e-05,1793196696508307712
+76,1.266666667,BASELINE,764,742.102809464,711,674,665,633.102809464,877.102809464,784.102809464,801,650.102809464,629.102809464,651,0.400968881794,0.00456161502241,0.0498475722468,0.99999996322,2.52009351046e-05,-0.000267397416474,-3.77217656612e-05,1793196696524974080
+77,1.283333333,BASELINE,764,742.676665278,711,674,665,633.676665278,877.676665278,784.676665278,801,650.676665278,629.676665278,651,0.400968879366,0.00456371387371,0.0498472157843,0.99999996303,2.64955699302e-05,-0.000267886405931,-3.84017691999e-05,1793196696541640960
+78,1.300000000,BASELINE,764,743,711,674,665,633.742460048,877.484920096,784.742460048,801.257539952,651,630,651,0.400968704142,0.00456497142646,0.0498470943619,0.999999962942,2.68834651121e-05,-0.000268114979791,-3.88181358533e-05,1793196696558307840
+79,1.316666667,BASELINE,764,743,711,674,665,633.152526539,876.305053078,784.152526539,801.847473461,651,630,651,0.400968305898,0.00456514315831,0.0498472762936,0.999999962989,2.61010780154e-05,-0.00026800744861,-3.88942398983e-05,1793196696574974464
+80,1.333333333,BASELINE,764,743,711,674,665,633,876,784,801.570956832,650.570956832,630,651,0.400968350586,0.00456568501258,0.0498475893595,0.999999963045,2.73429196783e-05,-0.000267662596024,-3.8978632406e-05,1793196696591641088
+81,1.350000000,BASELINE,764.007662751,743,711.007662751,674,665,633,876.007662751,784,801,650.007662751,630,651,0.4009685563,0.00456634297286,0.0498479514023,0.999999963103,2.92530221482e-05,-0.000267228734668,-3.90654616072e-05,1793196696608307968
+82,1.366666667,BASELINE,764.583785178,743,711.583785178,674,665,633,876.583785178,784,801,650.583785178,630,651,0.400969249603,0.00456603964294,0.0498485545077,0.999999963366,2.83737354835e-05,-0.000266330974891,-3.91186441366e-05,1793196696624974592
+83,1.383333333,BASELINE,765,743,711.840346323,674,665,633,877,784.159653677,801,651,630,651,0.400969704822,0.00456545629245,0.0498488426219,0.999999963522,2.78683868911e-05,-0.000265815548634,-3.90155066048e-05,1793196696641641216
+84,1.400000000,BASELINE,765,743,711.265138632,674,665,633,877,784.734861368,801,651,630,651,0.400969540346,0.00456414409134,0.0498483108624,0.999999963401,2.83363415092e-05,-0.000266295277649,-3.85054919618e-05,1793196696658307584
+85,1.416666667,BASELINE,765,743,711,674,665,633,877,784.681309391,801,650.681309391,630,651,0.400968884406,0.00456413206961,0.0498478495587,0.999999963174,2.85791267877e-05,-0.000267120230369,-3.84843553454e-05,1793196696674974208
+86,1.433333333,BASELINE,765,743,711,674,665,633,877,784.090107938,801,650.090107938,630,651,0.400967808219,0.00456523182525,0.0498474485016,0.999999962858,2.86293707919e-05,-0.000268240382229,-3.88812560664e-05,1793196696691640832
+87,1.450000000,BASELINE,764.509996558,743,711,674,664.509996558,633,877,784.490003442,801,650,630,651,0.400967648477,0.00456616162149,0.0498468784892,0.999999962621,2.91121240939e-05,-0.000269021193395,-3.92090109604e-05,1793196696708307456
+88,1.466666667,BASELINE,764,742.932006248,711,674,664.135987504,633.067993752,877,784.932006248,801,650,630,651,0.400967839544,0.00456690221934,0.0498465322513,0.999999962504,2.95001199061e-05,-0.000269380064598,-3.94502937327e-05,1793196696724974080
+89,1.483333333,BASELINE,764,742.354965407,711,674,665.290069187,633.645034593,877,784.354965407,801,650,630,651,0.400969423217,0.00456645516233,0.0498480888005,0.999999963171,2.85964215519e-05,-0.000267036853959,-3.91372770637e-05,1793196696741640960
+90,1.500000000,BASELINE,764,742.225411835,711,674,665.774588165,633.774588165,877,784,801.225411835,650.225411835,630,651,0.400969863739,0.00456541773294,0.0498485744234,0.999999963441,2.76472179909e-05,-0.000266172335995,-3.88107098411e-05,1793196696758308096
+91,1.516666667,BASELINE,764,742.811121924,711,674,665.188878076,633.188878076,877,784,801.811121924,650.811121924,630,651,0.400968477046,0.00456343665245,0.0498473482774,0.999999963082,2.66252789988e-05,-0.000267671360471,-3.84624834453e-05,1793196696774974720
+92,1.533333333,BASELINE,764,743,711,674,664.607310777,633,877,784.392689223,802,650.607310777,630,651,0.400969405522,0.00456452783035,0.049847966961,0.999999963464,2.79224563341e-05,-0.000266066844058,-3.87445611251e-05,1793196696791641088
+93,1.550000000,BASELINE,764,743,711,674,664.027715249,633,877,784.972284751,802,650.027715249,630,651,0.400971435938,0.00456708129536,0.0498494637186,0.999999964186,3.03234516528e-05,-0.000262985151105,-3.93266414181e-05,1793196696808307712
+94,1.566666667,BASELINE,764,743,711,674,664.549779047,633.549779047,877,784.450220953,801.450220953,650,630,651.549779047,0.400971009659,0.004564492176,0.0498492881341,0.999999964001,2.66696298863e-05,-0.000264156523697,-3.88425561932e-05,1793196696824974592
+95,1.583333333,BASELINE,764,743,711,674,665,633.873318769,877,784,801,650.126681231,630,651.873318769,0.400970469777,0.00456279096756,0.0498490193838,0.999999963744,2.43708032185e-05,-0.000265393061973,-3.85313085712e-05,1793196696841641216
+96,1.600000000,BASELINE,764,743,711,674,665,633.298139127,877,784,801,650.701860873,630,651.298139127,0.400969964489,0.00456514762347,0.0498487181277,0.999999963442,2.79456828863e-05,-0.000266104132246,-3.90215300474e-05,1793196696858307840
+97,1.616666667,BASELINE,764,743,711,674,665,633,877.283379496,784,801,650.716620504,630,651,0.400970036759,0.00456592224659,0.0498488918679,0.999999963426,2.94352358126e-05,-0.000265983865307,-3.91587501966e-05,1793196696874974464
+98,1.633333333,BASELINE,764,743,711,674,665,633,877.871719823,784,801,650.128280177,630,651,0.400970730573,0.00456499435388,0.0498495767787,0.999999963727,2.86806495267e-05,-0.00026496894896,-3.89160854626e-05,1793196696891641088
+99,1.650000000,BASELINE,764.452325837,743,711,674,665,633.452325837,877.547674163,784,801,650,629.547674163,651,0.400970040579,0.00456533656121,0.0498491526263,0.999999963489,2.85875154791e-05,-0.000265900003907,-3.87555128984e-05,1793196696908307712
+100,1.666666667,BASELINE,764.969479811,743,711,674,665,633.969479811,877,784,801,650,629,651.030520189,0.400968935834,0.00456596813589,0.0498483814899,0.999999963098,2.86659832791e-05,-0.000267376593755,-3.86291780356e-05,1793196696924974848
+101,1.683333333,BASELINE,764.395824635,743,711,674,665,633.395824635,877,784,801,650,629,651.604175365,0.400967316769,0.00456544690716,0.0498469387334,0.999999962689,2.8516072655e-05,-0.000268905378263,-3.8704785157e-05,1793196696941641472
+102,1.700000000,BASELINE,764,742.821982752,711,674,665,633,876.821982752,784,801,650,629,651.821982752,0.400966713,0.00456476920056,0.0498464751199,0.999999962622,2.79684774745e-05,-0.000269214077801,-3.87025578918e-05,1793196696958307840
+103,1.716666667,BASELINE,764,742.247725364,711,674,665,633,876.247725364,784,801,650,629,651.247725364,0.400968369127,0.0045637431974,0.0498481909346,0.999999963313,2.65356951456e-05,-0.000266807047944,-3.85270827516e-05,1793196696974974208
+104,1.733333333,BASELINE,764.340056184,742.340056184,711,674,665,633,876.340056184,784,801,650,629.340056184,651.340056184,0.400969322253,0.00456421471365,0.0498486759996,0.999999963494,2.70689511016e-05,-0.000266072309418,-3.852966822e-05,1793196696991641088
+105,1.750000000,BASELINE,764.938097975,742.938097975,711,674,665,633,876.938097975,784,801,650,629.938097975,651.938097975,0.400969742043,0.00456582233163,0.0498482273495,0.99999996329,2.90937533157e-05,-0.000266606264208,-3.8667340389e-05,1793196697008307712
+106,1.766666667,BASELINE,764.482229044,743,711,674,665,633,877,784,801,650.517770956,630,652,0.400970549417,0.00456523506485,0.0498485674024,0.999999963496,2.95315928999e-05,-0.000265805836305,-3.85124536673e-05,1793196697024974592
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,878,785,801,650,630,651,0.400967691716,0.00456372857356,0.0498474335244,0.99999996307,2.80281214337e-05,-0.000267547005601,-3.86302351507e-05,1793196697067994880
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,877.412928436,784.412928436,801,650,630,651,0.400967740422,0.00456342744597,0.0498468095683,0.999999962946,2.66591920787e-05,-0.000268147532834,-3.86561053061e-05,1793196697084661504
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,743,711,674.172786141,665,633,877,784,801,650,630,651,0.400967909698,0.00456347923275,0.0498465148258,0.999999962887,2.59347357011e-05,-0.000268437634399,-3.86651985272e-05,1793196697101327872
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,743,711,674.755283146,665,633,877,784,801,650,630,651,0.40096836487,0.00456436785076,0.0498470007149,0.999999962986,2.67384547329e-05,-0.00026799165408,-3.86345102515e-05,1793196697117994240
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,711,675,664.665927353,633,877,784,801,650,630,651,0.4009691846,0.00456565383035,0.049847677706,0.999999963137,2.90027260412e-05,-0.000267175330158,-3.87595279357e-05,1793196697134660864
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,711,675,664.089823919,633,877,784,801,650,630,651,0.400970268447,0.00456722769256,0.0498484931477,0.999999963315,3.23251462395e-05,-0.000266090697694,-3.89973523307e-05,1793196697151327488
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.514394139,711,674.514394139,664,633,877,784,801.485605861,650,630,651,0.400971132741,0.00456532128644,0.0498498091832,0.999999963886,2.92977088288e-05,-0.000264304280111,-3.88838084581e-05,1793196697167994112
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742.062435421,711,674,664.062435421,633,877,784,801.937564579,650,630,651,0.400971929556,0.00456314954064,0.0498509909273,0.999999964391,2.58376107767e-05,-0.000262777745497,-3.87015707183e-05,1793196697184660736
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742.652136974,711,674,664.652136974,633,877,784,801.347863026,650,630,651,0.400972498996,0.00456416597732,0.0498502576917,0.999999963859,2.8629028022e-05,-0.000264540653388,-3.84873239524e-05,1793196697201327616
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,877,784,801,650,630,651,0.400979024182,0.00456434957158,0.0498522102948,0.999999964893,2.91302214374e-05,-0.000260562226128,-3.83724051573e-05,1793196697217994496
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,877,784,801,650,630,651,0.400994116174,0.00456333519682,0.0498580262357,0.999999968083,2.63371335696e-05,-0.000248325404346,-3.84003607313e-05,1793196697234661120
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633.392128799,877,784.392128799,801,650.392128799,630,651,0.401027324217,0.00456360943404,0.0498705533687,0.999999974098,2.63083559113e-05,-0.000222821071931,-3.82533028938e-05,1793196697251327744
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633.965389425,877,784.965389425,801,650.965389425,630,651,0.401068900415,0.00456447890581,0.0498861805309,0.999999980621,2.7556465983e-05,-0.000191188220197,-3.80254029711e-05,1793196697267994368
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633.446652663,877,785,801,650.446652663,629.446652663,651,0.401134927319,0.00456248392577,0.0499063901561,0.999999987895,2.4952816239e-05,-0.000148939787172,-3.74854183858e-05,1793196697284660736
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.139929325,743,711,674,664.860070675,633,877,785,801,650,629.139929325,651.139929325,0.401202871046,0.00456060725823,0.0499238572831,0.99999999245,2.2757434851e-05,-0.000115059569713,-3.6643287683e-05,1793196697301327360
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.719225934,743,711,674,664.280774066,633,877,785,801,650,629.719225934,651.719225934,0.401271900455,0.00455967999547,0.0499317886546,0.999999993129,2.26210900582e-05,-0.000109596624304,-3.49154056982e-05,1793196697317993984
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,743,711,674,664.297054715,633,876.702945285,784.702945285,801,650,629.702945285,652,0.40134801205,0.00455847536995,0.049936178095,0.999999993655,2.10665936743e-05,-0.000105396307281,-3.37356015006e-05,1793196697334660864
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,743,711,674,664.873502902,633,876.126497098,784.126497098,801,650,629.126497098,652,0.401430784761,0.0045570098722,0.0499372361875,0.999999994047,1.81782612196e-05,-0.000102383550015,-3.30712894965e-05,1793196697351327744
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633,876.449230852,784,801,650.449230852,629.449230852,651.550769148,0.401530418263,0.00455603254958,0.0499361085477,0.999999993636,1.84109826929e-05,-0.000106623192409,-3.19468781408e-05,1793196697367994368
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.974674607,743,711,674,665,633.025325393,877.025325393,784,801,651,630,651.025325393,0.401636501105,0.0045551148474,0.0499346296122,0.999999993037,1.93423501667e-05,-0.000112297667265,-3.06818694096e-05,1793196697384660736
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.385919299,743,711,674,665,633.614080701,877.614080701,784,801,651,630,651.614080701,0.401780609136,0.0045524702223,0.0499390060428,0.999999993978,1.62960161664e-05,-0.000104532963994,-2.91666358188e-05,1793196697401327360
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.199572975,743,711,674,665.199572975,633.800427025,877.800427025,784,801,650.800427025,629.800427025,651.800427025,0.401932215103,0.00455028649664,0.0499418306794,0.99999999444,1.3025316113e-05,-0.000100923880242,-2.76430685214e-05,1793196697417993984
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.778856879,743,711,674,665.778856879,633.221143121,877.221143121,784,801,650.221143121,629.221143121,651.221143121,0.402098086752,0.00454897968638,0.0499417028459,0.99999999408,9.32773374888e-06,-0.000105221349601,-2.61036455481e-05,1793196697434660608
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.643492453,743,711,674,665.643492453,633.356507547,877,784.356507547,801,650,629.356507547,651,0.402284020541,0.00454610409401,0.0499410356179,0.999999993863,4.17506033106e-06,-0.000107998022503,-2.43569423898e-05,1793196697451327232
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.066850214,743,711,674,665.066850214,633.933149786,877,784.933149786,801,650,629.933149786,651,0.402482342227,0.00454225981691,0.0499400353269,0.999999993714,-1.87609659194e-06,-0.000109835641193,-2.24822486356e-05,1793196697467993856
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.505650507,742.494349493,711,674,665,633.494349493,877,784.494349493,801,650,630,651,0.402716562781,0.00453850595201,0.0499439964342,0.999999994367,-5.05091303053e-06,-0.000104088545088,-2.0163177041e-05,1793196697484660736
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.919550634,742,711,674,665,633,876.919550634,784,801,650.080449366,630,651.080449366,0.402963528017,0.00453477830262,0.0499490025283,0.999999995193,-7.87023432258e-06,-9.6108305617e-05,-1.77656764195e-05,1793196697501327616
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.326653433,742,711,674,665,633,876.326653433,784,801,650.673346567,630,651.673346567,0.403261688738,0.00453114211931,0.0499565207975,0.999999996606,-1.08276931915e-05,-8.02387753545e-05,-1.52397800643e-05,1793196697517994496
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.258971043,742.258971043,711,674,665,633,876.258971043,784,801.258971043,650.741028957,629.741028957,652,0.403575939554,0.00452670391908,0.0499643810886,0.999999997836,-1.5036729871e-05,-6.27998384482e-05,-1.25981793929e-05,1793196697534660864
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.835672608,742.835672608,711,674,665,633,876.835672608,784,801.835672608,650.164327392,629.164327392,652,0.403909931224,0.00452128172776,0.0499726610047,0.999999998793,-2.07813221093e-05,-4.343540385e-05,-9.81462171708e-06,1793196697551327488
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633.413344724,876.586655276,784,802,650.413344724,629.413344724,651.586655276,0.404274082383,0.00451506548484,0.049981995974,0.999999999273,-2.6949147533e-05,-2.62140398515e-05,-6.39683329309e-06,1793196697567994112
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633.991403583,876.008596417,784,802,650.991403583,629.991403583,651.008596417,0.404650251817,0.00450853281965,0.0499917513724,0.999999999394,-3.32856274111e-05,-9.84667056363e-06,-2.72630971793e-06,1793196697584660736
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.422141994,743,711,674,665,633.422141994,876.577858006,784.577858006,801.422141994,651,630,651,0.405048399671,0.00450247634681,0.0499902280312,0.999999999307,-3.57370225232e-05,-1.03912634119e-05,6.76526454862e-07,1793196697601327360
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.162753278,743,711,674,665,633.162753278,877,784.837246722,801.325506556,651,629.837246722,651,0.405452791503,0.00449627212016,0.049982099952,0.999999998889,-3.99942074787e-05,-2.46208762959e-05,4.15204887595e-06,1793196697617993984
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.743320513,743,711,674,665,633.743320513,877,784.256679487,802.486641026,651,629.256679487,651,0.405872360846,0.00448967013266,0.0499574535291,0.999999996079,-4.90377050463e-05,-7.33267566673e-05,7.82454180004e-06,1793196697634661120
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.678892668,743,711,674.321107332,665,633.678892668,877.321107332,784.321107332,802.357785336,650.678892668,629.321107332,651,0.40632055663,0.00448314093917,0.0499378829172,0.999999992652,-5.65587045003e-05,-0.000106635079726,1.12026789962e-05,1793196697651327744
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.103309255,743,711,674.896690745,665,633.103309255,877.896690745,784.896690745,801.206618509,650.103309255,629.896690745,651,0.406791438781,0.0044766694339,0.0499223348594,0.999999989762,-6.28731322333e-05,-0.000127740914833,1.43475410367e-05,1793196697667994112
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,743,711,674.52637967,665,633,878,784.52637967,801,650.47362033,630,651,0.407314596093,0.0044699724817,0.0499200274674,0.999999989039,-7.15023543952e-05,-0.000128404507139,1.79099295077e-05,1793196697684661248
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743,711,674,664.948028624,633.051971376,877.948028624,784,801.051971376,651,630,651,0.40785522805,0.00446299636635,0.0499229027959,0.999999989469,-7.79446441555e-05,-0.000120486398195,2.16728306043e-05,1793196697701328128
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,711,674,664.35800974,633.64199026,877.35800974,784,801.64199026,651,630,651,0.408458386244,0.00445364069447,0.04994944812,0.999999995599,-5.65039363088e-05,-7.00185028173e-05,2.65660424965e-05,1793196697717994240
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.227778377,743,711,674,664.227778377,633.772221623,877,784,801.772221623,650.772221623,630,651,0.409081723974,0.00444405992312,0.0499727295258,0.999999999041,1.00227662517e-06,-2.97764318289e-05,3.2109137621e-05,1793196697734660608
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.807038026,743,711,674,664.807038026,633.192961974,877,784,801.192961974,650.192961974,630,651,0.409736200399,0.00443413180487,0.0499909744284,0.999999992722,0.000114160608687,-5.31367441993e-06,3.86550569872e-05,1793196697751327232
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633,877.381994549,784,801,650.381994549,630,651.381994549,0.410361597064,0.00443092718715,0.0499857342084,0.999999988152,0.00014553891599,-2.32919839893e-05,4.44068139156e-05,1793196697767994112
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633,877.954801574,784,801,650.954801574,630,651.954801574,0.410972467899,0.00443108106734,0.049968762788,0.999999987554,0.000136066771076,-6.24702958528e-05,4.97618737481e-05,1793196697784660992
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.457586757,743,711,674,665,633,877.457586757,784,801,650.457586757,630,651.457586757,0.411602278088,0.00445321288612,0.0499391907054,0.999999991941,3.62024207186e-05,-0.000119625508192,2.22930000486e-05,1793196697801327360
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.129152159,743,711,674,665,633,877,784.129152159,801.129152159,650.129152159,630,651,0.412268718874,0.00447351612016,0.0499208674324,0.999999987478,-4.59725784607e-05,-0.00015142399951,-5.85103401838e-07,1793196697817993984
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.708429017,743,711,674,665,633,877,784.708429017,801.708429017,650.708429017,630,651,0.413057170816,0.00448088441494,0.0499455109792,0.999999995213,-3.9507952762e-05,-8.94812140832e-05,2.33684286134e-06,1793196697834660864
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,743,711,674,665.286754645,633,877.286754645,784.713245355,801.713245355,650.713245355,630,651,0.413841656745,0.00447709112196,0.0499600242605,0.999999997609,-3.57687245415e-05,-5.8643104346e-05,7.95225528699e-06,1793196697851327744
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,743,711,674,665.864116335,633,877.864116335,784.135883665,801.135883665,650.135883665,630,651,0.414622123475,0.00446198629198,0.0499642711844,0.999999997502,-3.47915074277e-05,-5.93275381862e-05,1.62973195545e-05,1793196697867994368
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.56082063,743,711,674,665.56082063,633,877.56082063,784,801,650.43917937,630,651,0.415378347608,0.00445747718225,0.0499436509557,0.999999995078,-1.92583292948e-05,-9.55432003943e-05,1.85859561037e-05,1793196697884660736
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.013896342,743,711,674,665,633,877.027792683,784,801.013896342,651,629.986103658,651,0.416128639059,0.00445628974795,0.0499163039352,0.999999989879,-7.61157177984e-08,-0.000141001123626,1.89949503941e-05,1793196697901327360
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.603591441,743,711,674,665,633,878.207182882,784,801.603591441,651,629.396408559,651,0.416942287402,0.00445760463832,0.0499273728785,0.999999992947,-1.53340876642e-05,-0.000116268324929,1.87609263005e-05,1793196697917994240
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,711,674,665.189681753,633.189681753,878.810318247,784,801.810318247,651,629.189681753,651,0.417774707738,0.00446048072913,0.0499438838017,0.999999996116,-1.75756320607e-05,-8.41798102151e-05,1.93140870963e-05,1793196697934661120
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743,711,674,665.768379024,633.768379024,878.231620976,784,801.231620976,651,629.768379024,651,0.418645627228,0.00446655866286,0.0499715556011,0.999999999061,6.87802428627e-06,-3.70055671752e-05,2.14816738093e-05,1793196697951327744
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,743,711.346158035,674.346158035,665.653841965,633.653841965,878,784,801,650.653841965,630,651,0.419495631422,0.00446827494904,0.0499691729428,0.999999998611,1.56470587285e-05,-4.46858265595e-05,2.31763383768e-05,1793196697967994368
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743,711.923324224,674.923324224,665.076675776,633.076675776,878,784,801,650.076675776,630,651,0.420331677783,0.00446708049467,0.0499467334767,0.999999995643,1.39489783854e-05,-8.89731748476e-05,2.45553988188e-05,1793196697984660992
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.49754978,743,711.50245022,675,665,633,878,784,801,650.49754978,630,651,0.421239310111,0.00446220688999,0.0499614093959,0.999999998507,-9.65858042337e-07,-4.91466758929e-05,2.38670441619e-05,1793196698001327616
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.926496984,743,711,675,665.073503016,633.073503016,878,784,801,651,629.926496984,650.926496984,0.422151334421,0.00445725468456,0.0499797536562,0.999999999631,-1.41552161555e-05,-2.17825912231e-06,2.30853879972e-05,1793196698017994240
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.335199704,743,711,675,665.664800296,633.664800296,878,784,801,651,629.335199704,650.335199704,0.423017039923,0.00445571943021,0.0499838835671,0.999999999705,-9.25445314161e-07,4.32330284962e-06,2.38776862739e-05,1793196698034660864
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,711,674.749137919,665.749137919,633.749137919,878.501724161,784,801.250862081,650.749137919,629,650.250862081,0.423888420386,0.00445629017586,0.0499772700363,0.999999999668,5.90674442057e-06,-6.44793986539e-06,2.42347829213e-05,1793196698051327488
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,711,674.169928663,665.169928663,633.169928663,879.660142674,784,801.830071337,650.169928663,629,650.830071337,0.424767228784,0.00445961741263,0.0499565946806,0.999999998909,4.36530022438e-06,-3.98271287428e-05,2.402225501e-05,1793196698067994112
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.594362046,743,711,674,665.405637954,633,879.188724092,784.405637954,802,650.405637954,629.405637954,651,0.425691068798,0.00445930129655,0.0499684146529,0.999999999268,4.17544026324e-06,-2.83775159404e-05,2.53214031009e-05,1793196698084660992
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.020307846,743,711,674,665.979692154,633,878.040615691,784.979692154,802,650.979692154,629.979692154,651,0.426633605371,0.00445747250178,0.0499937263157,0.999999999617,4.54674273174e-06,1.68450538275e-06,2.72481818047e-05,1793196698101327872
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.567618859,743,711,674.567618859,665.432381141,633.567618859,878.567618859,784.432381141,801.432381141,650.432381141,630,651,0.427464985413,0.00445465826686,0.0499793794045,0.999999998759,8.77539307065e-07,-4.02300264346e-05,2.93581041371e-05,1793196698117994496
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743,711,675,665,633.84631383,878.84631383,784,801,650.15368617,630,651,0.428304541574,0.00445278103845,0.0499609499765,0.999999996248,-1.6042084382e-06,-8.10569094118e-05,3.05242811374e-05,1793196698134661376
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,743,711,675,665,633.266807997,878.266807997,784,801,650.733192003,630,651,0.429178046143,0.00445360011491,0.0499352388597,0.999999993355,-3.85298927855e-07,-0.000111556568729,2.90570048623e-05,1793196698151327744
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.687946306,743,711,675,665.312053694,633,878.312053694,784,801,651,630,651,0.430072940483,0.00445258215681,0.0499296698712,0.999999993599,1.83775060327e-06,-0.000109608471221,2.79996178e-05,1793196698167994368
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.109634256,743,711,675,665.890365744,633,878.890365744,784,801,651,630,651,0.430986085501,0.00444999675753,0.0499412870608,0.999999996418,4.91757784792e-06,-7.9974475377e-05,2.72919668643e-05,1793196698184660992
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.92794349,743,711,675,666,633,879,784,801,651,630,650.536028255,0.431849587093,0.0044486030671,0.0499295469151,0.99999999428,-3.74781686183e-06,-0.000103180500167,2.793630659e-05,1793196698201327616
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.96238951,743,711,675,665.96238951,633,879,784,801.03761049,651,630,650.03761049,0.432701955346,0.0044473518417,0.0499146725793,0.999999990484,-1.46256456991e-05,-0.000134107918645,2.88765841924e-05,1793196698217994240
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.372093237,743,711,675,665.372093237,633,879,784,801.627906763,651,630,650.627906763,0.433561367032,0.00444409765483,0.0499340319308,0.999999994717,-1.7641099665e-05,-9.68641641831e-05,2.95182136067e-05,1793196698234661120
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743,711,675.213782543,665.213782543,633,878.786217457,784,801.786217457,650.786217457,630,651,0.434415584674,0.00444191274304,0.0499552919665,0.999999997551,-1.33159536411e-05,-6.1614416783e-05,3.0405290919e-05,1793196698251328000
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743,711,675.792120319,665.792120319,633,878.207879681,784,801.207879681,650.207879681,630,651,0.43526094525,0.0044415512248,0.0499797931697,0.999999999048,3.52683761509e-06,-2.97649677974e-05,3.17109213237e-05,1793196698267994624
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.630287764,743,711,675.630287764,665.630287764,633,878,784,801,650,630,651,0.436046734507,0.00444216557579,0.0499703560883,0.999999997629,2.34401542153e-06,-6.01395862108e-05,3.3459204065e-05,1793196698284660992
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.053114414,743,711,675.053114414,665.053114414,633,878,784,801,650,630,651,0.436799095735,0.00444332752814,0.0499418748042,0.999999991465,-8.95373899015e-06,-0.000125430752323,3.54558775008e-05,1793196698301327360
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.532221546,743,711,675.532221546,665,633,878,784,801,649.467778454,630,651,0.437607157571,0.00444539712364,0.0499477015616,0.999999994948,-2.21564308114e-05,-9.27348908624e-05,3.18322367455e-05,1793196698317994240
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,743,711,675.76463575,665.117682125,633,878.117682125,784,801,649.117682125,630,651,0.438409736028,0.00444669322796,0.0499571227927,0.999999997622,-2.62382104759e-05,-5.68955053101e-05,2.8825430287e-05,1793196698334661120
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,743,711,674.599267671,665.700366164,633,878.700366164,784,801,649.700366164,630,651,0.439168341008,0.00444456951738,0.0499670074581,0.999999998368,6.48270369588e-06,-4.78764477765e-05,3.05067462802e-05,1793196698351327488
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,743,711,674.277781682,666,633,879,784,801.277781682,650,630,651,0.4398840609,0.00444245446336,0.0499608951165,0.999999997591,1.60197575922e-05,-5.97364477227e-05,3.15072683405e-05,1793196698367993856
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,743,711,674.849619962,666,633,879,784,801.849619962,650,630,651,0.440554383066,0.00444034857323,0.0499378485207,0.999999995105,1.01463273411e-06,-9.36987862918e-05,3.17871094041e-05,1793196698384660736
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,743,711,675,666,633,879,784,802,650,630,651,0.441238252506,0.00443665879638,0.0499368607902,0.99999999513,-9.24413557923e-06,-9.23864598484e-05,3.34704498454e-05,1793196698401327616
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.997659871,743,711.002340129,675,666,633,879,784,801.997659871,650,630,650.997659871,0.441926902255,0.00443242086664,0.0499438215829,0.999999996136,-1.77534603798e-05,-7.83636293084e-05,3.56549647371e-05,1793196698417994496
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.404967147,743,711.595032853,675,666,633,879,784,801.404967147,650,630,650.404967147,0.442602046668,0.00443246963946,0.0499703900482,0.999999998662,-1.21601608651e-05,-3.30110151231e-05,3.79386856019e-05,1793196698434660864
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,711.816847059,675,665.816847059,633,878.816847059,784,801,650,630,650.183152941,0.443244527352,0.00443402579253,0.0499859152994,0.99999999915,-5.753542632e-06,-7.77279967164e-06,4.00908323593e-05,1793196698451327744
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,711.238591091,675,665.238591091,633,878.238591091,784,801,650,630,650.761408909,0.443816544987,0.00443883371155,0.0499776178025,0.999999998781,2.40759219946e-06,-2.59259612107e-05,4.19591440644e-05,1793196698467994368
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711,675,665.337471162,633,878,784,801,649.662528838,630,650.662528838,0.444351653316,0.00444578321607,0.0499544121864,0.999999996892,1.27501851447e-05,-6.51700199345e-05,4.25054441098e-05,1793196698484660992
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,711,675,665.911992447,633,878,784,801,649.088007553,630,650.088007553,0.444860835378,0.00445423703582,0.0499207346495,0.999999991702,2.46251008434e-05,-0.000119228972261,4.21231223004e-05,1793196698501327616
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.486782751,743,711.486782751,675,666,633,878.486782751,784,801.486782751,649,630,650.486782751,0.445386681668,0.00445384483924,0.0499223753233,0.999999993665,2.65374162003e-05,-0.000100911249418,4.22203920506e-05,1793196698517994496
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,743,712,675,665.936794071,632.936794071,879,784,801.936794071,649.063205929,630,650.936794071,0.445910954279,0.0044516616479,0.0499305451635,0.99999999627,2.5856489704e-05,-7.06236922187e-05,4.24657419832e-05,1793196698534661120
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,743,712,675,665.347176758,632.347176758,879,784,801.347176758,649.652823242,630,650.347176758,0.446397014504,0.00444788936806,0.0499398835282,0.999999997659,1.85871732594e-05,-4.9686491917e-05,4.32218365723e-05,1793196698551327744
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,743,712,675,665,632,879,784,801,650,630,650.238519549,0.446841353283,0.00444543473001,0.0499356626946,0.999999997566,8.83313735267e-06,-5.47639894849e-05,4.23110195863e-05,1793196698567994368
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,743,712,675,665,632,879,784,801,650,630,650.818600897,0.447225946593,0.0044448669653,0.0499120249856,0.999999994515,-4.47903500042e-06,-9.70947329273e-05,3.9013172516e-05,1793196698584660736
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,743,712,675.394500247,665,632,878.605499753,784,801,650.394500247,630,650.605499753,0.447569690965,0.00444416374335,0.0498772821023,0.999999987224,-4.43794699549e-05,-0.000151208826623,2.68043193513e-05,1793196698601327360
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,743,712,675.968496851,665,632,878.031503149,784,801,650.968496851,630,650.031503149,0.447894849234,0.00444339888874,0.0498374863979,0.999999973106,-9.63774807388e-05,-0.000210684310142,1.05409863477e-05,1793196698617993728
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.455397074,743,712,676,664.455397074,632,878,783.455397074,801,650.455397074,630,650.544602926,0.448217772218,0.00443921949411,0.0498276462103,0.999999969446,-9.90673067281e-05,-0.000226191195068,1.14160251374e-05,1793196698634660608
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711.875830509,676,664,632,878.124169491,783.124169491,801.124169491,650,630,650.875830509,0.448538970848,0.0044363409185,0.0498238629142,0.999999969338,-8.39370579308e-05,-0.000232595960101,1.3360647516e-05,1793196698651327232
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711.283683346,676,664,632,878.716316654,783.716316654,801.716316654,650,630,650.283683346,0.448854159937,0.00443911226079,0.0498363510893,0.999999976835,-1.24370780826e-05,-0.000214319135155,1.55854507871e-05,1793196698667994368
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.298008781,743,711,675.701991219,664,632,879,784,801.701991219,650.298008781,630,650.298008781,0.449143481965,0.00444225751552,0.0498492996144,0.999999980333,3.18316054607e-05,-0.000194895372855,1.83362356826e-05,1793196698684661248
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.870085744,743,711,675.129914256,664,632,879,784,801.129914256,650.870085744,630,650.870085744,0.449409014951,0.0044457466442,0.0498626715064,0.999999983253,5.10566203184e-05,-0.000174416814408,2.15707472737e-05,1793196698701327872
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,743,711.446305253,675,664,631.553694747,879,784,801.446305253,650.553694747,630.446305253,650.553694747,0.449627800062,0.00446325960249,0.0498589606109,0.999999980117,7.09621859357e-05,-0.000185030712258,2.22204462176e-05,1793196698717994752
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,743,712,675.024414082,664,631,879,784,801.975585918,650,630.975585918,650.024414082,0.449831903637,0.00448426338846,0.0498503299912,0.999999974781,9.04030151464e-05,-0.000204391293309,2.21109590193e-05,1793196698734661120
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,743,712,675.618199204,664,631,879,784,801.381800796,650,630.381800796,650.618199204,0.450013938519,0.0044905842313,0.0498440189976,0.999999972263,9.43422736773e-05,-0.000214685395163,2.20078124585e-05,1793196698751327488
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.794121909,743,711.794121909,676,664,631,879,784,801.205878091,650,630,651,0.450186065321,0.0044924300559,0.0498401694755,0.999999971042,9.37081673156e-05,-0.000220523544901,2.24368641046e-05,1793196698767994112
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.217440902,743,711.217440902,676,664,631,879,784,801.782559098,650,630,651,0.450340346859,0.00448621601387,0.0498407532615,0.999999972282,8.48370644166e-05,-0.000218336167237,2.38244473206e-05,1793196698784660736
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.357506902,743,711.357506902,675.642493098,664,631,879,784,802,650,630,651,0.450473580904,0.0044847379605,0.0498421981885,0.999999972461,8.02592850618e-05,-0.000219163375274,2.45839440728e-05,1793196698801327616
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.93140569,743,711.93140569,675.06859431,664,631,879,784,802,650,630,651,0.450594075333,0.00448612650717,0.0498441643472,0.999999972024,7.82801690165e-05,-0.000221815252442,2.4963272596e-05,1793196698817994496
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,743,712,675,664,631,879,784,802,650,630,650.491365497,0.450688407515,0.00448801870992,0.049843337525,0.999999970744,7.82472319958e-05,-0.000227511916739,2.50370154476e-05,1793196698834661376
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,743,711.911518908,675,663.911518908,631,879,784,802,650,630,650.088481092,0.450776803417,0.00448935103796,0.0498418634819,0.999999969494,7.78300296916e-05,-0.000233075205443,2.51228100775e-05,1793196698851328256
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,743,711.319343279,675,663.319343279,631,879,784,802,650,630,650.680656721,0.450851623478,0.00448710696767,0.0498388633564,0.999999969221,7.37213744267e-05,-0.000235526304053,2.5513359872e-05,1793196698867994624
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.734155062,743,711.265844938,675.265844938,663.265844938,631,879,784,802,650,630,650.734155062,0.450914221138,0.00448691862536,0.0498356686786,0.999999968281,7.1643120616e-05,-0.000240106464327,2.55919327306e-05,1793196698884660992
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.157145466,743,711.842854534,675.842854534,663.842854534,631,879,784,802,650,630,650.157145466,0.450962512787,0.00448913645989,0.0498322462824,0.999999966543,7.19413997002e-05,-0.000247178636334,2.53053445905e-05,1793196698901327616
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.416636964,743,712,675.583363036,664,631,879,784,802,650,630,650.416636964,0.450998722606,0.00448949581043,0.0498286177357,0.999999964608,7.37374493639e-05,-0.000254329842998,2.57647909239e-05,1793196698917994240
+219,3.650000000,POSE1_TO_POSE2_PRESS,764.989211527,743,712,675.010788473,664,631,879,784,802,650,630,650.989211527,0.451030410473,0.00448915957326,0.0498249120317,0.99999996256,7.60940799736e-05,-0.00026151063034,2.65034607457e-05,1793196698934660864
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,743,712,675,663.419887305,631,878.419887305,784,802,650,630,650.419887305,0.4510541107,0.00449236219381,0.0498240882287,0.999999961975,7.7217958294e-05,-0.000263489614234,2.57127703721e-05,1793196698951327488
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.832364141,743,711.832364141,675,663.167635859,630.832364141,878,784,802,650,630,650.167635859,0.451075297806,0.0044941206751,0.0498229927255,0.999999961486,7.748220756e-05,-0.000265314899143,2.51638488965e-05,1793196698967994368
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.253980325,743,711.253980325,675,663.746019675,630.253980325,878,784,802,650,630,650.746019675,0.451090703011,0.00449217415145,0.0498210958866,0.999999961169,7.56981658734e-05,-0.000267008350672,2.52792818519e-05,1793196698984661248
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711.323924034,675,664,630.323924034,878.323924034,783.676075966,802,650.323924034,630,651,0.451101645091,0.00449152940485,0.0498195690416,0.999999960647,7.51518138859e-05,-0.000269102347082,2.53218544021e-05,1793196699001328128
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711.901453079,675,664,630.901453079,878.901453079,783.098546921,802,650.901453079,630,651,0.451109092923,0.00449190383892,0.0498183318701,0.999999959965,7.55744676385e-05,-0.000271509936301,2.53073834545e-05,1793196699017994752
+225,3.750000000,POSE1_TO_POSE2_PRESS,764.484068974,743,711.515931026,675.484068974,663.515931026,630.515931026,879,783.484068974,802,650.515931026,630,651,0.451112286273,0.00449254423217,0.0498170751252,0.999999959319,7.70043472254e-05,-0.000273493807355,2.51761272946e-05,1793196699034661120
+226,3.766666667,POSE1_TO_POSE2_PRESS,764.932649284,743,711,675.932649284,663,630.067350716,879,783.932649284,802.067350716,650,630,651,0.45111468173,0.00449336433943,0.0498160374281,0.99999995874,7.88245794427e-05,-0.000275093984955,2.50834825714e-05,1793196699051327488
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.352267398,743,711,675.352267398,663,630.647732602,879,783.352267398,802.647732602,650,630,651,0.45111766703,0.00449513657193,0.0498166989602,0.999999958653,8.20397213692e-05,-0.000274435504656,2.54679791329e-05,1793196699067994368
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.227890753,743,711.227890753,675.227890753,663,631,879,783.227890753,803,650.227890753,630,651,0.45111916284,0.00449579812284,0.049816566602,0.999999958386,8.3159774285e-05,-0.000275068709878,2.55055949498e-05,1793196699084660992
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.807703365,743,711.807703365,675.807703365,663,631,879,783.807703365,803,650.807703365,630,651,0.451118358494,0.00449474449594,0.0498152082732,0.999999957846,8.10444714175e-05,-0.000277696609374,2.50075377724e-05,1793196699101327360
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,743,712,675.614905555,663,630.614905555,879,783.614905555,802.614905555,651,630,651,0.45111997197,0.00449549746063,0.0498152010334,0.999999957957,8.08255936046e-05,-0.000277388765597,2.46728802083e-05,1793196699117993984
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,743,712,675.038716126,663,630.038716126,879,783.038716126,802.038716126,651,630,651,0.45112278524,0.00449714690826,0.0498158642431,0.999999958392,8.15477767259e-05,-0.00027562412116,2.44193062654e-05,1793196699134660608
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,743,712,675,663,630.545821664,879,783,802,651,630,651,0.451122043465,0.00449649346911,0.0498155276062,0.999999957924,8.1921765147e-05,-0.000277191839205,2.45914611754e-05,1793196699151327488
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.869563689,743,711.869563689,675.130436311,663,630.869563689,878.869563689,783.130436311,802,650.869563689,630,651,0.45112089478,0.00449640496751,0.0498147389447,0.999999957318,8.27965154418e-05,-0.000279108565136,2.46512896206e-05,1793196699167994112
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.286768183,743,711.286768183,675.713231817,663,630.286768183,878.286768183,783.713231817,802,650.286768183,630,651,0.451119223024,0.00449885099338,0.0498126324186,0.999999956458,8.54949156835e-05,-0.000281403189436,2.42152108159e-05,1793196699184660736
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,711.292181878,676,663,630,878.292181878,784,802,650,630,651,0.45111899181,0.00449964849504,0.0498119221905,0.999999956347,8.50589756233e-05,-0.000281951206525,2.3956664009e-05,1793196699201327360
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711.867406841,676,663,630,878.867406841,784,802,650,630,651,0.45112015608,0.00449884903494,0.0498125645871,0.999999956961,8.15867307205e-05,-0.000280807246634,2.38700963454e-05,1793196699217993984
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.441671789,743,711.558328211,675.558328211,663,630.441671789,879,783.558328211,802,650,630,651,0.451120178188,0.00449751751077,0.0498127825587,0.999999957049,8.06820932998e-05,-0.000280709986619,2.43586025642e-05,1793196699234661120
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.983875564,743,711.016124436,675.016124436,663,631,878.983875564,783.016124436,802,650.016124436,630,651,0.451119894664,0.00449609738647,0.0498128726332,0.999999956985,8.05416673767e-05,-0.000280922724156,2.49915091116e-05,1793196699251329024
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.392464793,743,711.607535207,675.607535207,663,631,878.392464793,783.607535207,802,650.607535207,630,651,0.451120913743,0.0044972026506,0.0498129356683,0.999999956996,8.02252926205e-05,-0.000281008876075,2.46301914277e-05,1793196699267995392
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,711.805643299,676,663,631,878,784,802,650.805643299,630,651,0.451121999816,0.00449830032507,0.0498133301771,0.999999957176,8.0488973405e-05,-0.000280334833774,2.41182489261e-05,1793196699284661760
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,711.227875202,676,663,631,878,784,802,650.227875202,630,651,0.451123218049,0.00449938302723,0.0498143785908,0.999999957688,8.18969415122e-05,-0.000278161140944,2.33091658203e-05,1793196699301328384
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.348708248,743,711.348708248,675.651291752,663,631,878,784,802,650,630,651,0.451123470955,0.0044989122777,0.0498146716173,0.999999957745,8.1778043926e-05,-0.000277976550494,2.3494237378e-05,1793196699317995008
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.924520148,743,711.924520148,675.075479852,663,631,878,784,802,650,630,651,0.451123095171,0.00449742980972,0.0498144726819,0.999999957506,8.0664742575e-05,-0.000279087405298,2.43267733059e-05,1793196699334661632
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,743,711.489399235,675.510600765,663.510600765,631,878.510600765,783.489399235,802,650,630.510600765,650.489399235,0.451121901195,0.00449823154881,0.049813526468,0.999999956893,8.23785504519e-05,-0.000280776527587,2.43567374769e-05,1793196699351328256
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,743,711.096868544,675.903131456,663.903131456,630.903131456,878.903131456,783,802,650,630.903131456,650.096868544,0.451121080363,0.00449914725087,0.0498126568035,0.999999956381,8.39199628561e-05,-0.000282150656559,2.42293418108e-05,1793196699367994624
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,743,711.676350576,675.323649424,663.323649424,630.323649424,878.323649424,783,802,650,630.323649424,650.676350576,0.451122733546,0.00449891391255,0.0498127301783,0.999999956686,8.24776064814e-05,-0.000281520812919,2.39211726613e-05,1793196699384660992
+247,4.116666667,HOLD_POSE2,764,743,712,675,663,631,879,784,802,650,630,651,0.451121994148,0.00449865280756,0.049811893618,0.999999956589,8.21875428038e-05,-0.000281923865104,2.42258157837e-05,1793196699422914304
+248,4.133333333,HOLD_POSE2,764,743,711.426902531,675,663,631,879,784,802,650,630,651,0.451122166184,0.00449918259215,0.0498112656122,0.999999956467,8.13544416274e-05,-0.000282646027241,2.36517746197e-05,1793196699439581440
+249,4.150000000,HOLD_POSE2,764,743,711.151097207,675,663,630.848902793,879,784,802,650.151097207,630,651,0.451122676225,0.00449958850657,0.0498111751855,0.999999956513,8.08830417808e-05,-0.000282650264633,2.32400199521e-05,1793196699456248320
+250,4.166666667,HOLD_POSE2,764,743,711.743412155,675,663,630.256587845,879,784,802,650.743412155,630,651,0.451124173274,0.0044996327088,0.049812654539,0.999999957054,8.1467842893e-05,-0.000280558095904,2.33021566461e-05,1793196699472914176
+251,4.183333333,HOLD_POSE2,764,743,712,675,663,630,878.672290136,784,802,650.672290136,630,650.672290136,0.451123546096,0.00449903157032,0.04981217833,0.9999999568,8.20936187286e-05,-0.000281254878498,2.35721850089e-05,1793196699489580544
+252,4.200000000,HOLD_POSE2,764,743,712,675,663,630,878.094119838,784,802,650.094119838,630,650.094119838,0.451121295423,0.00449793721412,0.0498102075336,0.999999955937,8.27507104823e-05,-0.000284083186805,2.40010997592e-05,1793196699506246912
+253,4.216666667,HOLD_POSE2,764,743,712,675.483858456,663,630,878,784,802,650,630,650.483858456,0.451122669844,0.00449845958819,0.0498110464191,0.999999956407,8.20258971414e-05,-0.000282653642037,2.37699005478e-05,1793196699522913536
+254,4.233333333,HOLD_POSE2,764.061009254,743,711.938990746,676,663,630,878,784,802,650,630,651,0.45112441903,0.00449920531409,0.0498122326216,0.999999957029,8.10929994564e-05,-0.000280746305991,2.34108908064e-05,1793196699539580416
+255,4.250000000,HOLD_POSE2,764.631560725,743,711.368439275,676,663,630,878,784,802,650,630,651,0.451123411199,0.00449919094534,0.0498117567688,0.999999956785,8.06663622713e-05,-0.000281763090215,2.30564201584e-05,1793196699556247296
+256,4.266666667,HOLD_POSE2,765,743,711,676,663,630.210543099,878,783.789456901,802,650,630,651,0.451122737958,0.0044987218234,0.0498114328464,0.999999956626,8.01735076625e-05,-0.000282473946655,2.30020342384e-05,1793196699572914176
+257,4.283333333,HOLD_POSE2,765,743,711,676,663,630.804894476,878,783.195105524,802,650,630,651,0.451122674658,0.00449742371187,0.0498113858843,0.99999995662,7.95599424456e-05,-0.00028262711377,2.34946860107e-05,1793196699589580800
+258,4.300000000,HOLD_POSE2,764.610930941,742.610930941,711,675.610930941,663,631,878,783.389069059,802.389069059,650,630,651,0.451123432268,0.00449800259877,0.0498120667223,0.99999995674,8.13347246191e-05,-0.00028166489161,2.38556201259e-05,1793196699606247424
+259,4.316666667,HOLD_POSE2,764.031729555,742.031729555,711,675.031729555,663,631,878,783.968270445,802.968270445,650,630,651,0.451124591046,0.00449949874708,0.0498131032255,0.999999956913,8.42766569797e-05,-0.000280157595127,2.41521858028e-05,1793196699622913792
+260,4.333333333,HOLD_POSE2,764,742.542235046,711,675.542235046,663,631,878,784,802.457764954,650,630,651,0.451125423122,0.00449793638511,0.0498130237386,0.999999957237,8.20147667732e-05,-0.000279699132829,2.38222820615e-05,1793196699639580416
+261,4.350000000,HOLD_POSE2,764,743,711.118870185,676,663,631,878,783.881129815,801.881129815,650,630,650.881129815,0.451126070825,0.0044971237605,0.0498129737867,0.999999957479,8.03058915374e-05,-0.000279359671735,2.34756116179e-05,1793196699656247040
+262,4.366666667,HOLD_POSE2,764,743,711.707252337,676,663,631,878,783.292747663,801.292747663,650,630,650.292747663,0.451126065084,0.00449997258016,0.0498132959596,0.999999957381,8.1972544792e-05,-0.00027925014519,2.32061249561e-05,1793196699672913664
+263,4.383333333,HOLD_POSE2,764,743,712,675.707657058,663,630.707657058,878,783,801.292342942,650,630,650,0.451125766773,0.00450009153635,0.0498131618632,0.999999957141,8.28480527058e-05,-0.000279835332522,2.33825336735e-05,1793196699689580544
+264,4.400000000,HOLD_POSE2,764,743,712,675.125825893,663,630.125825893,878,783,801.874174107,650,630,650,0.451125178748,0.00449750728593,0.0498125759529,0.999999956761,8.29401406888e-05,-0.000281108449879,2.40004836317e-05,1793196699706247936
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,712,676,664,630,879,784,801,650,630,650,0.451125204364,0.00449927531901,0.0498120664123,0.999999956557,8.19684046154e-05,-0.000282176260285,2.33039286054e-05,1793196699739174400
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.543060062,743,712,675.456939938,663.456939938,630,878.456939938,784,801,650.543060062,630,650,0.451123997742,0.00450000774103,0.0498114687075,0.999999956172,8.2956592772e-05,-0.000283267823843,2.30823226476e-05,1793196699755840256
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,743,711.899092799,675,663.100907201,630.100907201,878.100907201,783.899092799,801,650.899092799,630,650,0.451122998882,0.00450041142358,0.0498110012579,0.999999955902,8.33880830753e-05,-0.000284107236624,2.2903779293e-05,1793196699772506368
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,743,711.262787503,675,663.737212497,630.737212497,878.737212497,783.262787503,801,650.262787503,630,650,0.451123102375,0.00449907086526,0.0498112249225,0.99999995625,8.08658205211e-05,-0.000283608776552,2.29537194075e-05,1793196699789172992
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.660596469,743,711.339403531,675,663.660596469,631,878.660596469,783.339403531,801.339403531,650.339403531,630,650,0.451124174779,0.00449912888762,0.0498121255027,0.999999956649,8.04502426112e-05,-0.000282316987374,2.29723982066e-05,1793196699805839360
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.082406474,743,711.917593526,675,663.082406474,631,878.082406474,783.917593526,801.917593526,650.917593526,630,650,0.451125928858,0.00450017087785,0.0498135023248,0.999999957083,8.15168173116e-05,-0.000280467053616,2.29690831862e-05,1793196699822505984
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,712,675,663.491630543,631,878.491630543,783.508369457,802,650.508369457,630,650.491630543,0.451125683675,0.00450088597335,0.0498128785441,0.999999956909,8.36026928061e-05,-0.000280459936625,2.31179320515e-05,1793196699839172352
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.551388934,742.448611066,711,674,665,633.448611066,876.551388934,784.448611066,800.551388934,650.551388934,630,651,0.401109715901,0.00457009960428,0.0498373155732,0.999999957581,3.21713213683e-05,-0.000287113249648,-3.70058874572e-05,1793196701822505728
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.861821783,742.138178217,711,674,665,633,877.138178217,784.138178217,801.138178217,651,629.861821783,651,0.401077903945,0.00457257891062,0.0498389640517,0.999999958512,3.39871920152e-05,-0.000283491885872,-3.81294548703e-05,1793196701839172608
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.282360361,742.717639639,711,674,665,633,877.717639639,784.717639639,801.717639639,651,629.282360361,651,0.401052895641,0.00457075774971,0.0498391601285,0.99999995885,3.34323872638e-05,-0.000282393481668,-3.79097170112e-05,1793196701855838976
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+414,6.900000000,POSE2_TO_POSE3_RETREAT,765,742.473082351,711,674.526917649,664.473082351,633,877,784.526917649,801,650.473082351,630,651,0.400976155985,0.00456733887021,0.049849076889,0.999999963562,2.93915370306e-05,-0.000265628217704,-3.81229669636e-05,1793196702222505984
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+416,6.933333333,POSE2_TO_POSE3_RETREAT,764.363169497,743,711,674,665,633,877,784.636830503,801.636830503,650.363169497,630,651,0.400975304524,0.00456670141986,0.0498485996139,0.999999963417,3.14148874066e-05,-0.00026596630877,-3.79729938075e-05,1793196702255838976
+417,6.950000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,664.777127362,633.222872638,877,785,801.777127362,650.222872638,630,651,0.400975734885,0.00456768490769,0.0498490964372,0.999999963696,3.27663159791e-05,-0.000264738937423,-3.8049552836e-05,1793196702272505600
+418,6.966666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,664.195776259,633.804223741,877,785,801.195776259,650.804223741,630,651,0.400976933243,0.00456838731345,0.0498493694994,0.999999964137,3.256733868e-05,-0.000263087028004,-3.8075347521e-05,1793196702289172224
+419,6.983333333,POSE2_TO_POSE3_RETREAT,764,742.61881489,711,674,664.38118511,633.61881489,877,784.61881489,801,651,629.61881489,651,0.400977043487,0.00456801257685,0.0498495928089,0.999999964285,3.08321959697e-05,-0.000262738446776,-3.80630350817e-05,1793196702305838848
+420,7.000000000,POSE2_TO_POSE3_RETREAT,764,742.044082451,711,674,664.955917549,633.044082451,877,784.044082451,801,651,629.044082451,651,0.40097660124,0.00456709091953,0.0498497908562,0.999999964278,2.83170629073e-05,-0.00026305163255,-3.80313736895e-05,1793196702322505472
+421,7.016666667,POSE2_TO_POSE3_RETREAT,764.530270592,742.530270592,711,674,664.469729408,633,877.530270592,784,801.530270592,651,629.530270592,651,0.400975996872,0.00456750965292,0.0498495726157,0.999999963866,3.03153245928e-05,-0.000264396946109,-3.79889390151e-05,1793196702339172352
+422,7.033333333,POSE2_TO_POSE3_RETREAT,764.891938039,743,711,674,664,633,877.891938039,784,801.783876079,650.891938039,630,651,0.400975684678,0.00456809668484,0.0498495098273,0.999999963609,3.22571252433e-05,-0.000265135927852,-3.80111628718e-05,1793196702355838976
+423,7.050000000,POSE2_TO_POSE3_RETREAT,764.298563419,743,711,674,664,633,877.298563419,784,800.597126837,650.298563419,630,651,0.400976745134,0.0045689394774,0.0498503004939,0.999999964222,3.2261481637e-05,-0.000262766767352,-3.83277913568e-05,1793196702372505856
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b05b04ce0b61ccfb41e29fc862a52f02c7f9da2e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,425 @@
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+398,6.633333333,pose2_to_pose3_retreat,0.578260472904,0.0100012815818,1.04001154541,0.548831707429,0.0186749467077,1.03966108889
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+400,6.666666667,pose2_to_pose3_retreat,0.578255730391,0.0100012269293,1.04001160685,0.548826966044,0.0186748959066,1.03966115095
+401,6.683333333,pose2_to_pose3_retreat,0.578255019997,0.0100011928123,1.04001156213,0.548826256128,0.0186748632041,1.0396611011
+402,6.700000000,pose2_to_pose3_retreat,0.578254848025,0.0100011845533,1.0400115513,0.548826084271,0.0186748552874,1.03966108903
+403,6.716666667,pose2_to_pose3_retreat,0.578254739459,0.0100011793393,1.04001154447,0.548825975779,0.0186748502897,1.03966108141
+404,6.733333333,pose2_to_pose3_retreat,0.578254464505,0.0100011661345,1.04001152716,0.54882570101,0.0186748376323,1.03966106212
+405,6.750000000,pose2_to_pose3_retreat,0.578254438718,0.0100011648961,1.04001152554,0.54882567524,0.0186748364452,1.03966106031
+406,6.766666667,pose2_to_pose3_retreat,0.578254167904,0.0100011518901,1.04001150849,0.548825404608,0.0186748239785,1.0396610413
+407,6.783333333,pose2_to_pose3_retreat,0.578253841681,0.0100011362231,1.04001148796,0.548825078605,0.018674808961,1.03966101841
+408,6.800000000,pose2_to_pose3_retreat,0.578253467579,0.0100011577962,1.0400115189,0.548824703879,0.0186748284345,1.03966104977
+409,6.816666667,pose2_to_pose3_retreat,0.578253036827,0.0100012128491,1.04001159617,0.548824271739,0.0186748788963,1.03966112991
+410,6.833333333,pose2_to_pose3_retreat,0.578252699486,0.0100012559632,1.04001165669,0.548823933312,0.018674918415,1.03966119268
+411,6.850000000,pose2_to_pose3_retreat,0.578252564983,0.010001263847,1.04001167425,0.548823798525,0.0186749253815,1.03966121139
+412,6.866666667,pose2_to_pose3_retreat,0.578252499742,0.0100012509631,1.04001167097,0.548823733414,0.0186749129797,1.03966120914
+413,6.883333333,pose2_to_pose3_retreat,0.578252437262,0.0100012386244,1.04001166783,0.548823671059,0.0186749011026,1.03966120698
+414,6.900000000,pose2_to_pose3_retreat,0.578252396881,0.0100012306498,1.04001166581,0.548823630758,0.0186748934264,1.03966120559
+415,6.916666667,pose2_to_pose3_retreat,0.578252371284,0.0100012255949,1.04001166452,0.548823605212,0.0186748885606,1.03966120471
+416,6.933333333,pose2_to_pose3_retreat,0.578252355735,0.0100012225243,1.04001166374,0.548823589694,0.0186748856048,1.03966120417
+417,6.950000000,pose2_to_pose3_retreat,0.578252280495,0.0100012076659,1.04001165996,0.548823514604,0.0186748713024,1.03966120157
+418,6.966666667,pose2_to_pose3_retreat,0.578252183206,0.0100012250851,1.04001166928,0.548823417237,0.018674888366,1.03966120868
+419,6.983333333,pose2_to_pose3_retreat,0.578252132959,0.0100012509474,1.04001168063,0.548823366824,0.01867491355,1.03966121716
+420,7.000000000,pose2_to_pose3_retreat,0.578252129315,0.0100012528229,1.04001168146,0.548823363168,0.0186749153763,1.03966121778
+421,7.016666667,pose2_to_pose3_retreat,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217762,1.03966121993
+422,7.033333333,pose2_to_pose3_retreat,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
+423,7.050000000,pose2_to_pose3_retreat,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.0186749217761,1.03966121993
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3188ecae09ec934b0da25bf9750d73665dbc4db3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9682657a9c820d2d21dba9cc937384eb517f2776e715880ba73923c960c2d68
+size 26982132
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..499203be0a2b0c038164575619211bbc38a3af8b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_05/franka_data.csv
@@ -0,0 +1,426 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,743,711,674,665,633,877,784,802,650,629,651,0.400977842593,0.00456754774267,0.0498509629928,0.999999964864,3.20406790897e-05,-0.000260372465727,-3.80940389799e-05,1793196702524796416
+1,0.016666667,BASELINE,764.41212314,743,711,673.41212314,665,633,877.58787686,784,801.41212314,650.58787686,629,651.58787686,0.400978489208,0.00456775281324,0.0498517234909,0.999999965228,3.14856575612e-05,-0.000259024780559,-3.82043801413e-05,1793196702541463040
+2,0.033333333,BASELINE,764.173102652,743,711,673.173102652,664.826897348,633,878,784,801,650.826897348,629.173102652,651.826897348,0.40097877983,0.00456841084615,0.0498522823174,0.999999965432,3.16846466416e-05,-0.000258191128476,-3.83236933085e-05,1793196702558129408
+3,0.050000000,BASELINE,764.752112096,743,711,673.752112096,664.247887904,633,878,784,801,650.247887904,629.752112096,651.247887904,0.400978235686,0.00457013102627,0.0498523682459,0.999999965267,3.36517080492e-05,-0.000258562827513,-3.84640448704e-05,1793196702574795776
+4,0.066666667,BASELINE,764.669510201,742.669510201,711,674,664,633.330489799,877.669510201,784,801.330489799,650,630,651,0.400977964114,0.00456959705434,0.0498523710574,0.99999996523,3.27408841659e-05,-0.00025883053122,-3.83946800317e-05,1793196702591462656
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+7,0.116666667,BASELINE,764,743,711,674,665,633,876.943396247,784.056603753,801,650,629.943396247,651,0.400974984259,0.00456745904693,0.0498496142049,0.999999964233,3.10104276397e-05,-0.000262954926773,-3.77712805694e-05,1793196702641462528
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+9,0.150000000,BASELINE,764.232720361,743,711,674,665,633.232720361,876.232720361,784.767279639,801,650,629,651,0.40097681473,0.00456828700106,0.049851604976,0.999999965004,3.19743111855e-05,-0.000259815938139,-3.82770123225e-05,1793196702674796032
+10,0.166666667,BASELINE,764.811703999,743,711,674,665,633.811703999,876.811703999,784.188296001,801,650,629,651,0.400975473819,0.0045679007054,0.0498504334793,0.999999964418,3.26762134113e-05,-0.000261999572229,-3.8099303506e-05,1793196702691462656
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+12,0.200000000,BASELINE,764.034233151,743,711,674,665,633.034233151,877,784,801,650,629,651,0.400975180972,0.00456627144545,0.0498508481517,0.999999964673,2.88903154403e-05,-0.000261482489568,-3.80262032149e-05,1793196702724795904
+13,0.216666667,BASELINE,764.539678616,743,711,674,665,633,877,784,800.460321384,650.539678616,629.539678616,651,0.400976249198,0.00456750675808,0.0498512704916,0.999999964847,3.0509957277e-05,-0.000260610711543,-3.8183811138e-05,1793196702741462528
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+15,0.250000000,BASELINE,765,743,711,674,665,633.707612382,877,784.707612382,800.707612382,650.292387618,630,651.707612382,0.400975166992,0.00456820698414,0.049850747931,0.999999964656,3.12888059494e-05,-0.000261233588396,-3.82891137765e-05,1793196702774796032
+16,0.266666667,BASELINE,764.708539589,743,711,674,665,633.708539589,877,784.708539589,801,650.291460411,630,651.708539589,0.400974602092,0.00456753145532,0.0498507346678,0.999999964544,3.05485079546e-05,-0.000261767021059,-3.81690427532e-05,1793196702791462656
+17,0.283333333,BASELINE,764.131521043,743,711,674,665,633.131521043,877,784.131521043,801,650.868478957,630,651.131521043,0.40097511083,0.00456652039387,0.0498514108932,0.999999964587,2.967516187e-05,-0.000261735616996,-3.79555400691e-05,1793196702808129280
+18,0.300000000,BASELINE,764,742.554995918,711,674,664.554995918,633,877,784.445004082,801,651,629.554995918,651,0.400976442505,0.00456581179383,0.0498519146059,0.999999965005,2.81351912684e-05,-0.000260283620102,-3.81000067185e-05,1793196702824795904
+19,0.316666667,BASELINE,764,742.021313433,711,674,664,633,877,785,801.021313433,651,629.021313433,651.021313433,0.400977976718,0.00456525835241,0.0498523769898,0.999999965514,2.66171403344e-05,-0.000258445776986,-3.83329871357e-05,1793196702841462528
+20,0.333333333,BASELINE,764,742.595803508,711,674,664,633,877,785,801.595803508,651,629.595803508,651.595803508,0.400978462094,0.00456641439767,0.0498530885573,0.999999965652,3.0775891358e-05,-0.000257478578671,-3.81204101243e-05,1793196702858129152
+21,0.350000000,BASELINE,764,743,710.824323004,673.824323004,664,633,877,785,801.648646009,651,630,651.824323004,0.400978665148,0.00456725629904,0.0498534454403,0.99999996569,3.32757887816e-05,-0.00025703982204,-3.79898505864e-05,1793196702874796032
+22,0.366666667,BASELINE,764,743,710.231671925,673.231671925,664,633,877,785,800.46334385,651,630,651.231671925,0.4009781981,0.00456735257128,0.04985296047,0.999999965524,3.18383518895e-05,-0.00025785533613,-3.80539617639e-05,1793196702891462656
+23,0.383333333,BASELINE,764.35206636,743,710.35206636,673.35206636,664.35206636,633,877,785,800.70413272,651,630,651,0.400978349756,0.00456809435522,0.0498526971566,0.999999965536,3.26155011223e-05,-0.000257712326987,-3.80587021069e-05,1793196702908129024
+24,0.400000000,BASELINE,764.930084582,743,710.930084582,673.930084582,664.930084582,633,877,785,801.860169164,651,630,651,0.400978898489,0.00456925042065,0.0498525760998,0.999999965658,3.48139443618e-05,-0.000256954149497,-3.80253389842e-05,1793196702924795904
+25,0.416666667,BASELINE,764.494839634,742.494839634,711,673.494839634,664.494839634,633.505160366,877,784.494839634,801.494839634,651,630,651,0.40097880921,0.0045684806825,0.0498530427839,0.999999965738,3.28688036595e-05,-0.000256907783967,-3.79647062199e-05,1793196702941462528
+26,0.433333333,BASELINE,764,742.082171627,711,673.082171627,664,633.917828373,877,784,801,650.917828373,629.917828373,651,0.400978618653,0.00456750978337,0.049853459007,0.999999965775,3.07290125921e-05,-0.000257037495893,-3.79208993537e-05,1793196702958129152
+27,0.450000000,BASELINE,764,742.673690013,711,673.673690013,664,633.326309987,877,784,801,650.326309987,629.326309987,651,0.40097834449,0.00456693454721,0.0498530611429,0.999999965608,3.09168502208e-05,-0.000257651511399,-3.8004648081e-05,1793196702974796032
+28,0.466666667,BASELINE,764,743,711,674,664,633,877,784,801,650,629,651,0.400978326012,0.00456643795242,0.0498530192629,0.999999965591,3.05855204744e-05,-0.000257756961586,-3.80068498226e-05,1793196702991462656
+29,0.483333333,BASELINE,764,743,711,674,664,633,877,784,801,650,629,651,0.400978622126,0.00456603811729,0.0498534153828,0.999999965758,2.96154119979e-05,-0.000257236677685,-3.79087169048e-05,1793196703008129280
+30,0.500000000,BASELINE,764,743,711,673.585443763,664.414556237,633,876.585443763,784,801,650,629.414556237,651,0.400978606484,0.00456599380323,0.0498534845504,0.999999965776,2.92916100647e-05,-0.000257210246508,-3.78532493876e-05,1793196703024795904
+31,0.516666667,BASELINE,764,743,711,673.011046689,664.988953311,633,876.011046689,784,801,650,629.988953311,651,0.400978470638,0.00456608656779,0.0498534276547,0.999999965737,2.92170051728e-05,-0.000257374230599,-3.78142324111e-05,1793196703041462528
+32,0.533333333,BASELINE,764,742.435255439,711,673.564744561,665,633,876.564744561,784,801,650.564744561,629.435255439,651.564744561,0.40097856925,0.00456699755978,0.0498528855027,0.999999965835,2.98784827799e-05,-0.000256898017903,-3.79600536319e-05,1793196703058129408
+33,0.550000000,BASELINE,764,742.144144821,711,673.855855179,664.855855179,633,877,784,801,650.855855179,629,652,0.400978386582,0.00456775115558,0.0498525927192,0.999999965868,3.0448376351e-05,-0.000256679633253,-3.8117735863e-05,1793196703074796032
+34,0.566666667,BASELINE,764,742.734635656,711,673.265364344,664.265364344,633,877,784,801,650.265364344,629,652,0.400977318691,0.00456796769004,0.0498531015724,0.999999965694,3.06899844717e-05,-0.000257298488303,-3.8300922583e-05,1793196703091462656
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+36,0.600000000,BASELINE,764.899880364,743,711,673.899880364,664.899880364,633,877,784,801.899880364,650.899880364,629.899880364,651.100119636,0.400977582973,0.00456620690033,0.0498531139482,0.99999996561,2.96228739695e-05,-0.000257789567827,-3.80321905506e-05,1793196703124796160
+37,0.616666667,BASELINE,764.525442838,742.525442838,711,673.525442838,665,633,876.525442838,784,801.525442838,651,629.525442838,651.474557162,0.400977995976,0.00456667738367,0.0498535188534,0.999999965757,2.99849384198e-05,-0.000257163477345,-3.81354440639e-05,1793196703141462784
+38,0.633333333,BASELINE,764,742.049212006,711,673.049212006,665,633,876.049212006,784,801,651,629.049212006,652,0.400978296342,0.00456744165729,0.0498539135418,0.999999965888,3.05937385598e-05,-0.000256558484174,-3.82887697189e-05,1793196703158129152
+39,0.650000000,BASELINE,764,742.636542174,711,673.636542174,665,633,876.636542174,784,801,651,629.636542174,652,0.400977517644,0.00456761404537,0.0498529554288,0.999999965515,3.13465867559e-05,-0.000257924611342,-3.82380995992e-05,1793196703174796032
+40,0.666666667,BASELINE,764.221365475,742.778634525,711,674,665,633,877,784.221365475,801,651,630,651.778634525,0.40097733005,0.00456730070911,0.0498527233516,0.99999996544,3.07807154814e-05,-0.000258304389325,-3.81095958826e-05,1793196703191462656
+41,0.683333333,BASELINE,764.802118832,742.197881168,711,674,665,633,877,784.802118832,801,651,630,651.197881168,0.400978102115,0.0045661987971,0.0498536699971,0.999999965844,2.80738969542e-05,-0.000257082824726,-3.78547289616e-05,1793196703208129280
+42,0.700000000,BASELINE,765,742.380205308,711,674,665,633,877,784.619794692,801,650.619794692,630,651,0.400978667943,0.00456584429378,0.0498537035513,0.999999966071,2.72707158362e-05,-0.000256273901572,-3.79328766991e-05,1793196703224795904
+43,0.716666667,BASELINE,765,742.956913433,711,674,665,633,877,784.043086567,801,650.043086567,630,651,0.400979127179,0.0045658760763,0.0498532651893,0.999999966209,2.74513982691e-05,-0.000255678245353,-3.81831375554e-05,1793196703241462528
+44,0.733333333,BASELINE,764.468980558,743,711,674,665,633,877,784.531019442,801,650,629.468980558,651,0.400979004974,0.00456687191565,0.0498535188995,0.999999966018,2.99388120009e-05,-0.000256124263879,-3.83222766428e-05,1793196703258129152
+45,0.750000000,BASELINE,764,743,711,674,665,633,877.108234201,784.891765799,801,650,629.108234201,651,0.400978739473,0.00456760109499,0.0498536463921,0.999999965803,3.17057283562e-05,-0.000256740098112,-3.83753847951e-05,1793196703274796032
+46,0.766666667,BASELINE,764,743,711,674,665,633,877.700284351,784.299715649,801,650,629.700284351,651,0.400978043284,0.00456679032347,0.049852959891,0.999999965627,2.94193894604e-05,-0.000257739049927,-3.80840347136e-05,1793196703291462656
+47,0.783333333,BASELINE,764,743,711,674,664.714867877,633,877.714867877,784.285132123,801,650.285132123,630,651,0.400977412227,0.00456649928042,0.0498527662439,0.999999965573,2.80670826792e-05,-0.000258108588908,-3.8027258588e-05,1793196703308129280
+48,0.800000000,BASELINE,764,743,711,674,664.137404265,633,877.137404265,784.862595735,801,650.862595735,630,651,0.400976847946,0.0045667410885,0.0498530778949,0.999999965648,2.76723913238e-05,-0.000257832822989,-3.82109791942e-05,1793196703324796160
+49,0.816666667,BASELINE,764,742.560882033,711,674,664.878235934,633,877,785,801,650.560882033,630,651,0.400977658167,0.00456728296012,0.0498536973212,0.999999965985,2.97839303471e-05,-0.000256272021532,-3.83076284274e-05,1793196703341462784
+50,0.833333333,BASELINE,764,742.015637809,711,674,665.984362191,633,877,785,801,650,629.984362191,651,0.400978855366,0.00456783107342,0.0498543780142,0.999999966375,3.24724647324e-05,-0.000254407922321,-3.83670144408e-05,1793196703358129664
+51,0.850000000,BASELINE,764,742.602814566,711,674,665.397185434,633,877,785,801,650,629.397185434,651,0.400978510326,0.0045651830096,0.0498537856121,0.999999966094,2.76484265485e-05,-0.000256123460038,-3.80581366008e-05,1793196703374796288
+52,0.866666667,BASELINE,764,743,711,673.812737852,664.812737852,633,877,784.812737852,801,650,629,651,0.400977872845,0.00456399431904,0.0498531526985,0.999999965731,2.51853887338e-05,-0.000257823886352,-3.78159232313e-05,1793196703391462912
+53,0.883333333,BASELINE,764,743,711,673.23399577,664.23399577,633,877,784.23399577,801,650,629,651,0.400976624005,0.004565856514,0.0498524350937,0.999999965238,2.76581285732e-05,-0.000259492721506,-3.7713074953e-05,1793196703408129536
+54,0.900000000,BASELINE,764,742.656609313,711,673.343390687,664.343390687,633,877,784,801,650,629,651,0.400977192082,0.00456600500994,0.0498527916955,0.999999965387,2.83386461348e-05,-0.000258881458742,-3.74653805532e-05,1793196703424796160
+55,0.916666667,BASELINE,764,742.080143007,711,673.919856993,664.919856993,633,877,784,801,650,629,651,0.400978993386,0.00456499033665,0.0498538774124,0.999999965971,2.78026969552e-05,-0.000256722584832,-3.71193721948e-05,1793196703441462784
+56,0.933333333,BASELINE,764,742,711,674,665,633,877,784.495569225,801,650.495569225,629,651,0.400977723409,0.00456611213465,0.0498530613475,0.999999965534,2.95219865463e-05,-0.000258165277931,-3.75600493109e-05,1793196703458129408
+57,0.950000000,BASELINE,764,742,711,673.927112142,665,633,876.927112142,784.927112142,801,650.927112142,629.072887858,651,0.400976318065,0.00456733528005,0.0498522623262,0.999999965072,3.12753700737e-05,-0.000259679759674,-3.80112298987e-05,1793196703474796288
+58,0.966666667,BASELINE,764,742,711,673.33754335,665,633,876.33754335,784.33754335,801,650.33754335,629.66245665,651,0.400977468654,0.00456683136058,0.0498537609757,0.999999965647,3.06890022422e-05,-0.000257580638288,-3.7636396058e-05,1793196703491462912
+59,0.983333333,BASELINE,764,742.247494148,711,673,665,633,876.247494148,784,801,650,630,651.247494148,0.400977807879,0.00456697479707,0.0498543514307,0.99999996587,3.12202556935e-05,-0.000256668594623,-3.75148984414e-05,1793196703508129280
+60,1.000000000,BASELINE,764,742.826462862,711,673,665,633,876.826462862,784,801,650,630,651.826462862,0.400977060423,0.00456798525212,0.0498537255203,0.999999965622,3.3248364775e-05,-0.000257346430969,-3.77326997642e-05,1793196703524796160
+61,1.016666667,BASELINE,764,742.59736565,711,673.40263435,664.59736565,633,877,784,801,650,630,651.59736565,0.400977277443,0.0045679005619,0.0498535719248,0.999999965751,3.29979229295e-05,-0.000256822282998,-3.80962554555e-05,1793196703541462784
+62,1.033333333,BASELINE,764,742.022391495,711,673.977608505,664.022391495,633,877,784,801,650,630,651.022391495,0.40097790729,0.00456734711598,0.0498536204945,0.999999966041,3.17721915423e-05,-0.000255783648971,-3.8522198457e-05,1793196703558129408
+63,1.050000000,BASELINE,764,742,711,674,664.551779223,633,876.448220777,784,801,650.551779223,630,651,0.400977774365,0.00456650584532,0.0498525277261,0.999999965849,3.03125077099e-05,-0.000256776697308,-3.80649592303e-05,1793196703574796288
+64,1.066666667,BASELINE,764,742.129908082,711,674,665,633,876,784,801,650.870091918,629.870091918,651,0.400977599387,0.00456605922056,0.0498518342862,0.999999965673,2.92599828305e-05,-0.000257628983282,-3.77465042911e-05,1793196703591462656
+65,1.083333333,BASELINE,764,742.722242362,711,674,665,633,876,784,801,650.277757638,629.277757638,651,0.400977384737,0.00456705891026,0.0498527269418,0.999999965634,2.96905437225e-05,-0.00025768715148,-3.80494637638e-05,1793196703608129536
+66,1.100000000,BASELINE,764,743,711,674,664.692727915,633,876.307272085,784,801.307272085,650.307272085,629.307272085,651,0.400977961071,0.00456735866546,0.0498536390895,0.999999965864,2.97129881642e-05,-0.000256779896128,-3.81120432113e-05,1793196703624796160
+67,1.116666667,BASELINE,764,743,711,674,664.114147831,633,876.885852169,784,801.885852169,650.885852169,629.885852169,651,0.400979235811,0.00456704040864,0.049854568448,0.99999996633,2.93750833585e-05,-0.000255020213417,-3.79623774476e-05,1793196703641462784
+68,1.133333333,BASELINE,764,743,711,674,664.459886572,633,876.540113428,784,801.540113428,650.540113428,630,651,0.400977597115,0.00456834597206,0.04985395923,0.999999965791,3.26045321672e-05,-0.000256748439533,-3.78713538787e-05,1793196703658129408
+69,1.150000000,BASELINE,764,743,711,674,664.966258501,633,876.033741499,784,801.033741499,650.033741499,630,651,0.400975439908,0.0045697966147,0.0498530375707,0.999999965049,3.62581178613e-05,-0.000259151070507,-3.77814855577e-05,1793196703674796032
+70,1.166666667,BASELINE,764,743,711,674,664.376964123,633,876.623035877,784,801.623035877,650.623035877,630,651,0.400976535355,0.00456706478679,0.0498531978086,0.999999965349,3.24589144452e-05,-0.000258543063035,-3.74733281942e-05,1793196703691462656
+71,1.183333333,BASELINE,764,743,711,674,664.209717774,633,877,784,802,650.790282226,629.790282226,651.209717774,0.400977267849,0.00456579411099,0.0498533177576,0.999999965554,3.01797040855e-05,-0.000258032612052,-3.74323923964e-05,1793196703708129536
+72,1.200000000,BASELINE,764,743,711,674,664.791761653,633,877,784,802,650.208238347,629.208238347,651.791761653,0.400977355968,0.00456711751658,0.0498533661791,0.999999965611,3.0599039255e-05,-0.00025769535959,-3.78658730114e-05,1793196703724796160
+73,1.216666667,BASELINE,764,742.630377253,711,674,664.630377253,633,877,784.369622747,801.630377253,650,629.369622747,651.630377253,0.400977949464,0.0045675113135,0.0498538028278,0.999999965801,3.1009610516e-05,-0.000256902018245,-3.79189237986e-05,1793196703741462784
+74,1.233333333,BASELINE,764,742.054846327,711,674,664.054846327,633,877,784.945153673,801.054846327,650,629.945153673,651.054846327,0.400978824493,0.00456738724711,0.0498544557488,0.999999966063,3.14152995833e-05,-0.000255854600482,-3.7760046008e-05,1793196703758129408
+75,1.250000000,BASELINE,764,742.520022403,711,674.520022403,664.520022403,633.520022403,877,784.479977597,801,650,629.479977597,651,0.400977790078,0.00456772999667,0.0498540420457,0.999999965909,3.14672935782e-05,-0.000256414121331,-3.79914962541e-05,1793196703774796032
+76,1.266666667,BASELINE,764,743,711,674.902482965,664.902482965,633.902482965,876.902482965,784,801,650,629,651,0.400976899349,0.0045678446719,0.0498536612494,0.999999965778,3.12309594778e-05,-0.000256921763852,-3.82079229429e-05,1793196703791462656
+77,1.283333333,BASELINE,764,743,711,674.311343181,664.311343181,633.311343181,876.311343181,784,801,650,629,651,0.400977754056,0.00456655594995,0.0498540157458,0.999999965984,2.97237227106e-05,-0.000256309988333,-3.81401800456e-05,1793196703808129280
+78,1.300000000,BASELINE,764,743,711,674,664.273463096,633,876.273463096,784.273463096,800.726536904,650,629.273463096,651.273463096,0.400977793285,0.00456643658848,0.0498537462567,0.999999965984,2.9326199634e-05,-0.00025635296048,-3.81427656368e-05,1793196703824796160
+79,1.316666667,BASELINE,764,743,711,674,664.851221734,633,876.851221734,784.851221734,800.148778266,650,629.851221734,651.851221734,0.400976925091,0.00456761843076,0.0498527824289,0.999999965758,3.01635084706e-05,-0.000257124501898,-3.82236091252e-05,1793196703841463040
+80,1.333333333,BASELINE,764,742.572827973,711,674,665,633,877,784.572827973,800.427172027,650,630,651.572827973,0.400976721825,0.00456696676169,0.0498527693474,0.999999965728,2.97814664604e-05,-0.0002573318814,-3.79208878291e-05,1793196703858129408
+81,1.350000000,BASELINE,764,742,710.997453913,674,665,633.002546087,877,784,801,650,629.997453913,651,0.400976743248,0.00456568790258,0.0498530821773,0.999999965763,2.89830673235e-05,-0.000257347239949,-3.74887002729e-05,1793196703874796288
+82,1.366666667,BASELINE,764,742,710.410397548,674,665,633.589602452,877,784,801,650,629.410397548,651,0.400975405703,0.00456640756978,0.0498525169181,0.999999965509,2.96851943075e-05,-0.00025819841344,-3.78740373713e-05,1793196703891462912
+83,1.383333333,BASELINE,764,742.174155316,710.174155316,674.174155316,665,633.825844684,876.825844684,784,801,650.174155316,629.174155316,651,0.400975011978,0.0045668739918,0.0498525948,0.999999965443,3.03025845306e-05,-0.000258352636327,-3.8084418742e-05,1793196703908129536
+84,1.400000000,BASELINE,764,742.752892389,710.752892389,674.752892389,665,633.247107611,876.247107611,784,801,650.752892389,629.752892389,651,0.400976810847,0.00456675209783,0.0498541667687,0.999999965815,3.07231221738e-05,-0.000256887767265,-3.78883589892e-05,1793196703924796160
+85,1.416666667,BASELINE,764,742.669528025,711,674.669528025,665,633,876.330471975,784,801,650.669528025,630,651,0.400978463895,0.00456707248474,0.0498551060553,0.999999966222,3.0931622365e-05,-0.00025524860652,-3.8039023605e-05,1793196703941462784
+86,1.433333333,BASELINE,764,742.092810955,711,674.092810955,665,633,876.907189045,784,801,650.092810955,630,651,0.400980008286,0.0045677224291,0.0498555739106,0.999999966655,3.09821267347e-05,-0.000253479575632,-3.84480434999e-05,1793196703958129408
+87,1.450000000,BASELINE,764,742,711,674,665,633,876.517184308,784,801,650.482815692,630,651,0.400978382246,0.00456795729065,0.0498543554178,0.999999966071,3.12867879529e-05,-0.000255736441407,-3.84419196653e-05,1793196703974796032
+88,1.466666667,BASELINE,764,742.059716012,711,673.940283988,664.940283988,633,876.059716012,784,801,650.940283988,630,651,0.400976460129,0.00456806403325,0.0498530350864,0.999999965384,3.17375353011e-05,-0.000258363862293,-3.83724117579e-05,1793196703991463168
+89,1.483333333,BASELINE,764,742.649785601,711,673.350214399,664.350214399,633,876.649785601,784,801,650.350214399,630,651,0.400977308947,0.0045677399637,0.0498536828,0.999999965581,3.30527849426e-05,-0.000257424628276,-3.8447122891e-05,1793196704008129536
+90,1.500000000,BASELINE,764,743,711,673.234949626,664.234949626,633,877.234949626,784,801.234949626,650.234949626,630,651,0.400977993323,0.00456700121787,0.0498540211442,0.999999965747,3.3008762521e-05,-0.000256801871905,-3.83351459486e-05,1793196704024796160
+91,1.516666667,BASELINE,764,743,711,673.812950949,664.812950949,633,877.812950949,784,801.812950949,650.812950949,630,651,0.400978437596,0.00456565700013,0.0498539077757,0.999999965868,3.09800567317e-05,-0.000256641206984,-3.79505843513e-05,1793196704041462784
+92,1.533333333,BASELINE,764.391386706,743,711,673.608613294,665,633,878,784,801.608613294,651,629.608613294,651,0.400977974729,0.0045664745541,0.0498536242988,0.999999965746,3.12123307822e-05,-0.000257077039276,-3.80076396359e-05,1793196704058129408
+93,1.550000000,BASELINE,764.970030367,743,711,673.029969633,665,633,878,784,801.029969633,651,629.029969633,651,0.400977077844,0.00456832639649,0.0498532594344,0.999999965509,3.25263588155e-05,-0.000257798262572,-3.82759842097e-05,1793196704074796032
+94,1.566666667,BASELINE,764.455105219,742.455105219,711,674.089789561,664.455105219,633,877.455105219,784,801,650.455105219,629.544894781,651,0.400976961843,0.00456756712606,0.0498529451341,0.999999965509,3.07133691676e-05,-0.000258034119397,-3.81608969736e-05,1793196704091463168
+95,1.583333333,BASELINE,764,742.122491221,711,674.755017557,664.122491221,633,877,784,801,650,629.877508779,651.122491221,0.400977399858,0.00456669267898,0.0498530838894,0.999999965744,2.88964665251e-05,-0.000257347396724,-3.80594252495e-05,1793196704108129536
+96,1.600000000,BASELINE,764,742.711273749,711,673.577452503,664.711273749,633,877,784,801,650,629.288726251,651.711273749,0.400979784496,0.00456592271643,0.0498549367924,0.999999966823,2.77148716928e-05,-0.000253249583567,-3.80895114805e-05,1793196704124796160
+97,1.616666667,BASELINE,764.295070341,742.704929659,711,673.295070341,665,633,877,784,801,650,629,652,0.4009796074,0.0045656704821,0.0498548258158,0.999999966763,2.75061713675e-05,-0.000253534904592,-3.79228137628e-05,1793196704141462784
+98,1.633333333,BASELINE,764.87406923,742.12593077,711,673.87406923,665,633,877,784,801,650,629,652,0.400976965302,0.00456591642674,0.049852825115,0.999999965604,2.8233629335e-05,-0.000258037853852,-3.75667626138e-05,1793196704158129664
+99,1.650000000,BASELINE,765,742.450265822,711,674,665,633,877,784,801,650,629.450265822,651.549734178,0.400976534909,0.00456473604818,0.0498529517777,0.999999965546,2.80171173384e-05,-0.000258329652538,-3.72718916779e-05,1793196704174796288
+100,1.666666667,BASELINE,765,743,711,674,665,633,877.025571305,784,801,650,629.974428695,651.025571305,0.400976731658,0.00456335669597,0.0498536449943,0.999999965792,2.76806727142e-05,-0.000257446521809,-3.70390199447e-05,1793196704191462912
+101,1.683333333,BASELINE,765,743,711,674,665,633,877.598475248,784,801,650,629.401524752,651.598475248,0.400977193755,0.00456620411956,0.0498538084782,0.999999965937,3.03931418732e-05,-0.000256468450501,-3.77692095648e-05,1793196704208129536
+102,1.700000000,BASELINE,764.821636892,743,711,673.821636892,664.821636892,633,877.821636892,784,801,650.178363108,629.178363108,651.821636892,0.400977455306,0.00456791433968,0.0498538961817,0.999999966022,3.14158081589e-05,-0.000255947330932,-3.82171924427e-05,1793196704224796160
+103,1.716666667,BASELINE,764.225386479,743,711,673.225386479,664.225386479,633,877.225386479,784,801,650.774613521,629.774613521,651.225386479,0.400977246998,0.00456696020298,0.0498538063392,0.999999965977,2.84794313239e-05,-0.000256496804697,-3.80039924427e-05,1793196704241462784
+104,1.733333333,BASELINE,764,743,711,673.357703031,664.357703031,633,877,784,801,650.642296969,630,651,0.40097758505,0.0045663714762,0.0498537741724,0.999999966047,2.85951126534e-05,-0.000256220926835,-3.79457142438e-05,1793196704258129664
+105,1.750000000,BASELINE,764,743,711,673.932794275,664.932794275,633,877,784,801,650.067205725,630,651,0.400978255143,0.00456600482128,0.0498537770568,0.999999966186,3.0565632519e-05,-0.000255443454969,-3.79815872349e-05,1793196704274796288
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,743,711,674,664,633,877,785,802,650,630,651,0.400978149112,0.00456616435841,0.0498537281233,0.999999966164,2.77176618689e-05,-0.000255841241387,-3.8074860957e-05,1793196704305768192
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.408432821,743,711,674,664.591567179,633,877,784.408432821,802,650.591567179,630,651,0.400978582205,0.00456495102934,0.0498544471189,0.999999966323,2.80956120011e-05,-0.000255197631344,-3.79222319631e-05,1793196704322435072
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.82087046,711,674,665,633.17912954,877,784.17912954,801.82087046,651,630,651.17912954,0.4009786884,0.00456414177465,0.0498550465227,0.999999966407,2.78149564156e-05,-0.000254932079579,-3.77086608023e-05,1793196704339101952
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.242239676,711,674,665,633.757760324,877,784.757760324,801.242239676,651,630,651.757760324,0.400978065539,0.00456423370115,0.0498553792086,0.99999996632,2.60654543765e-05,-0.000255509687071,-3.7359174165e-05,1793196704355768576
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.334439504,742,711,674.334439504,664.665560496,633.665560496,877,784.665560496,801,650.665560496,630,651.665560496,0.400977403576,0.0045652697337,0.0498548490823,0.999999966155,2.67582178415e-05,-0.000256061430851,-3.75042437046e-05,1793196704372434944
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.909713275,742,711,674.909713275,664.090286725,633.090286725,877,784.090286725,801,650.090286725,630,651.090286725,0.400976713454,0.00456698562937,0.0498536976334,0.999999965931,2.920968878e-05,-0.000256594549799,-3.80054496439e-05,1793196704389101568
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.504585881,742,711,674.009171763,664.495414119,633,876.504585881,784.495414119,801,650,630,651.495414119,0.400976503437,0.00456691230987,0.0498531779176,0.999999965722,2.90195848209e-05,-0.00025741903813,-3.80579734804e-05,1793196704405768192
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.081832765,711,673.081832765,665,633,876.081832765,785,801,650.081832765,629.918167235,652,0.400976539001,0.00456648465509,0.0498529049583,0.999999965564,2.84870958406e-05,-0.00025809859506,-3.80310025271e-05,1793196704422435072
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742.660819365,711,673.660819365,665,633,876.660819365,785,801,650.660819365,629.339180635,652,0.400977523532,0.00456592790563,0.0498534166233,0.99999996569,2.886211999e-05,-0.000257568123933,-3.80285347995e-05,1793196704439101696
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,877,784.761610033,801,650.761610033,629,651.761610033,0.400981856523,0.00456550898563,0.0498555693705,0.999999966586,2.92249030075e-05,-0.000254056769435,-3.77993558511e-05,1793196704455768576
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633,877,784.186042263,801,650.186042263,629,651.186042263,0.400990925562,0.00456528501112,0.0498600432576,0.99999996853,2.95703721847e-05,-0.0002463292656,-3.72495174683e-05,1793196704472435200
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.609634438,711,674,665,633,877.390365562,784,801,650,629.390365562,651.390365562,0.40101741755,0.00456547152099,0.0498704252035,0.999999973294,2.99455705183e-05,-0.000226157565277,-3.69946661047e-05,1793196704489101568
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.03282534,711,674,665,633,877.96717466,784,801,650,629.96717466,651.96717466,0.401052230961,0.00456585408338,0.0498836289134,0.999999978851,3.03349678877e-05,-0.000200042358336,-3.68807042072e-05,1793196704505768448
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,674,664.445596184,633,877.445596184,784,801,650.554403816,629.445596184,651.445596184,0.401107263071,0.00456502462659,0.0499008825248,0.999999985602,2.98824961335e-05,-0.000162968461197,-3.66696522922e-05,1793196704522435328
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,674,664.14049949,633.14049949,877,784,801,651,629.14049949,651,0.401166875997,0.00456406159222,0.0499171184272,0.999999990423,2.92515498489e-05,-0.000130342882202,-3.61835125234e-05,1793196704539101952
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,674,664.721075523,633.721075523,877,784,801,651,629.721075523,651,0.401237015641,0.00456290924162,0.0499294011791,0.999999992528,2.82206992369e-05,-0.000113721708261,-3.48540853911e-05,1793196704555768576
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742.299083865,711,673.700916135,665,633.700916135,877,784.299083865,801,651,630,651,0.401311669046,0.00456143075305,0.0499366363894,0.999999993658,2.69171450575e-05,-0.000104068065501,-3.36062748016e-05,1793196704572434944
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742.874717936,711,673.125282064,665,633.125282064,877,784.874717936,801,651,630,651,0.401390496133,0.00455965069855,0.0499392043506,0.999999994066,2.53614334833e-05,-0.000100857005324,-3.24339316655e-05,1793196704589101824
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,743,711,673.460750216,665,633,877,784.539249784,801,651,629.539249784,651,0.40148595825,0.0045589238041,0.0499395159336,0.999999994073,2.23171804269e-05,-0.000101670154758,-3.19253453747e-05,1793196704605768704
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,743,711,673.951224434,665,633,876.951224434,784.048775566,801,651,629,651,0.401588528709,0.00455828645562,0.0499392661191,0.99999999398,1.88173690465e-05,-0.000103417099574,-3.14804282485e-05,1793196704622435072
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,743,711,673.372964387,665,633,876.372964387,784.627035613,801,651,629,651,0.401718028404,0.0045554407733,0.0499397359985,0.999999994128,1.48674277203e-05,-0.000103148310885,-2.97222165222e-05,1793196704639101696
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742.795083949,711,673.204916051,665,633,876.204916051,785,801,651,629,651,0.401856652133,0.00455311510515,0.0499401226001,0.999999994126,1.19720862734e-05,-0.000104017134216,-2.80369331731e-05,1793196704655768576
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742.217893215,711,673.782106785,665,633,876.782106785,785,801,651,629,651,0.402011851644,0.00455173415645,0.0499403579096,0.999999993869,1.09926558628e-05,-0.000106952677837,-2.64841403138e-05,1793196704672435200
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742.358753171,711,674,665,633.358753171,877,785,801,650.641246829,629.358753171,651,0.402185567177,0.00454788278535,0.0499375788837,0.999999993286,5.82747672447e-06,-0.000113069807177,-2.46945476799e-05,1793196704689101824
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742.935069495,711,674,665,633.935069495,877,785,801,650.064930505,629.935069495,651,0.402370511626,0.0045425332451,0.0499329718368,0.999999992405,-1.8761182534e-06,-0.00012111638545,-2.27613494568e-05,1793196704705768448
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,743,711,674,665,633.477872907,877,785,801,650,629.477872907,651,0.402596117955,0.00454040052784,0.0499355857003,0.999999992921,-3.35626531987e-06,-0.000117114155283,-2.0776811349e-05,1793196704722435072
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.108756473,743,711,674,665,633,877,784.891243527,801.108756473,650,629,651,0.402836221612,0.00453854273307,0.0499398903973,0.999999993784,-4.35238943057e-06,-0.000109818234389,-1.87857990654e-05,1793196704739101440
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.687639542,743,711,674,665,633,877,784.312360458,801.687639542,650,629,651,0.403116676023,0.00453610777963,0.049947540886,0.999999995334,-6.6719931388e-06,-9.48976056315e-05,-1.67949782228e-05,1793196704755768320
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633,877,784,802,650,629.26494425,651,0.403416559394,0.00453262225266,0.0499571042276,0.999999996947,-9.1963997261e-06,-7.62927742155e-05,-1.41451228098e-05,1793196704772435200
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633,877,784,802,650,629.840399108,651,0.403739213192,0.00452790546971,0.0499689094031,0.999999998447,-1.19608320144e-05,-5.33701145099e-05,-1.07228890763e-05,1793196704789101824
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,743,711,673.5842724,665,633,877.4157276,784,802,650.4157276,630,651,0.4040901386,0.00452080139424,0.049977706918,0.999999999106,-1.88276514351e-05,-3.71799678183e-05,-7.12529027266e-06,1793196704805768448
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,743,711,673.00899242,665,633,877.99100758,784,802,650.99100758,630,651,0.404451914382,0.00451278109825,0.0499853501204,0.999999999344,-2.72689287608e-05,-2.35736974389e-05,-3.46038806688e-06,1793196704822435072
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.419002744,743,711,673.580997256,665,633,877.419002744,784,801.419002744,650.419002744,630,651,0.404857569247,0.00450703688209,0.0499896303556,0.999999999386,-3.23571240019e-05,-1.34765536631e-05,-5.00546104186e-07,1793196704839101440
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.167942737,743,711,674,665,633,877.167942737,784.167942737,801,650.167942737,629.832057263,651,0.405262797427,0.00450118845345,0.0499866927811,0.999999999095,-3.82289575779e-05,-1.84871653529e-05,2.7697139465e-06,1793196704855768320
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.746866906,743,711,674,665,633,877.746866906,784.746866906,801,650.746866906,629.253133094,651,0.40566527625,0.00449499655384,0.0499662228115,0.999999997092,-4.61487727028e-05,-6.03323910091e-05,6.82701234815e-06,1793196704872434944
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633,878,784.677018455,801,650.677018455,629,651.322981545,0.406091189087,0.00448820693999,0.049946238195,0.999999993798,-5.45383771493e-05,-9.65461378256e-05,1.03730299799e-05,1793196704889101824
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633,878,784.103086704,801,650.103086704,629,651.896913296,0.406535309727,0.00448095291347,0.0499266306859,0.999999989664,-6.32929993611e-05,-0.000128384342556,1.35217931009e-05,1793196704905768448
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743,711,674.482564539,664.517435461,633,878,784,801,650.482564539,629,651.517435461,0.407039466054,0.00447369498504,0.049916634786,0.999999987055,-7.37348116422e-05,-0.000142013713779,1.68967029037e-05,1793196704922435072
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.930332777,743,711,674.930332777,664.069667223,633,877.930332777,784,801,650.930332777,629,651,0.407566969377,0.00446637337829,0.0499125424272,0.999999985813,-8.42467430739e-05,-0.000144427649662,2.04016272618e-05,1793196704939101696
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.351376573,743,711,674.351376573,664.648623427,633,877.351376573,784,801,650.351376573,629,651,0.408169058574,0.00445859250473,0.0499362232307,0.999999990998,-9.25708952953e-05,-9.39968400531e-05,2.44950482646e-05,1793196704955768320
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,711,674.226416664,665,633,877.452833328,784,801.226416664,650.226416664,629,651,0.408782185936,0.00445096417826,0.0499592024321,0.999999997361,-4.13158441514e-05,-5.20333443837e-05,2.9371193575e-05,1793196704972434944
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,711,674.802414276,665,633,878.604828551,784,801.802414276,650.802414276,629,651,0.409412355879,0.00444357138067,0.0499810983785,0.999999993909,0.000101927819401,-2.31431451914e-05,3.54558425858e-05,1793196704989101568
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,711,674.619915303,665,633,878.619915303,784,801.619915303,651,629.380084697,651,0.410038777548,0.00443453572596,0.049986084875,0.999999986209,0.000159486058947,-2.12406549903e-05,4.1169252476e-05,1793196705005768704
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,743,711,674.04137145,665,633,878.04137145,784,801.04137145,651,629.95862855,651,0.410663242056,0.00442464226257,0.0499822421937,0.999999983507,0.000172304117618,-3.34296510595e-05,4.66888219628e-05,1793196705022435328
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.544454571,743,711,674,665,633,878,784,801,651,630,651,0.411288604012,0.00444380188727,0.0499453284876,0.999999989721,9.14261832187e-05,-0.000107011885821,2.73449882766e-05,1793196705039101696
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743,711.129629717,674,665,633,878,784,801,650.870370283,630,651,0.411944374385,0.00446287518614,0.049917865954,0.999999987356,1.70066079369e-05,-0.000157829386871,9.38147971623e-06,1793196705055768576
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,743,711.710585908,674,665,633,878,784,801,650.289414092,630,651,0.412705775713,0.00447385741846,0.0499321770925,0.999999993572,-9.80281976108e-06,-0.000112925407798,2.89085083123e-06,1793196705072435200
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.711148817,742.711148817,711.711148817,674,665,633,878,784,801,650.288851183,630,651,0.413476227626,0.00447532452147,0.0499518429228,0.999999996879,-2.54357069442e-05,-7.46875256835e-05,4.05503448669e-06,1793196705089101824
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.135554749,742.135554749,711.135554749,674,665,633,878,784,801,650.864445251,630,651,0.414255664154,0.00446734594651,0.0499768243631,0.999999998541,-2.9973633341e-05,-4.30670800937e-05,1.28181581562e-05,1793196705105768448
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.439198194,742.439198194,711.439198194,674.439198194,665,633,878,784,801,651,629.560801806,651,0.414996544151,0.00446128088281,0.0499566204842,0.999999996608,-1.44335955623e-05,-7.93030225134e-05,1.69125324524e-05,1793196705122435072
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743,711.98587846,674.98587846,665,633,877.98587846,784.01412154,800.98587846,651,629,651,0.415727963963,0.00445587279138,0.0499233125279,0.999999990686,6.24928746635e-06,-0.000134938136802,1.94914960504e-05,1793196705139101952
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743,711.393361466,674.393361466,665,633,877.393361466,784.606638534,800.393361466,651,629,651,0.416558390681,0.00445322988317,0.0499233989075,0.999999991381,-1.5754630135e-05,-0.00012896845009,1.89086573261e-05,1793196705155768576
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633,877.19439163,785,800.19439163,651,629.19439163,651,0.417401296733,0.00445472326465,0.0499331327691,0.999999993719,-2.57745188723e-05,-0.00010741820758,1.8956364832e-05,1793196705172435456
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633,877.772735292,785,800.772735292,651,629.772735292,651,0.418268851257,0.00446438642617,0.0499619218255,0.999999998204,-1.21241884155e-05,-5.50940783272e-05,2.0249493804e-05,1793196705189101824
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633,878,784.652062227,801,650.652062227,630,651,0.419101393605,0.00447024271913,0.0499656561405,0.999999998191,6.50418054953e-06,-5.55238072884e-05,2.21980350045e-05,1793196705205768704
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633,878,784.078893156,801,650.078893156,630,651,0.419911271414,0.0044736347034,0.0499531717153,0.999999995237,2.83549932283e-05,-9.01028055372e-05,2.4570845545e-05,1793196705222435584
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633,878,784.508944397,800.491055603,650,630,651,0.420782220601,0.00447012454884,0.0499523049135,0.999999996875,1.34773330811e-05,-7.43411842667e-05,2.32804721695e-05,1793196705239101952
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633,878,784.902756919,800.097243081,650,630,651,0.421672232782,0.00446535962724,0.049956058776,0.99999999856,-3.0847566413e-06,-4.89020353009e-05,2.1876453694e-05,1793196705255768576
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633,878,784.323772718,800.676227282,650,630,651,0.422608391913,0.004459836292,0.0499735170248,0.999999999622,1.05059855581e-06,-1.53260653731e-05,2.28060066106e-05,1793196705272435200
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633,878,784,801,650,630,650.745903016,0.423515372515,0.00445647558677,0.0499755217449,0.999999999665,3.40694891704e-06,-9.82482629389e-06,2.36972968697e-05,1793196705289101824
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,711,674,665,633,878,784,801,650,630,650.169447138,0.424385336046,0.00445585849075,0.0499579214241,0.999999998895,3.50637407732e-06,-3.99404523113e-05,2.45400455329e-05,1793196705305768448
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,711,674.405624563,665,633,878,784,801,650,630,650.405624563,0.425291437568,0.00445690988835,0.0499664410275,0.999999999236,4.34016948706e-06,-2.92082950848e-05,2.56039174157e-05,1793196705322435072
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743,711,674.980119965,665,633,878,784,801,650,630,650.980119965,0.426212584114,0.00445865591828,0.0499858349575,0.999999999626,5.47970012162e-06,-1.47026397112e-06,2.67598479215e-05,1793196705339101440
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743,711,674.429499247,665.570500753,633.570500753,878,784,801.570500753,650.570500753,630,651,0.427078599741,0.00445552618151,0.0499887652884,0.999999999372,1.16328543615e-06,-2.01680862671e-05,2.91054322178e-05,1793196705355768064
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,711,674.15792953,665.84207047,634,878,784,802,651,630,651,0.427945653209,0.00445307817316,0.0499798221043,0.999999998247,-2.96385700207e-06,-5.06341285461e-05,3.05457326467e-05,1793196705372434944
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743,711,674.735990439,665.264009561,634,878,784,802,651,630,651,0.428820724596,0.00445290866271,0.0499408623501,0.999999993718,-6.0672325569e-06,-0.000107978601195,2.94643148806e-05,1793196705389101568
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,743,711,674.687701924,665,633.687701924,878,784,801.687701924,650.687701924,630,651,0.42972166094,0.00445093494179,0.0499298760274,0.999999992897,-1.54168628721e-06,-0.000115656901785,2.87454819747e-05,1793196705405768192
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743,711,674.112868217,665,633.112868217,878,784,801.112868217,650.112868217,630,651,0.430644340801,0.00444744449831,0.0499424057736,0.999999996227,9.39716831243e-06,-8.1582973669e-05,2.83314587329e-05,1793196705422435072
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743,711.472297511,674.472297511,665.472297511,633,878,784,801,650,630,651,0.431479431685,0.00444807921094,0.0499281381373,0.999999993503,1.76208550652e-06,-0.000110386331079,2.83859825445e-05,1793196705439101696
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743,711.94086618,674.94086618,665.94086618,633,878,784,801,650,630,651,0.432301062144,0.00444941473497,0.049910705109,0.999999988751,-1.00693573658e-05,-0.00014690603252,2.85453875047e-05,1793196705455768576
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743,711.361540636,674.361540636,665.361540636,633,878,784,801,650,630,651,0.433192534436,0.00444804914841,0.0499230212284,0.999999992665,-1.88952862844e-05,-0.000116165431106,2.86203861344e-05,1793196705472435200
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743,711,674.217032937,665.217032937,633,878,784,801,650,630,651,0.43408481082,0.00444648634579,0.049941831962,0.999999996155,-1.54651446977e-05,-8.12874206237e-05,2.90508337473e-05,1793196705489101312
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743,711,674.794358268,665.794358268,633,878,784,801,650,630,651,0.434978422207,0.0044445961482,0.0499714242873,0.999999998732,8.31107305045e-06,-3.95409684284e-05,3.00713556952e-05,1793196705505767936
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743,711.370265755,675,665.629734245,633,878.740531511,784,801,650,630,651,0.435786738867,0.00444237856142,0.049968328046,0.999999997564,7.11915779061e-06,-6.14162319429e-05,3.23802897906e-05,1793196705522434816
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,743,711.945388756,675,665.054611244,633,879.890777512,784,801,650,630,651,0.436547864387,0.00443997983986,0.0499471461724,0.999999992322,-7.88689880376e-06,-0.000118491537853,3.54020646291e-05,1793196705539101440
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,743,711.467290919,675,665,633,878.934581839,784,801,650,630,651,0.437331749934,0.00444378010041,0.0499408717125,0.999999992983,-2.28805192531e-05,-0.00011179058265,3.18410449715e-05,1793196705555768320
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,743,711,675,665,633,878,784,801,650,629.880319045,651,0.438120605615,0.00444680302559,0.0499404414796,0.999999994668,-2.70589194617e-05,-9.54204337686e-05,2.8755491755e-05,1793196705572434944
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,743,711,675,665,633,878,784,801,650,629.299619027,651,0.438919408038,0.004444326268,0.0499564987313,0.999999997207,1.04186085306e-05,-6.75792437178e-05,3.01619207222e-05,1793196705589101568
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,743,711,675,665.278381065,633,878,784,801,650,629.278381065,651,0.439678759535,0.00444256575084,0.0499550765397,0.999999996958,2.15935448872e-05,-6.81597819353e-05,3.11917761e-05,1793196705605768448
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,743,711,675,665.853503128,633,878,784,801,650,629.853503128,651,0.440396058168,0.00444156871214,0.0499350220906,0.999999994578,4.73116511105e-06,-9.90365347574e-05,3.18202218476e-05,1793196705622435072
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,743,711,675,665.572209408,633,878.427790592,784,801,650,630,651,0.441098227104,0.0044374620692,0.0499341376575,0.999999994478,-7.31359534465e-06,-9.94438526747e-05,3.31912071522e-05,1793196705639101696
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.998148727,743,711,675,665,633,878.996297454,784,801,650,630,651,0.441795155646,0.00443231379574,0.0499398578504,0.999999995247,-1.76585917247e-05,-8.93395100103e-05,3.48172092196e-05,1793196705655768064
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.405441754,743,711,675,665,633,877.810883508,784,801,650,630,651,0.442469942572,0.00443392544961,0.0499623777239,0.999999998107,-1.10293584894e-05,-4.80466442979e-05,3.68354976426e-05,1793196705672434944
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,711,675,665.182758126,633,877.182758126,784,801,649.817241874,629.817241874,651,0.44312349026,0.00443614623737,0.0499772881747,0.999999999002,-3.6579961602e-06,-2.18907390717e-05,3.87807097059e-05,1793196705689101824
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,711,675,665.761199955,633,877.761199955,784,801,649.238800045,629.238800045,651,0.443731053686,0.0044396858415,0.0499757237149,0.999999998757,5.32012708144e-06,-2.85073695157e-05,4.05677070055e-05,1793196705705768192
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,711,675,665.66309343,633,878,784,801.33690657,649.33690657,629.33690657,651,0.444301613875,0.00444546867036,0.0499529319482,0.999999996912,1.43659987891e-05,-6.5337224593e-05,4.1247580938e-05,1793196705722435328
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711,675,665.089309963,633,878,784,801.910690037,649.910690037,629.910690037,651,0.444846157282,0.00445282869623,0.0499152153952,0.999999991263,2.34595034448e-05,-0.00012340980796,4.11490431537e-05,1793196705739102208
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.497560404,743,711,675,665,633,878.497560404,784,801.502439596,650,630,650.502439596,0.445387089826,0.00445240496928,0.04991704177,0.999999993054,2.46090587221e-05,-0.000107612802114,4.13103610588e-05,1793196705755768832
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.91459751,743,711,675,665,633,879,784,801.08540249,650,630,650.08540249,0.445923072957,0.00445037269876,0.0499265600944,0.999999995747,2.3869721966e-05,-7.87582655118e-05,4.16306224761e-05,1793196705772435456
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.335091173,743,711,675,665,633,879,784,801.664908827,650,630,650.664908827,0.446434271957,0.00444733574561,0.0499384067348,0.999999997467,2.06745773246e-05,-5.3143150866e-05,4.25933193046e-05,1793196705789102080
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.242971509,743,711,675,665,632.757028491,879,784,801.757028491,650,630,650.757028491,0.446900556397,0.00444711704837,0.0499340377949,0.999999997434,1.41142851949e-05,-5.70370352993e-05,4.09882349609e-05,1793196705805768448
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.819054905,743,711,675,665,632.180945095,879,784,801.180945095,650,630,650.180945095,0.447305263313,0.00445076215645,0.0499074374306,0.999999994213,2.94040453005e-06,-0.000101387510325,3.58627442046e-05,1793196705822435072
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,743,711.392493052,675,664.607506948,632,878.607506948,784,801,650,629.607506948,650,0.447676754564,0.00445027276599,0.0498706851008,0.999999986484,-3.56343373559e-05,-0.000158609693426,2.46041886366e-05,1793196705839101696
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,743,711.964719914,675,664.035280086,632,878.035280086,784,801,650,629.035280086,650,0.448033035445,0.00444789007056,0.0498292838928,0.9999999716,-8.67567191897e-05,-0.00022172620339,1.05371264584e-05,1793196705855768320
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,743,712,675,664,632,878.556262701,783.443737299,801,650,629.556262701,650.556262701,0.448375350641,0.00444531488562,0.0498202212825,0.99999996806,-8.76723604186e-05,-0.000236753918685,1.18430514092e-05,1793196705872434944
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.854190689,743,711.854190689,675,664,632,878.854190689,783.145809311,801,650,630,650.854190689,0.448715630161,0.00444347452029,0.049819170606,0.999999967532,-8.52251154271e-05,-0.000239737040318,1.41223449239e-05,1793196705889101824
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.274363559,743,711.274363559,675,664,632,878.274363559,783.725636441,801,650,630,650.274363559,0.449052581732,0.00444385907437,0.0498356436218,0.99999997307,-8.25872101943e-05,-0.000216273201746,1.62923571541e-05,1793196705905768448
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.302384373,743,711,675,664,631.697615627,878.302384373,783.697615627,801,650,630,650.302384373,0.449360896612,0.00444477259639,0.0498481150131,0.99999997701,-7.63617053682e-05,-0.000199499936709,1.8689883663e-05,1793196705922435072
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.876366571,743,711,675,664,631.123633429,878.876366571,783.123633429,801,650,630,650.876366571,0.449643490357,0.00444616123074,0.0498569921947,0.999999979724,-6.69138640559e-05,-0.000188736061805,2.12917604976e-05,1793196705939101696
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.54766709,743,711.45233291,675,663.54766709,631,879,783,801.45233291,650,630,651,0.449893314212,0.00444999780863,0.0498548310223,0.999999980658,3.88487677027e-06,-0.000195265229117,2.32578407836e-05,1793196705955768320
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711.970316025,675,663.029683975,631,878.970316025,783.029683975,801.970316025,650,630,650.970316025,0.450131767296,0.00445533682945,0.0498497152429,0.999999974532,8.79887418298e-05,-0.000206335121107,2.49138474681e-05,1793196705972434944
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711.377015081,675,663.622984919,631,878.377015081,783.622984919,801.377015081,650,630,650.377015081,0.450325134987,0.00447644311671,0.0498460374074,0.99999997142,0.000104926635395,-0.000213480324708,2.3996524843e-05,1793196705989101568
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711.210189353,675.210189353,663.789810647,631,878,784,801.210189353,650,630,650.210189353,0.450506378733,0.00449289375608,0.0498413468776,0.999999967823,0.00011864388268,-0.000223002010735,2.33932622819e-05,1793196706005768192
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711.786766699,675.786766699,663.213233301,631,878,784,801.786766699,650,630,650.786766699,0.450666488809,0.00450122897985,0.0498348910876,0.99999996369,0.000126747113486,-0.000236666220967,2.33374482791e-05,1793196706022435072
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.362443576,743,711.637556424,675.637556424,663,631,878,783.637556424,802,650,630,651,0.450813894733,0.0044998700872,0.0498339156254,0.999999963106,0.000123764176363,-0.000240554972323,2.45773792886e-05,1793196706039101696
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.937592055,743,711.062407945,675.062407945,663,631,878,783.062407945,802,650,630,651,0.450953845068,0.00449282207231,0.049836156367,0.999999964627,0.000114275172773,-0.00023870686504,2.65777357378e-05,1793196706055768320
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.474282038,743,711,675,663,631,878,783.525717962,801.474282038,650,630,650.474282038,0.451060340574,0.00449189008519,0.0498330506805,0.999999963153,0.000110001955064,-0.000246768471488,2.64393416013e-05,1793196706072434944
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.113037978,743,711.113037978,675,663,631,878,783.886962022,801.226075956,650,630,650,0.451157950143,0.0044920914356,0.0498283895198,0.999999960952,0.000107208165289,-0.000256750638018,2.60876774556e-05,1793196706089101312
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.690556277,743,711.690556277,675,663,631,878,783.309443723,802.381112553,650,630,650,0.451235778706,0.00449389091777,0.0498200107372,0.999999957484,0.000107884854361,-0.000269668341354,2.59293319212e-05,1793196706105767936
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,743,711.732921751,675,663.267078249,630.732921751,878,783,802.732921751,650,630,650.267078249,0.451305528962,0.0044944045262,0.0498143754235,0.999999954931,0.000107171160949,-0.000279231111675,2.61115993822e-05,1793196706122435072
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,743,711.157549893,675,663.842450107,630.157549893,878,783,802.157549893,650,630,650.842450107,0.451365954264,0.00449343382548,0.0498119069497,0.999999953557,0.000104852522004,-0.000284921216916,2.66870430516e-05,1793196706139101696
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,743,711.427052476,675,663.572947524,630.427052476,878,783,802,650,630,651,0.451415712198,0.0044929340259,0.0498120168302,0.999999952838,0.000103367012268,-0.000287916567184,2.72552389315e-05,1793196706155768320
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,743,711.985105177,675,663,630.985105177,878,783,801.985105177,650,629.985105177,650.985105177,0.451461095129,0.00449258182746,0.0498130769822,0.999999952398,0.000102167182686,-0.000289815871233,2.78032734458e-05,1793196706172435200
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,743,711.40637059,675,663,630.40637059,878,783,801.40637059,650,629.40637059,650.40637059,0.451493129929,0.00449109536613,0.0498133058683,0.999999952957,9.98895746916e-05,-0.000288689689981,2.76915603209e-05,1793196706189101824
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,743,711.171530106,675,663,630.171530106,878.171530106,783,801.343060212,650,629.171530106,650.171530106,0.451522313423,0.0044903941492,0.0498134380277,0.999999953313,9.78848479266e-05,-0.000288154896665,2.75720274385e-05,1793196706205768704
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,743,711.747464716,675,663,630.747464716,878.747464716,783,802.494929431,650,629.747464716,650.747464716,0.451544774585,0.00449154424814,0.0498133421414,0.999999953201,9.6523474426e-05,-0.000289014377381,2.7434058478e-05,1793196706222435072
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.677592549,743,711.677592549,675,663,630.677592549,878.677592549,783,802.677592549,650,630,651,0.451560062592,0.00449371227889,0.0498122742743,0.999999952336,9.76164171332e-05,-0.000291635312302,2.73509595841e-05,1793196706239101696
+223,3.716666667,POSE1_TO_POSE2_PRESS,764.103424284,743,711.103424284,675,663,630.103424284,878.103424284,783,802.103424284,650,630,651,0.451569749243,0.00449667519009,0.049810447409,0.999999950865,0.000100625880674,-0.000295631727751,2.73107074906e-05,1793196706255768320
+224,3.733333333,POSE1_TO_POSE2_PRESS,764.485251252,743,711,675,663,630.485251252,878.485251252,783,802,650,630,651,0.451574068031,0.00449636914575,0.0498085887505,0.999999949816,0.000100042363569,-0.000299354580274,2.73140296097e-05,1793196706272434944
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,743,711,675,663.075472469,630.924527531,878.924527531,783.075472469,802,650,629.924527531,651,0.45157720999,0.00449565542036,0.049806940714,0.999999948943,9.90068994471e-05,-0.000302601830515,2.72660684979e-05,1793196706289101568
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,743,711,675,663.654735857,630.345264143,878.345264143,783.654735857,802,650,629.345264143,651,0.451580368704,0.00449701447375,0.0498067452394,0.999999948691,0.00010022393334,-0.000303075556555,2.68118793898e-05,1793196706305768448
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.768936779,743,711,675.231063221,663.768936779,630,878,783.768936779,802,650.231063221,629.231063221,651.231063221,0.451582451631,0.0044986033089,0.0498059632093,0.99999994823,0.000101647616111,-0.000304149891413,2.64624996517e-05,1793196706322435328
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.19694153,743,711,675.80305847,663.19694153,630,878,783.19694153,802,650.80305847,629.80305847,651.80305847,0.45158294724,0.00450053118521,0.0498043157211,0.99999994746,0.00010337620766,-0.000306110419987,2.62677653696e-05,1793196706339101952
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711,676,663.378716183,630.378716183,878,783.378716183,802,650.621283817,630,651.242567635,0.451583993202,0.00450025861925,0.0498035953494,0.999999947456,0.000101996673397,-0.000306604262625,2.60302044887e-05,1793196706355768576
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711,676,663.956297045,630.956297045,878,783.956297045,802,650.043702955,630,650.087405911,0.451585328156,0.00449883059627,0.0498033618087,0.999999947851,9.89850555498e-05,-0.00030632794527,2.5770155275e-05,1793196706372434944
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711.547395663,676,663.452604337,630.452604337,878.547395663,784,801.452604337,650,630,650.547395663,0.451585552432,0.00449793441931,0.0498029162682,0.999999947648,9.81347394097e-05,-0.000307243682564,2.59911779289e-05,1793196706389101568
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.136169924,742.863830076,711.863830076,676,663.136169924,630,879,783.863830076,801,650,630,650.863830076,0.451585590733,0.00449756695424,0.0498025593816,0.999999947412,9.78430062432e-05,-0.000308088240052,2.61787407177e-05,1793196706405768192
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.71382059,742.28617941,711.28617941,676,663.71382059,630,879,783.28617941,801,650,630,650.28617941,0.451585320854,0.00449877249112,0.0498025461872,0.999999947228,9.87886649346e-05,-0.000308385652854,2.61301461479e-05,1793196706422434816
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.70998835,742.29001165,711,676,663.70998835,630,878.70998835,783,801.29001165,650,629.70998835,650.29001165,0.451585655329,0.00449961730067,0.0498025789242,0.999999947152,9.93027862123e-05,-0.00030849095582,2.58351914755e-05,1793196706439101440
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.135230329,742.864769671,711,676,663.135230329,630,878.135230329,783,801.864769671,650,629.135230329,650.864769671,0.451586583184,0.00450010793216,0.0498026567586,0.999999947183,9.93932049233e-05,-0.00030840763682,2.52983494612e-05,1793196706455768320
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711.450355115,676,663,630,878,783.450355115,802,650,629.450355115,651,0.451586876971,0.00449986633697,0.0498029548908,0.999999947203,9.93458180089e-05,-0.000308342630963,2.54610987796e-05,1793196706472435200
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,712,675.961427625,663,630,878.038572375,784,802,650,629.961427625,651,0.451586899837,0.00449947843653,0.0498031775892,0.999999947179,9.9244953431e-05,-0.000308428442568,2.57934761403e-05,1793196706489101824
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,712,675.382999667,663,630,878.617000333,784,802,650,629.382999667,651,0.451585861308,0.00450019593733,0.0498013958893,0.999999946556,9.89890316664e-05,-0.000310546222947,2.54874083755e-05,1793196706505768448
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.195469476,743,711.804530524,675,663.195469476,630,878.804530524,783.804530524,802,650,629.195469476,651,0.451585515357,0.00450095359865,0.0498005479704,0.999999946208,9.952632572e-05,-0.000311509770059,2.52938159148e-05,1793196706522434816
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.774019298,743,711.225980702,675,663.774019298,630,878.225980702,783.225980702,802,650,629.774019298,651,0.451586526718,0.00450178996633,0.0498015300725,0.999999946401,0.000101618161181,-0.000310211255011,2.53206521522e-05,1793196706539101440
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.648955071,743,711,675,663.648955071,630,878,783,802,650,630,651,0.451587322789,0.00450218014899,0.0498018714512,0.999999946641,0.000101635373456,-0.000309435771422,2.52648038626e-05,1793196706555768064
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.0729064,743,711,675,663.0729064,630,878,783,802,650,630,651,0.45158798087,0.00450228434744,0.0498018021554,0.999999946912,0.000100322847083,-0.000308995527128,2.51559585722e-05,1793196706572434688
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,711,675,662.48734295,630.51265705,878,783.51265705,802,650,629.48734295,651,0.451588283524,0.00450291567232,0.0498019253327,0.999999946613,0.000101501362205,-0.000309566802114,2.53122827829e-05,1793196706589101568
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,743,711.097830016,675.097830016,662.097830016,630.902169984,878.097830016,784,801.902169984,650,629.097830016,651,0.451588426888,0.00450354746808,0.0498019739859,0.999999946286,0.000102639016596,-0.00031024466515,2.53310867689e-05,1793196706605768448
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,743,711.674346033,675.674346033,662.674346033,630.325653967,878.674346033,784,801.325653967,650,629.674346033,651,0.451588042846,0.00450380782877,0.049801521525,0.999999946242,0.000101810559572,-0.000310726888247,2.44889906781e-05,1793196706622435072
+246,4.100000000,POSE1_TO_POSE2_PRESS,764,743,712,676,663,630,878.747639875,784,801.252360125,650,630,651,0.45158830433,0.00450407026594,0.0498017446352,0.999999946387,0.000102065696665,-0.000310187799596,2.43155390645e-05,1793196706639101696
+247,4.116666667,POSE1_TO_POSE2_PRESS,764,743,712,676,663,630,878.167680992,784,801.832319008,650,630,651,0.451589403794,0.0045043353987,0.0498028447312,0.999999946776,0.000103727490448,-0.000308322905439,2.50100814367e-05,1793196706655768064
+248,4.133333333,HOLD_POSE2,764,743,711,676,663,630,878,784,802,650,630,651,0.451588611947,0.00449955347838,0.0498019723428,0.999999946652,9.90943875276e-05,-0.000310225673122,2.52065444903e-05,1793196706689612800
+249,4.150000000,HOLD_POSE2,764.590896223,743,711,675.409103777,663,630,878.590896223,784,801.409103777,650.590896223,630,651,0.451587285076,0.00450095203672,0.0498013624775,0.999999946234,9.94088516432e-05,-0.000311472113956,2.51822420697e-05,1793196706706279680
+250,4.166666667,HOLD_POSE2,764.822237903,743,711,675,663,630,879.177762097,783.822237903,801.177762097,650.822237903,630,651,0.451586190216,0.00450207261741,0.049800463411,0.999999945817,9.9458362567e-05,-0.000312800455903,2.51138965899e-05,1793196706722946304
+251,4.183333333,HOLD_POSE2,764.244441769,743,711,675,663,630,879.755558231,783.244441769,801.755558231,650.244441769,630,651,0.451585617469,0.00450256764028,0.0497989135292,0.999999945401,9.89116255523e-05,-0.000314313107537,2.49464370481e-05,1793196706739612928
+252,4.200000000,HOLD_POSE2,764,742.668612666,711,675.331387334,662.668612666,630,879.337225332,783.331387334,802,650,630,650.668612666,0.451586576884,0.00450205767267,0.0497996569067,0.9999999457,9.933950572e-05,-0.000313210857626,2.51217213164e-05,1793196706756279808
+253,4.216666667,HOLD_POSE2,764,742.09422598,711,675.90577402,662.09422598,630,878.18845196,783.90577402,802,650,630,650.09422598,0.451588659799,0.00450081076668,0.0498020818829,0.999999946516,0.000100482052171,-0.000310191155398,2.55483324111e-05,1793196706772946432
+254,4.233333333,HOLD_POSE2,764,742.492535048,711,675.507464952,662,630,878,783.507464952,802,650,630,650.492535048,0.451587534016,0.00450059330138,0.0498012000762,0.999999946192,9.9369326993e-05,-0.000311618508068,2.52127874252e-05,1793196706789612800
+255,4.250000000,HOLD_POSE2,764,743,711,675.080591823,662.080591823,630,878,783,801.919408177,650,630,651,0.451586089746,0.004500564164,0.0497998214955,0.999999945712,9.79580722781e-05,-0.000313631773492,2.48076016521e-05,1793196706806279168
+256,4.266666667,HOLD_POSE2,764,743,711,675.661615929,662.661615929,630,878,783,801.338384071,650,630,651,0.451586577752,0.00450045003211,0.0497993876468,0.999999945687,9.74412379612e-05,-0.000313864348267,2.48986983497e-05,1793196706822946048
+257,4.283333333,HOLD_POSE2,764,743,711,676,662.759455882,630.240544118,878,783.240544118,801.240544118,650,630,650.759455882,0.451587117856,0.00450089181154,0.0497994029497,0.999999945608,9.80258978368e-05,-0.00031392506533,2.50149528923e-05,1793196706839612672
+258,4.300000000,HOLD_POSE2,764,743,711,676,662.183450692,630.816549308,878,783.816549308,801.816549308,650,630,650.183450692,0.451587730616,0.00450210886089,0.0498000446359,0.99999994545,0.000100146693529,-0.00031374611086,2.51662923743e-05,1793196706856279296
+259,4.316666667,HOLD_POSE2,764,743,711,676,662.390035022,630.609964978,878,784,802,650,630,650.390035022,0.45158772508,0.00450260884239,0.0498000404715,0.999999945579,9.98788506128e-05,-0.000313425461376,2.51078623627e-05,1793196706872946176
+260,4.333333333,HOLD_POSE2,764,743,711,676,662.962343371,630.037656629,878,784,802,650,630,650.962343371,0.451587430599,0.0045027737199,0.0497997344846,0.999999945842,9.8494736063e-05,-0.000313038594177,2.49514017232e-05,1793196706889612800
+261,4.350000000,HOLD_POSE2,764,743,711,675.447459033,663,630,878.552540967,783.447459033,802,650,630,651,0.451587192987,0.00450199651492,0.0497992316902,0.999999945514,9.77430127883e-05,-0.000314359708951,2.44316573002e-05,1793196706906279424
+262,4.366666667,HOLD_POSE2,764,743,711,675,663,630,879,783,802,650.141276812,630,650.858723188,0.451587718778,0.00450181168044,0.0497994434604,0.999999945526,9.74630373528e-05,-0.000314440529645,2.39837246012e-05,1793196706922945792
+263,4.383333333,HOLD_POSE2,764,743,711,675,663,630,879,783,802,650.721555339,630,650.278444661,0.451590604305,0.00450367375396,0.0498019187329,0.999999946723,9.85105598264e-05,-0.000310293468705,2.38384467584e-05,1793196706939612416
+264,4.400000000,HOLD_POSE2,763.701170417,743,711.298829583,675,663,630,878.701170417,783,801.701170417,650.701170417,630,650.298829583,0.451590664192,0.00450431697551,0.0498018946827,0.999999946723,9.93023045545e-05,-0.00031004106827,2.38251965377e-05,1793196706956279296
+265,4.416666667,HOLD_POSE2,763.126667688,743,711.873332312,675,663,630,878.126667688,783,801.126667688,650.126667688,630,650.873332312,0.451588117397,0.00450383579435,0.0497995649833,0.999999945624,9.98580918051e-05,-0.000313381529626,2.39337430691e-05,1793196706972946176
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,675,663,630,879,784,802,650,630,651,0.451587435026,0.00450363563162,0.0498007343127,0.999999946069,9.83419715062e-05,-0.000312386365992,2.46272763757e-05,1793196707005054976
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711.580877265,675.580877265,662.419122735,630,878.419122735,784,802,650,630,651,0.451587366735,0.00450383990149,0.0498000459965,0.999999945781,9.97234980432e-05,-0.000312885476685,2.43955202677e-05,1793196707021721600
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711.840191128,675.840191128,662.159808872,630,878,784,802,650,630,651,0.451587475279,0.00450380002673,0.0497995190776,0.999999945628,0.000100539246249,-0.000313124247804,2.42638465232e-05,1793196707038388224
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711.266300798,675.266300798,662.733699202,630,878,784,802,650,630,651,0.451588042025,0.00450312754784,0.0497994103558,0.999999945827,9.98890040834e-05,-0.00031268845204,2.43914965717e-05,1793196707055055104
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.308958066,743,711,675,663,630,878.308958066,783.691041934,802,650,630,651,0.45158802305,0.00450247949572,0.0497996183293,0.999999945912,9.86629387338e-05,-0.000312793928635,2.45446221374e-05,1793196707071721728
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.527787595,742.527787595,711,675.472212405,663,630,878.527787595,783,802,650.472212405,630,651,0.451588118462,0.00450262246132,0.049800187217,0.999999946072,9.68884676524e-05,-0.000312867636086,2.41140761558e-05,1793196707105054976
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742.060550095,711,675.939449905,663,630,878,783.060550095,801.939449905,650.939449905,630,651,0.451588768015,0.00450356221235,0.0498001371213,0.999999946233,9.72817094265e-05,-0.000312280608103,2.34634610123e-05,1793196707121721600
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+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711,675.217242999,663,630,878,783.782757001,801.217242999,650,630,650.782757001,0.451583623638,0.00450350101921,0.0497978578251,0.99999994479,9.91441922266e-05,-0.000316234430744,2.42160173403e-05,1793196707155054848
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711,675.791160461,663,630,878,783.208839539,801.791160461,650,630,650.208839539,0.451576671903,0.00450579962648,0.049793471687,0.999999942554,0.000101368096926,-0.000322588640115,2.35265129837e-05,1793196707171721472
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,764.57374175,743,711,675,665,632.42625825,877.57374175,784,801.42625825,650,630,650.42625825,0.441378168955,0.00456897564124,0.0498001900931,0.999999949177,0.000104258393309,-0.000299261822159,-3.4901139954e-05,1793196707821721856
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,743,711,675,665.230417588,633,877,784,800.769582412,650,630,651,0.424454621183,0.00458666755046,0.0498168820572,0.999999954424,0.000119339686063,-0.000273753924847,-4.43647622779e-05,1793196708205054976
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742.321024772,711,675,665,633,877.678975228,784,801,650,630,651,0.420526984922,0.00458787851577,0.0497876122548,0.999999939066,0.000106910087666,-0.000329074142571,-4.63459041862e-05,1793196708288388096
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.254022446,742.254022446,711,674.745977554,665,633,877.745977554,784.254022446,801,650,630,651,0.419760467107,0.00458863872231,0.0498009972952,0.999999942939,0.000109760138998,-0.000316217314284,-4.5611084869e-05,1793196708305054464
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.16167222,665,633,877.16167222,784,801.16167222,650.16167222,630,651,0.416112651858,0.00459787521138,0.0498122154602,0.999999947575,0.000104043330191,-0.000303023660908,-4.69301129939e-05,1793196708388388352
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,743,711,674.737290124,665,633,877.737290124,784,801.737290124,650.737290124,630,651,0.415421721175,0.00459543963876,0.0498215674115,0.999999954061,9.44388093447e-05,-0.00028405852744,-4.76481535463e-05,1793196708405054976
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.113497319,665,633,877.113497319,784,801.113497319,650.113497319,630,651,0.413982640454,0.00459404979896,0.0497837182578,0.999999932019,0.000106158625503,-0.000349780414848,-4.84272019638e-05,1793196708438388736
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,665,633,877,784.476219814,801,650,630,651,0.413310462986,0.00459640286299,0.0497674133472,0.999999922645,0.000112209865975,-0.000373730140014,-4.94349813211e-05,1793196708455055104
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.560792022,743,711,674,664.560792022,633,877,784,801.878415957,650,629.439207978,651,0.406709485266,0.00458688203349,0.0498015799024,0.999999936505,9.09116650032e-05,-0.000341263468832,-4.75812129902e-05,1793196708655054848
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,664.06645287,633,877,785,801,650,630,651,0.40440656761,0.0045870314125,0.0498109482134,0.999999944184,8.16739526548e-05,-0.000319922002755,-5.11088874938e-05,1793196708755054848
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,665.025983004,633,877,784.487008498,801,650,630,651,0.404109968138,0.00458708829456,0.0498323927903,0.999999951996,8.28793377302e-05,-0.000294358678911,-4.99134999564e-05,1793196708771721216
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.752515433,743,711,674.752515433,665,633,877,784,801,650,629,651,0.403259375625,0.00459651311576,0.0498416736142,0.99999995081,9.68040769289e-05,-0.000294024147034,-5.05840746148e-05,1793196708821721344
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.473439365,742.526560635,711,674,664.473439365,633,877,784.526560635,801,650,629.526560635,651,0.401130627592,0.00456757076311,0.0498338712578,0.999999955424,2.6852153677e-05,-0.000295395120048,-3.42479383777e-05,1793196709088388608
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.118245413,742.881754587,711,674,664,633,876.881754587,785,801,650.118245413,630,651,0.401091556585,0.00456754083812,0.0498352610831,0.999999955744,2.77989226662e-05,-0.000294217268535,-3.4298926892e-05,1793196709105055232
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,742.268557388,711,674,664,633,876,784.731442612,801,650.731442612,630,651,0.401042081403,0.00457033324622,0.0498395048207,0.99999995848,2.65306408578e-05,-0.000284713389395,-3.57000281806e-05,1793196709138388480
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+419,6.983333333,POSE2_TO_POSE3_RETREAT,764.777197977,743,711,674,664,633,877,784.777197977,801,651,629.777197977,651,0.40097565031,0.00456963397315,0.0498509821311,0.999999964281,2.81768958628e-05,-0.00026325068734,-3.66411059015e-05,1793196709555055104
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+422,7.033333333,POSE2_TO_POSE3_RETREAT,764.525053309,743,711,674,665,633,877,784,801,650,629,651,0.400976016252,0.00456555995267,0.0498504837177,0.999999964654,2.29102521042e-05,-0.000262390336174,-3.63148052627e-05,1793196709605054720
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+424,7.066666667,POSE2_TO_POSE3_RETREAT,764.316346978,743,711,674,665,633,876.316346978,784,801,650,629,651,0.400974661628,0.00456768699203,0.04985074854,0.999999964389,2.60306639279e-05,-0.000263046647179,-3.67529133955e-05,1793196709638387712
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3827e9963a9b14168e99f00568c92ebec27da537
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,426 @@
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+409,6.816666667,pose2_to_pose3_retreat,0.578253325441,0.0100012276531,1.0400115042,0.548824559962,0.0186748924233,1.03966103927
+410,6.833333333,pose2_to_pose3_retreat,0.578253237899,0.0100012390218,1.04001149498,0.548824472213,0.0186749031032,1.03966103036
+411,6.850000000,pose2_to_pose3_retreat,0.578253227756,0.010001240339,1.04001149391,0.548824462046,0.0186749043406,1.03966102933
+412,6.866666667,pose2_to_pose3_retreat,0.578253152289,0.0100012501397,1.04001148596,0.5488243864,0.0186749135475,1.03966102164
+413,6.883333333,pose2_to_pose3_retreat,0.578253006781,0.0100012690362,1.04001147064,0.548824240549,0.018674931299,1.03966100682
+414,6.900000000,pose2_to_pose3_retreat,0.578252805278,0.0100012952046,1.04001144942,0.54882403857,0.0186749558819,1.0396609863
+415,6.916666667,pose2_to_pose3_retreat,0.578252725072,0.0100013056206,1.04001144097,0.548823958175,0.0186749656668,1.03966097813
+416,6.933333333,pose2_to_pose3_retreat,0.578252704507,0.0100013082912,1.0400114388,0.548823937562,0.0186749681757,1.03966097604
+417,6.950000000,pose2_to_pose3_retreat,0.578252702622,0.0100013085361,1.04001143861,0.548823935672,0.0186749684057,1.03966097585
+418,6.966666667,pose2_to_pose3_retreat,0.57825264297,0.0100013230906,1.0400114473,0.548823875925,0.0186749826701,1.03966098535
+419,6.983333333,pose2_to_pose3_retreat,0.578252534026,0.0100013554635,1.04001147593,0.548823766846,0.0186750146658,1.03966101597
+420,7.000000000,pose2_to_pose3_retreat,0.578252446477,0.0100013814787,1.04001149894,0.548823679189,0.0186750403777,1.03966104057
+421,7.016666667,pose2_to_pose3_retreat,0.578252407379,0.0100013930969,1.04001150921,0.548823640042,0.0186750518605,1.03966105156
+422,7.033333333,pose2_to_pose3_retreat,0.578252327009,0.0100014169787,1.04001153033,0.548823559574,0.018675075464,1.03966107414
+423,7.050000000,pose2_to_pose3_retreat,0.578252207769,0.0100013437905,1.04001161037,0.548823440929,0.0186750041449,1.03966115041
+424,7.066666667,pose2_to_pose3_retreat,0.578252116546,0.0100012593952,1.04001168434,0.548823350357,0.018674921776,1.03966121993
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ebf27a9039cdd75d7ecec95ecf3ed9158b595181
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41e274d94b377a5b1ddc6d4109e78f6c38f20b95a1fcad3127fd3a92de21d8c2
+size 26684623
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..96c855a4a65677dffb7e17d5b1cd358cc96b4942
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_01/franka_data.csv
@@ -0,0 +1,422 @@
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+21,0.350000000,BASELINE,764,743,712,674,663.791316151,633,877,784.208683849,801.791316151,650,629,651,0.400998186794,0.00446923010767,0.069836518819,0.999999982198,2.71637068307e-05,-0.00018471481148,2.73325534991e-05,1793196711663776256
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+27,0.450000000,BASELINE,764,743,712,674,663,633,877.312407212,784,801,649.687592788,630,651,0.400996232174,0.00446884425073,0.0698349460778,0.999999981733,2.50376020014e-05,-0.000187478078257,2.75534346706e-05,1793196711763776256
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+29,0.483333333,BASELINE,764,743,712,673.153147771,663,633,877,784,801,650,630,651,0.400996535837,0.00447009784686,0.0698354730916,0.999999981871,2.72332512578e-05,-0.000186478009811,2.72633389615e-05,1793196711797109760
+30,0.500000000,BASELINE,764,743,712,673.420903577,663,633.420903577,877,784,801,650,629.579096423,651,0.400996375445,0.00446964183144,0.0698357708726,0.999999981926,2.67944957551e-05,-0.000186245443063,2.72447900497e-05,1793196711813776384
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+48,0.800000000,BASELINE,763.133315796,743,712,674,663,633.133315796,877,784,801,650,629.866684204,651,0.400994934072,0.004470509182,0.0698344733299,0.999999981455,2.90400014482e-05,-0.000188395264222,2.74715887863e-05,1793196712113776128
+49,0.816666667,BASELINE,763.440208049,743,712,674,663,633,877,784,801.440208049,650,629.559791951,651.440208049,0.400994844923,0.00447055472106,0.0698347217775,0.999999981453,2.85021925209e-05,-0.000188510520641,2.73151492949e-05,1793196712130442752
+50,0.833333333,BASELINE,764,743,712,674,663,633,877,784.013608648,801.986391352,650,629.013608648,651.986391352,0.400994862397,0.00447037753692,0.0698351808965,0.999999981474,2.69645334553e-05,-0.000188668632867,2.70035671404e-05,1793196712147109376
+51,0.850000000,BASELINE,764,743,712,674,663,633,877,784.607414812,801.392585188,650,629.607414812,651.392585188,0.400994488223,0.00447101014963,0.0698350548348,0.99999998146,2.74643511046e-05,-0.00018869451691,2.68276427112e-05,1793196712163776256
+52,0.866666667,BASELINE,764,743,711.803112371,674,663,633,877.196887629,784.803112371,801,650,629.803112371,651,0.400994600583,0.00447109225669,0.0698351859503,0.999999981494,2.76498717842e-05,-0.000188505900962,2.6717723059e-05,1793196712180443136
+53,0.883333333,BASELINE,764,743,711.222094019,674,663,633,877.777905981,784.222094019,801,650,629.222094019,651,0.400995662175,0.00447010031892,0.0698358188226,0.999999981619,2.72221943196e-05,-0.000187898792301,2.67365797302e-05,1793196712197109760
+54,0.900000000,BASELINE,764.356100272,743,711.356100272,674,663,633,877.643899728,784,801,650,629,651,0.400996334772,0.00446969790096,0.0698364515859,0.999999981719,2.83693735094e-05,-0.00018716936803,2.6937996806e-05,1793196712213776384
+55,0.916666667,BASELINE,764.932547078,743,711.932547078,674,663,633,877.067452922,784,801,650,629,651,0.400996766666,0.00446966026412,0.069837084282,0.999999981798,3.04910372395e-05,-0.000186364257737,2.72523779965e-05,1793196712230443008
+56,0.933333333,BASELINE,764.4963957,743,712,674,663,633,876.4963957,784,800.4963957,649.4963957,629.5036043,651.5036043,0.400995580777,0.00446908809173,0.0698362191468,0.99999998165,2.86623934828e-05,-0.000187453152584,2.71964827315e-05,1793196712247109632
+57,0.950000000,BASELINE,764,743,712,674,663,633,876.076917316,784,800.076917316,649.076917316,630,651.923082684,0.400994567967,0.00446861840597,0.0698354493048,0.999999981526,2.67992797718e-05,-0.000188400816591,2.70980913429e-05,1793196712263776256
+58,0.966666667,BASELINE,764,743,712,674,663,633,876.6701674,784,800.6701674,649.6701674,630,651.3298326,0.400996156186,0.00446931221748,0.069836651618,0.999999981805,2.82189616274e-05,-0.000186715518484,2.70438279739e-05,1793196712280442880
+59,0.983333333,BASELINE,764,743,712,674,663,633,877,784,801,650,630,651,0.400996892254,0.00446954437978,0.0698371380941,0.999999981922,2.82591100784e-05,-0.000186082323221,2.70457910484e-05,1793196712297109760
+60,1.000000000,BASELINE,764,743,712,674,663,633,877,784,801,650,630,651,0.400996561319,0.00446919849781,0.0698367282499,0.999999981838,2.65719048857e-05,-0.000186766496254,2.71181568781e-05,1793196712313776640
+61,1.016666667,BASELINE,764,743,712,674,663,633,877,784,801,650,630,651,0.400996748008,0.00447001115901,0.0698364888659,0.99999998193,2.75286618515e-05,-0.000186162934739,2.69368577818e-05,1793196712330443264
+62,1.033333333,BASELINE,764,743,712,674,663,633,877,784,801,650,630,651,0.400997146004,0.00447129676825,0.0698363190683,0.999999982089,2.95647542891e-05,-0.000185033685836,2.66520059407e-05,1793196712347109632
+63,1.050000000,BASELINE,764,743,712,674,663,633,878.145712259,784,801,650,629.427143871,651,0.400996552116,0.00447121910772,0.0698362202045,0.999999981749,3.17532246456e-05,-0.000186453894781,2.69934237715e-05,1793196712363776256
+64,1.066666667,BASELINE,764,743,712,674,663,633,878.68033877,784,801,650.159830615,629,651,0.400995943734,0.00447099130685,0.0698361066001,0.999999981488,3.24968199149e-05,-0.000187691447991,2.72072465672e-05,1793196712380442880
+65,1.083333333,BASELINE,764,743,712,674,663,633,877.524606659,784,801,650.737696671,629,651,0.400995377151,0.00447048036796,0.0698359487413,0.999999981483,2.94491130113e-05,-0.000188246391902,2.70370186079e-05,1793196712397109504
+66,1.100000000,BASELINE,764,743,712,674,663,633,877,784,801,650.686480633,629,651,0.400995438908,0.00447122763552,0.0698360331069,0.999999981499,2.93011479484e-05,-0.000188202339153,2.68981194129e-05,1793196712413776128
+67,1.116666667,BASELINE,764,743,712,674,663,633,877,784,801,650.112356455,629,651,0.400996022958,0.00447302075445,0.0698363188152,0.999999981535,3.15635179473e-05,-0.000187660385998,2.67852614461e-05,1793196712430443008
+68,1.133333333,BASELINE,764,743,712,674.464426592,663,633,877,784,801,650,629.464426592,651,0.400995857819,0.00447178338916,0.0698363868153,0.999999981622,2.95012006156e-05,-0.000187550216341,2.66560173399e-05,1793196712447109632
+69,1.150000000,BASELINE,764,743,712,675,663,633,877.085691481,784,801,650,629.957154259,651,0.40099550111,0.00446999978539,0.0698363503492,0.999999981691,2.67652782225e-05,-0.000187609775605,2.65445074979e-05,1793196712463776256
+70,1.166666667,BASELINE,764,743,712,675,663,633,878.267841894,784,801,650,629.366079053,651,0.400995025676,0.00447066181465,0.0698356549968,0.999999981461,2.88745991315e-05,-0.000188496791629,2.67109311648e-05,1793196712480442880
+71,1.183333333,BASELINE,764.220379997,743,712,675,663,633,878.559240007,784,801.220379997,650,629,651,0.40099475178,0.0044705877421,0.0698352477078,0.999999981337,2.9573947949e-05,-0.000189015363061,2.69002748297e-05,1793196712497109504
+72,1.200000000,BASELINE,764.799328438,743,712,675,663,633,877.401343123,784,801.799328438,650,629,651,0.400994805796,0.00446931599797,0.0698353091111,0.999999981393,2.79792073104e-05,-0.000188934458244,2.71269104173e-05,1793196712513776384
+73,1.216666667,BASELINE,764.624214716,743,712,674.624214716,663,633,877,784,801.624214716,650,629.375785284,651,0.400995742319,0.00446844649339,0.0698361304668,0.999999981645,2.61102647955e-05,-0.000187848737754,2.72221829018e-05,1793196712530443008
+74,1.233333333,BASELINE,764.049079669,743,712,674.049079669,663,633,877,784,801.049079669,650,629.950920331,651,0.400997147,0.00446779037235,0.0698373549684,0.999999981998,2.40958614395e-05,-0.00018622997413,2.72477687599e-05,1793196712547109632
+75,1.250000000,BASELINE,764.523913743,743,712,674,663,633,877,784,801,650,630,651,0.400996582294,0.00446954922531,0.0698373781414,0.999999981849,2.82457367124e-05,-0.000186431276066,2.73397999638e-05,1793196712563776256
+76,1.266666667,BASELINE,764.899659305,743,712,674,663,633,877.100340695,784,801,650,629.899659305,651,0.400995890913,0.00447111401041,0.0698371815137,0.999999981661,3.17929561215e-05,-0.000186865689474,2.7370364546e-05,1793196712580442880
+77,1.283333333,BASELINE,764.30534554,743,712,674,663,633,877.69465446,784,801,650,629.30534554,651,0.400995480457,0.00447061421019,0.0698364545867,0.999999981598,2.9542073226e-05,-0.000187611745074,2.70678131658e-05,1793196712597109504
+78,1.300000000,BASELINE,764,743,712,674,663,633,877.719454736,784,801,650,629.280545264,651,0.400995405789,0.00446973951867,0.0698359696277,0.999999981557,2.78207709288e-05,-0.000188116209759,2.69148782908e-05,1793196712613776384
+79,1.316666667,BASELINE,764,743,712,674,663,633,877.142464301,784,801,650,629.857535699,651,0.40099568594,0.0044684686889,0.0698357403502,0.999999981542,2.66590633588e-05,-0.000188365391314,2.69200394572e-05,1793196712630442752
+80,1.333333333,BASELINE,764,743,712,674,663,633,877.433945132,784,801,649.566054868,629.566054868,651,0.400995828306,0.00446873645602,0.0698361729618,0.999999981633,2.77183279878e-05,-0.00018772234038,2.69513925047e-05,1793196712647109632
+81,1.350000000,BASELINE,764.010370534,743,712,674,663,633,877.989629466,784,801,649.010370534,629,651,0.400995913961,0.00446949468091,0.0698368043886,0.99999998175,2.94700433238e-05,-0.000186824626785,2.6993191629e-05,1793196712663776512
+82,1.366666667,BASELINE,764.598291295,743,712,674,663,633,877.401708705,784,801,649.598291295,629,651,0.400995357168,0.0044694738566,0.0698364226433,0.999999981526,2.92324450362e-05,-0.00018803572132,2.71385083411e-05,1793196712680443136
+83,1.383333333,BASELINE,764.816904983,743,712,674.183095017,663,633,877,784,801,650,629,651,0.400994961517,0.00446899509255,0.0698361816246,0.999999981437,2.81254116715e-05,-0.000188657525456,2.72487533403e-05,1793196712697109504
+84,1.400000000,BASELINE,764.238825433,743,712,674.761174567,663,633,877,784,801,650,629,651,0.400994913494,0.00446752843095,0.0698362441902,0.999999981638,2.51427761037e-05,-0.000188008074067,2.72833393764e-05,1793196712713776128
+85,1.416666667,BASELINE,764,743,711.662689865,674.662689865,663,633,877.337310135,784,801,650,629,650.662689865,0.400994428464,0.00446817161827,0.0698360779894,0.999999981519,2.59860010928e-05,-0.000188555274605,2.70958405056e-05,1793196712730443008
+86,1.433333333,BASELINE,764,743,711.08792284,674.08792284,663,633,877.91207716,784,801,650,629,650.08792284,0.400993635794,0.00447030008024,0.0698357507434,0.999999981167,2.95225249677e-05,-0.00018994488463,2.67520000764e-05,1793196712747109632
+87,1.450000000,BASELINE,764,743,711.487093636,674,662.512906364,633,877.512906364,784,801,650,629,650.487093636,0.400994533879,0.00447040952765,0.0698363134124,0.999999981354,2.95975568033e-05,-0.000188889312355,2.71610761101e-05,1793196712763776256
+88,1.466666667,BASELINE,764,743,712,674,662.064468806,633,876.935531194,783.935531194,801.064468806,649.935531194,629.064468806,651,0.400995677993,0.00447018121922,0.0698369409581,0.999999981626,2.90194255241e-05,-0.000187471582125,2.75825985526e-05,1793196712780443136
+89,1.483333333,BASELINE,764,743,712,674,662.66093626,633,876.33906374,783.33906374,801.66093626,649.33906374,629.66093626,651,0.400996332612,0.00447017466883,0.0698367776312,0.999999981808,2.82100200617e-05,-0.000186709358934,2.69847605584e-05,1793196712797109504
+90,1.500000000,BASELINE,764,743,712,674,663,633,876.247974576,783.247974576,802,649,629.752025424,651,0.400996554948,0.00446993510856,0.0698364948292,0.999999981784,2.75578602384e-05,-0.000186969445976,2.67529937011e-05,1793196712813776384
+91,1.516666667,BASELINE,764,743,712,674,663,633,876.82259236,783.82259236,802,649,629.17740764,651,0.400996207863,0.00446938861725,0.0698360546492,0.999999981487,2.71128314715e-05,-0.000188576165864,2.70034321743e-05,1793196712830443008
+92,1.533333333,BASELINE,764,743,712,674,663,633,877,784,801.602389961,649,629.397610039,651,0.400996397649,0.00446966229652,0.0698361522962,0.999999981538,2.71407326196e-05,-0.000188308000329,2.69575907763e-05,1793196712847109632
+93,1.550000000,BASELINE,764,743,712,674,663,633,877,784,801.027193626,649,629.972806374,651,0.400996827219,0.00447030229208,0.0698364901552,0.999999981744,2.73798604695e-05,-0.000187202446718,2.67794206352e-05,1793196712863776256
+94,1.566666667,BASELINE,764,743,712,674,663,633,877,784,801.564410511,649.564410511,630,651,0.400996210916,0.00447119385763,0.0698360530646,0.999999981575,2.90345237196e-05,-0.000187865460328,2.6698969694e-05,1793196712880442880
+95,1.583333333,BASELINE,764,743,712,674,663,633,877,784,801.84750738,650,630,651,0.400995553547,0.00447140207125,0.0698358207991,0.999999981474,2.9451674691e-05,-0.000188339539291,2.66863654664e-05,1793196712897109760
+96,1.600000000,BASELINE,764,743,712,674,663,633,877,784,801.271468963,650,630,651,0.400994926268,0.00446967761282,0.0698362642415,0.999999981615,2.62365558622e-05,-0.000188045098239,2.68487359821e-05,1793196712913776384
+97,1.616666667,BASELINE,764,743,712,674.304261179,663,633,876.695738821,784,800.695738821,650,629.695738821,651,0.400994420016,0.00446904557933,0.0698362095562,0.999999981564,2.57039424977e-05,-0.000188388962393,2.68523543431e-05,1793196712930443264
+98,1.633333333,BASELINE,764,743,712,674.879716514,663,633,876.120283486,784,800.120283486,650,629.120283486,651,0.400994021639,0.00446938724645,0.0698357108798,0.999999981346,2.75623008193e-05,-0.000189301760935,2.67144736813e-05,1793196712947109888
+99,1.650000000,BASELINE,764,743,712,674.533885834,663,633,876.466114166,784,800.466114166,650,629,651,0.400995693707,0.00446960687752,0.0698365641689,0.999999981631,2.79175416338e-05,-0.000187726693742,2.67912490659e-05,1793196712963776512
+100,1.666666667,BASELINE,764.054415541,743,712,674,663,633,877,784,801,649.945584459,629,651,0.400997522823,0.00446973218947,0.0698375873262,0.99999998198,2.78321196731e-05,-0.00018585191547,2.69232824549e-05,1793196712980443136
+101,1.683333333,BASELINE,764.633197357,743,712,674,663,633,877,784,801,649.366802643,629,651,0.400995592942,0.00446925937497,0.0698368046185,0.999999981697,2.73280019993e-05,-0.000187424352853,2.70411803667e-05,1793196712997109760
+102,1.700000000,BASELINE,764.789093062,743,712,674,663,633,877,784.210906938,801,649.210906938,629,651,0.400994707182,0.00446897176782,0.0698365382528,0.999999981609,2.68475943036e-05,-0.000187948886943,2.71189135852e-05,1793196713013776384
+103,1.716666667,BASELINE,764.213238905,743,712,674,663,633,877,784.786761095,801,649.786761095,629,651,0.400995628139,0.00446900463811,0.0698371653501,0.999999981862,2.64082137154e-05,-0.00018666015955,2.71271469764e-05,1793196713030443008
+104,1.733333333,BASELINE,764,743,712,674,663,633,877,784.636656049,801,650,629.363343951,651,0.400995814448,0.00446953008039,0.0698372370439,0.999999981868,2.69177885104e-05,-0.000186587601175,2.69214335102e-05,1793196713047109632
+105,1.750000000,BASELINE,764,743,712,674,663,633,877,784.05964462,801,650,629.94035538,651,0.40099556874,0.00447034518378,0.069836982128,0.999999981727,2.79854044878e-05,-0.000187230221137,2.65899067891e-05,1793196713063776256
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,743,712,674,663,633,877,784,800,650,629,651,0.400994493308,0.00446757144483,0.0698358648784,0.999999981557,2.44946768433e-05,-0.000188564498806,2.69966282684e-05,1793196713094747904
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.400285215,743,712.599714785,674,663,633.599714785,877,784,801.19942957,650,629,651,0.40099482955,0.00446751133189,0.0698358967057,0.999999981489,2.67219697541e-05,-0.000188595544956,2.71910794515e-05,1793196713111414528
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,743,712.807844326,674,663,633.807844326,877,784.192155674,801.807844326,650,629,651,0.400995462183,0.00446791773607,0.0698362634887,0.999999981544,2.84721300576e-05,-0.000188040130986,2.72368493112e-05,1793196713128081152
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,743,712.230003139,674,663,633.230003139,877,784.769996861,801.230003139,650,629,651,0.400996689719,0.00446926051066,0.0698373025782,0.999999981852,2.92646134272e-05,-0.000186307602825,2.6984193294e-05,1793196713144747520
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,743,712,674.345849524,663,633,877,784.654150476,801,650,629.345849524,651,0.400996498044,0.00446908521333,0.0698373097216,0.999999981828,2.81748258962e-05,-0.000186612312567,2.69567246721e-05,1793196713161414400
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,712,674.920387267,663,633,877,784.079612733,801,650,629.920387267,651,0.400995367936,0.00446790611183,0.0698366345046,0.999999981578,2.58404126878e-05,-0.00018826411783,2.70781581195e-05,1793196713178081024
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,712,674.492905757,663,633,877,784,801,650,629.492905757,651,0.400995849433,0.00446818319208,0.0698373968227,0.999999981819,2.78389973183e-05,-0.000186660598046,2.72892127916e-05,1793196713194747648
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.094036246,743,712,674,663,633,877,784,801,650,629.094036246,651,0.400996488884,0.00446857685966,0.0698381179347,0.999999981994,2.95942514407e-05,-0.000185431735915,2.74030089975e-05,1793196713211414528
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.672111932,743,712,674,663,633,877,784,801,650,629.672111932,651,0.400996606968,0.00446836493182,0.0698374366693,0.999999981458,2.65092853061e-05,-0.000188826774065,2.69419737239e-05,1793196713228081152
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.74997734,743,712,674,663,633,877,784,801,650,629.74997734,651,0.401000485841,0.00446875514428,0.0698390618783,0.999999981209,2.60331032259e-05,-0.000190200774605,2.6990521896e-05,1793196713244748032
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.172282845,743,712,674,663,633,877,784,801,650,629.172282845,651,0.401009293485,0.0044699345029,0.0698437098803,0.99999998135,2.89759117229e-05,-0.000188926066553,2.7706914142e-05,1793196713261414656
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,743,712,674,663,633,877.410931989,784,801,650,629.410931989,651,0.401031762604,0.00446953904857,0.069854163154,0.99999998301,2.87578111335e-05,-0.000179858629802,2.83593196058e-05,1793196713278081280
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,743,712,674,663,633,877.996492784,784,801,650,629.996492784,651,0.401060037277,0.00446847436509,0.0698670834242,0.999999985185,2.71964574203e-05,-0.000167479611089,2.89845334367e-05,1793196713294747904
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,743,712,673.42492966,663,633,877.42492966,784,801,650,629.42492966,651,0.401108674865,0.00446722601113,0.0698821877196,0.999999987913,2.55068623015e-05,-0.000150469007666,2.96952296624e-05,1793196713311414528
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.846276178,743,712,673.153723822,663,633,877,784,801,650,629,651,0.401162558735,0.00446601533957,0.0698962010507,0.999999990248,2.37583909686e-05,-0.00013433345386,2.99070933377e-05,1793196713328081408
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.26729612,743,712,673.73270388,663,633,877,784,801,650,629,651,0.401230616318,0.00446491197262,0.0699071599743,0.999999992065,2.18491838122e-05,-0.00012069580692,2.87375792705e-05,1793196713344748032
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.309994619,743,712,674,663,633,877.309994619,784,801.309994619,650,629,651,0.401306801828,0.00446532335903,0.069912995482,0.999999992933,2.00037784401e-05,-0.000114045633571,2.69863940223e-05,1793196713361414400
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.885836585,743,712,674,663,633,877.885836585,784,801.885836585,650,629,651,0.401389957738,0.00446703377824,0.0699144372144,0.9999999931,1.82130887643e-05,-0.000113387827388,2.47363752196e-05,1793196713378081024
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,743,712,674,663,633.47046168,877.52953832,784,801.52953832,650,629,651,0.401482886459,0.00446597844791,0.0699120716716,0.999999992406,1.42127561369e-05,-0.000120319692387,2.25686136559e-05,1793196713394747648
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,743,712,674,662.943141684,633.943141684,877,784,801,650,629,651,0.401581843791,0.00446442708175,0.0699091095375,0.999999991485,9.6419023831e-06,-0.000128551601324,2.02645261508e-05,1793196713411414272
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,743,712,674,662.360447438,633.360447438,877,784,801,650,629,651,0.401714205547,0.00446461322635,0.0699093368037,0.999999991212,4.84795626883e-06,-0.000131449878176,1.65115591877e-05,1793196713428081152
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,743,712,674,662.219202317,633,877,784,801,650,629.219202317,651,0.401859875933,0.00446440451375,0.0699105869207,0.999999991288,-9.90555693263e-08,-0.000131400606028,1.25437635815e-05,1793196713444748032
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,743,712,674,662.793914358,633,877,784,801,650,629.793914358,651,0.402027130691,0.00446355540841,0.0699134959319,0.999999991942,-5.29431410263e-06,-0.000126570899054,8.22755199015e-06,1793196713461414656
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,743,711.631103451,674,663,633,877,784,801,650,629.631103451,651,0.4022222766,0.00446385929733,0.0699180626874,0.999999992748,-1.04024667694e-05,-0.000119937861221,3.37010797406e-06,1793196713478081024
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,743,711.055970175,674,663,633,877,784,801,650,629.055970175,651,0.402433015457,0.00446480778361,0.0699235562282,0.999999993574,-1.54619221799e-05,-0.000112296645829,-1.78991993149e-06,1793196713494747648
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,743,711.534202753,674,663,633,877,784,801,650,629.534202753,651,0.402660985896,0.00446280426058,0.0699237028773,0.9999999932,-2.39642703693e-05,-0.000113911061757,-7.04115909893e-06,1793196713511414272
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,743,712,674.123241435,663,633,877.123241435,784,801.123241435,650,629.876758565,651,0.402900028428,0.00446081417955,0.0699236320284,0.999999992735,-3.15142207919e-05,-0.000115707282942,-1.21890177685e-05,1793196713528081152
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,743,712,674.702092958,663,633,877.702092958,784,801.702092958,650,629.297907042,651,0.403173135588,0.00446005033275,0.0699248881494,0.999999992719,-3.41710776351e-05,-0.000114486730936,-1.69183387401e-05,1793196713544748032
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,743,712,674.72183501,663,633,877.72183501,784,801.72183501,650,629,651,0.403475515747,0.00446082979621,0.0699317762918,0.999999994239,-2.51312026656e-05,-0.000102699759737,-1.85272606407e-05,1793196713561414656
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743,712,674.14871032,663,633,877.14871032,784,801.14871032,650,629,651,0.403808936299,0.00446324575008,0.0699446364989,0.999999996675,-3.68838458902e-06,-7.97084028713e-05,-1.68273834957e-05,1793196713578081536
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,743,712,674,663,633,877.436057341,784,801,649.563942659,629,651,0.404159456678,0.00446770568445,0.0699504968286,0.999999997098,9.19025215336e-06,-7.32998637129e-05,-1.8607281379e-05,1793196713594747904
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.97554459,743,712,674,663,633,877.97554459,784,801,649.02445541,629,650.97554459,0.404518222886,0.00447273475622,0.0699540471408,0.999999997015,1.73810355731e-05,-7.21349351899e-05,-2.15561578242e-05,1793196713611414528
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.397317224,743,712,674,663,633,877.397317224,784,801,649.602682776,629,650.397317224,0.404928034371,0.00447443396724,0.0699608279957,0.999999997957,-1.26300900954e-05,-5.81345366608e-05,-2.33660820101e-05,1793196713628081152
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.181118555,743.181118555,712,674,663.181118555,633,877.181118555,784,801,649.818881445,629,650.181118555,0.405345180852,0.0044770299079,0.0699652927858,0.999999998169,-2.64234584838e-05,-4.85231596379e-05,-2.46971821664e-05,1793196713644747776
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.760011979,743.760011979,712,674,663.760011979,633,877.760011979,784,801,649.239988021,629,650.760011979,0.40577843649,0.00448159525734,0.0699646710042,0.999999998499,-4.59917875823e-06,-4.85510092461e-05,-2.49766827189e-05,1793196713661414400
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.663764656,743.663764656,712,674,663.663764656,633,878,784,800.663764656,649.336235344,629,651,0.406226460379,0.00448705050902,0.0699557499826,0.999999997426,1.34049946201e-05,-6.56811128897e-05,-2.55711814272e-05,1793196713678081024
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.089431971,743.089431971,712,674,663.089431971,633,878,784,800.089431971,649.910568029,629,651,0.40668494211,0.00449313592502,0.0699409520446,0.999999994735,2.87040496152e-05,-9.49217850708e-05,-2.63887388607e-05,1793196713694747648
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.49689009,743,712,674,663,633,877.50310991,784,800.49689009,650,629.49689009,651,0.407200313554,0.00449731510473,0.0699285449869,0.999999993469,2.67054685081e-05,-0.000107321615476,-2.88335122914e-05,1793196713711414528
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,743,712,674,663,633,877,784,801,650,629.915979256,651,0.407736538625,0.00450110557872,0.0699199025615,0.99999999298,2.27502675834e-05,-0.000111955692146,-3.14442884232e-05,1793196713728081152
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743,712,674,663,633,877,784,801,650,629.337109417,651,0.408333787614,0.00450467736293,0.0699308352605,0.999999995134,2.60607477617e-05,-8.91457560229e-05,-3.32652073022e-05,1793196713744747776
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,712,674,663,633,877.240099358,784,801,650,629,650.759900642,0.40894153657,0.00450763998753,0.0699425751323,0.999999996906,2.96236658642e-05,-6.40945928646e-05,-3.46676068852e-05,1793196713761414400
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,712,674,663,633,877.81499192,784,801,650,629,650.18500808,0.409563926585,0.00450975320315,0.0699554405205,0.999999998163,3.35385817989e-05,-3.59182766209e-05,-3.54864253897e-05,1793196713778081024
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,712,674.397196439,663,633,878,784,801,650,629,650.397196439,0.410189580072,0.00451618418058,0.0699508425458,0.999999997663,3.87047720029e-05,-4.27658401275e-05,-3.67052891691e-05,1793196713794747648
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,743,712,674.982870612,663,633,878,784,801,650,629,650.982870612,0.410816782124,0.00452466402317,0.0699379578524,0.999999996092,4.44647170056e-05,-6.62329429483e-05,-3.81139824814e-05,1793196713811414272
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,743,712,674.437079796,663.562920204,633,878.562920204,784,801,650,629,650.437079796,0.411509056376,0.00453174693174,0.0699448120337,0.999999996167,5.31915461569e-05,-5.74798571805e-05,-3.91442693765e-05,1793196713828080896
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.14271898,743,712,674.14271898,663.85728102,633,878.85728102,784,800.85728102,650,629.14271898,650.14271898,0.412221313381,0.00453848663616,0.0699583307361,0.999999996595,6.21001273497e-05,-3.68563793963e-05,-3.99388956502e-05,1793196713844747520
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.722268636,743,712,674.722268636,663.277731364,633,878.277731364,784,800.277731364,650,629.722268636,650.722268636,0.412988732234,0.00454430468896,0.0699904277865,0.99999999651,7.12914132589e-05,1.71284625089e-05,-4.00471128594e-05,1793196713861414144
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.700482844,743,712,675.299517156,663,633,878,784.299517156,800.299517156,649.700482844,629.700482844,651,0.413747287144,0.00455071405939,0.0700109603373,0.999999994784,7.97757320004e-05,4.93998634671e-05,-4.03430823827e-05,1793196713878081024
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.125351752,743,712,675.874648248,663,633,878,784.874648248,800.874648248,649.125351752,629.125351752,651,0.414497685592,0.0045576675575,0.0700208513068,0.999999993427,8.76095048802e-05,6.16906891622e-05,-4.08118205767e-05,1793196713894748160
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.459012204,743,712,675.540987796,663.459012204,633,878,784.540987796,801,649.459012204,629.459012204,651,0.415215691019,0.00456731112781,0.0699760483532,0.999999994339,9.52642182582e-05,-2.00314095265e-05,-4.29551160199e-05,1793196713911414528
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743,712,675.045605454,664,633,878,784.045605454,801.045605454,650,629.954394546,651,0.415933524396,0.00457727398481,0.0699198135855,0.999999986422,0.000102848417403,-0.000120435415572,-4.55326854654e-05,1793196713928081408
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743,712,675.628150589,664,633,878,784.628150589,801.628150589,650,629.371849411,651,0.416755622354,0.00458216919308,0.069908449898,0.999999984037,0.000110189967608,-0.000132312406401,-4.77285789753e-05,1793196713944748032
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,743,712,675.792283456,664,633,878,784.792283456,801.792283456,650,629,651,0.417588962356,0.00458693983165,0.0699136406137,0.999999984919,0.000115579433187,-0.000120010710853,-4.90080750853e-05,1793196713961414656
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,712,675.217975386,664,633,878,784.217975386,801.217975386,650,629,651,0.41844214299,0.00459149062127,0.0699480476066,0.999999989795,0.00011752373352,-6.50369122967e-05,-4.86702538584e-05,1793196713978081280
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743.35718082,712,675,664,633,878.35718082,784.35718082,801,649.64281918,629,651,0.419305931792,0.00459379244689,0.0699768685342,0.999999991284,0.000120774215657,-2.36944274974e-05,-4.7800793401e-05,1793196713994747648
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,743.932855825,712,675,664,633,878.932855825,784.932855825,801,649.067144175,629,651,0.420176209779,0.00459471853902,0.0700022723598,0.99999999108,0.000124823713598,9.30952576425e-06,-4.66061193177e-05,1793196714011414272
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743.477173458,712,675,664,633,878.477173458,784.477173458,801,649.522826542,629,651,0.421074406903,0.00459335290334,0.0700175946596,0.999999991356,0.000117152119461,3.53206977158e-05,-4.8116088619e-05,1793196714028081152
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743,712,675.111912758,664,633,878,784.111912758,801,650,629,651,0.421960436148,0.00459008520859,0.0700213095729,0.999999991942,0.000108615212162,4.30774199848e-05,-4.96247838848e-05,1793196714044747520
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743,712,675.689465058,664,633,878,784.689465058,801,650,629,651,0.422780499992,0.00458016254295,0.0699822676418,0.999999993246,0.000102917129606,-2.12762356586e-05,-4.96423401483e-05,1793196714061414400
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743,712,675.733753862,663.733753862,633,878,784.733753862,801,650,629.266246138,651,0.423588588324,0.00457314784987,0.0699249155291,0.99999998812,9.3833283486e-05,-0.000110890255713,-5.15664982156e-05,1793196714078081280
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,712,675.15786962,663.15786962,633,878,784.15786962,801,650,629.84213038,651,0.424382749519,0.00456951506039,0.0698462690933,0.99999996876,8.08118712136e-05,-0.00022988150341,-5.57079897737e-05,1793196714094747904
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,712,675.426920338,663.426920338,633,878,784,801,650,629.573079662,651,0.42526819815,0.00456968157141,0.0698553310581,0.999999973949,7.60495736465e-05,-0.000207479787671,-5.71917183435e-05,1793196714111414784
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743,712,676,664,633,878,784,801.014848261,650,629,651,0.426188937398,0.00457132371748,0.0698979425723,0.999999986886,7.46282807075e-05,-0.000131694914551,-5.75776827249e-05,1793196714128081408
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743,712,676,664,633,878,784,801.594207577,650,629,651,0.427140645752,0.00457451592885,0.0699567170394,0.999999993591,8.16404229483e-05,-5.65204278515e-05,-5.43891622626e-05,1793196714144748032
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,712,676,664.172305899,633,878,784.172305899,802,650,629.172305899,650.827694101,0.428077655694,0.00457704656271,0.0700042588226,0.999999994766,8.77792437548e-05,7.27583547551e-06,-5.2061498598e-05,1793196714161414656
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743,712,676,664.74745603,633,878,784.74745603,802,650,629.74745603,650.25254397,0.428980301283,0.00457803045489,0.0700255390409,0.999999993452,9.18762747491e-05,4.44702669787e-05,-5.17464841187e-05,1793196714178081280
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.670679008,743,712,676,664.670679008,633,878,784.670679008,801.670679008,650,629.670679008,650.329320992,0.429841876269,0.00457886004191,0.070027194565,0.999999993385,8.9486835452e-05,4.97816156037e-05,-5.23899738644e-05,1793196714194747648
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.08355754,743,712,676,664.08355754,633,878,784.08355754,801.08355754,650,629.08355754,650.91644246,0.430671300147,0.00457956883505,0.0700134874006,0.999999994736,8.20196294421e-05,3.01341104851e-05,-5.37838040463e-05,1793196714211414528
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.497037465,743,712,676,664,633,878,784,801,650,629,651,0.431427943153,0.00458184461941,0.0699439131559,0.999999990792,8.72542669583e-05,-8.86077517892e-05,-5.4331131752e-05,1793196714228081152
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,743,712,676.076292431,664,633,878.076292431,784,801,650,629,651,0.432189858334,0.00458421664844,0.0698766529331,0.999999973633,9.34250991015e-05,-0.000202431393812,-5.50227886116e-05,1793196714244747776
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,743,712,676.653857962,664,633,878.653857962,784,801,650,629,651,0.43306576251,0.00458551264015,0.0698855056236,0.999999978648,9.18990086986e-05,-0.000175903127903,-5.75856484657e-05,1793196714261414400
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,743,712,676.769574543,664.230425457,633,878.769574543,784,801,650,629,651,0.433940591965,0.00458537861895,0.0699175222789,0.999999987348,9.04626386151e-05,-0.000117171120538,-5.82275255934e-05,1793196714278081024
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743,712,676.194499729,664.805500271,633,878.194499729,784,801,650,629,651,0.434813814083,0.00458310571521,0.0699841854788,0.999999994405,8.91604631134e-05,-1.0271692528e-05,-5.59961721455e-05,1793196714294747904
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743,712,676,665,633,878.379408179,784,801,650,629.379408179,651,0.43563070356,0.0045801681758,0.0700137968645,0.999999994324,8.27751917734e-05,3.82112730729e-05,-5.51298053144e-05,1793196714311414528
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,743,712,676,665,633,878.952719686,784,801,650,629.952719686,651,0.436418803183,0.00457689096258,0.0700244722546,0.999999994152,7.37921139044e-05,5.68394558059e-05,-5.49610396055e-05,1793196714328081152
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,743.546175206,712,676,665,633,879,784,801,650,630,651,0.437153694681,0.00457684572381,0.0700037302932,0.999999995061,7.43223322245e-05,3.40288137791e-05,-5.65403799917e-05,1793196714344747776
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.863408209,743.863408209,712,676.136591791,664.863408209,633,879,784.136591791,801.136591791,650,630,651,0.437876431451,0.00457679989601,0.0699771072854,0.999999995619,7.31170884439e-05,2.97868811025e-06,-5.83760877079e-05,1793196714361414400
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.288551637,743.288551637,712,676.711448363,664.288551637,633,879,784.711448363,801.711448363,650,630,651,0.438575513571,0.00457582010777,0.0699406749732,0.99999999524,6.35999436851e-05,-4.25578641642e-05,-6.05302317157e-05,1793196714378081280
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.287163825,743.287163825,712,677,664,633,878.712836175,784.712836175,801.712836175,649.712836175,630,651,0.439232290825,0.00457659206876,0.0699032274277,0.999999990869,6.42318934825e-05,-0.000102028915596,-6.10490465015e-05,1793196714394747648
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.863744881,743.863744881,712,677,664,633,878.136255119,784.136255119,801.136255119,649.136255119,630,651,0.4398464312,0.00457912952519,0.0698647566844,0.999999979978,7.50925792992e-05,-0.00017554380869,-5.99196991763e-05,1793196714411414528
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.56044392,743.56044392,712,677,664,633,878,784,801,649.43955608,630,651,0.440512969917,0.00457829259835,0.0698722824185,0.999999982706,7.53129715615e-05,-0.000158961599694,-6.03840953125e-05,1793196714428081408
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.015593749,743.015593749,712,677,664.015593749,633,878.015593749,784,801,650,630,651,0.441195503032,0.00457632481867,0.0698952632851,0.999999989134,7.20487742728e-05,-0.000113069243227,-6.12873306951e-05,1793196714444748032
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.608844023,743.608844023,712,677,664.608844023,633,878.608844023,784,801,650,630,651,0.441869891002,0.00457114611236,0.0699635087796,0.999999996187,6.16705940165e-05,-1.41904198675e-05,-6.01779166317e-05,1793196714461415680
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,744,712,677,664.804087503,633,879,784,801.195912497,649.804087503,630,650.804087503,0.442507571418,0.004568125672,0.0700099757612,0.999999995482,5.54881733678e-05,5.01582461824e-05,-5.86699023146e-05,1793196714478082816
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,744,712,677,664.228983876,633,879,784,801.771016124,649.228983876,630,650.228983876,0.443074204016,0.00456928258194,0.0700142901657,0.999999995625,5.74266979415e-05,4.76733708828e-05,-5.63903928959e-05,1793196714494749184
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,743.655088583,712,677.344911417,664,632.655088583,879,784,801.655088583,649,629.655088583,650.344911417,0.443576682198,0.00457084659619,0.0699896399828,0.999999996718,5.90737363236e-05,3.40230120631e-06,-5.53390632109e-05,1793196714511416064
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,743.081992725,712,677.918007275,664,632.081992725,879,784,801.081992725,649,629.081992725,650.918007275,0.44403671745,0.00457267994002,0.0699458275804,0.999999994303,6.05279346479e-05,-6.85134298793e-05,-5.51002652638e-05,1793196714528082944
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,743,712,677.4910148,664,632.5089852,879,784,801,649.5089852,629.5089852,651,0.444473994115,0.00457439548897,0.0699079596563,0.999999988245,6.15450916476e-05,-0.000128195203091,-5.73491728953e-05,1793196714544749056
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,743,712,677,663.900120312,632.900120312,879.099879688,784,801,650,629.900120312,651,0.444905942694,0.0045756802156,0.0698746809861,0.999999980259,6.20794976879e-05,-0.000179089571733,-5.96319547719e-05,1793196714561415168
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,743,712,677,663.323863263,632.323863263,879.676136737,784,801,650,629.323863263,651,0.445330601559,0.00457500393014,0.0698585572315,0.999999976789,6.06594338054e-05,-0.000197814207259,-6.00953416579e-05,1793196714578081792
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.747534112,743,712,677,663,632,879.747534112,784,801,649.747534112,629.252465888,650.747534112,0.445745754206,0.00457499347218,0.0698496744248,0.99999997523,5.87855949944e-05,-0.000205902081903,-6.07290855651e-05,1793196714594748416
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.171112486,743,712,677,663,632,879.171112486,784,801,649.171112486,629.828887514,650.171112486,0.446148708762,0.00457583738174,0.0698500829604,0.999999976449,5.63294875852e-05,-0.000200341221323,-6.15814258567e-05,1793196714611414784
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.402236756,743,711.597763244,677.402236756,663,632,878.597763244,784,801,649.402236756,630,650.402236756,0.446499892128,0.00457701969915,0.0698479735526,0.999999974913,5.79701067648e-05,-0.000207647844345,-6.08001310539e-05,1793196714628081408
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.974288954,743,711.025711046,677.974288954,663,632,878.025711046,784,801,649.974288954,630,650.974288954,0.446829218879,0.00457834488492,0.0698448011251,0.999999972074,6.13402728814e-05,-0.00022038683321,-5.93291517909e-05,1793196714644748288
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,743,711.569784908,677.430215092,662.430215092,632,878.569784908,784,801.569784908,650,630,651,0.447103689468,0.00457984128861,0.0698272643427,0.999999963581,6.37785634829e-05,-0.000255648295776,-5.84362805764e-05,1793196714661414912
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,743,711.839057988,677.160942012,662,632,879,784,801.839057988,650,630,651,0.447370067685,0.00458112597857,0.0698093662283,0.999999954306,6.55966746693e-05,-0.000289334874708,-5.80522423509e-05,1793196714678081792
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,743,711.261972317,677.738027683,662,632,879,784,801.261972317,650,630,651,0.447622196781,0.00458184241172,0.0697922817199,0.999999946098,6.59245977563e-05,-0.000316208724818,-5.89135346929e-05,1793196714694748416
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,743,711,678,662,632,879,784,801,650,629.685825663,650.685825663,0.447869003601,0.00458156151494,0.0697874702498,0.999999943682,6.6807388552e-05,-0.00032358915693,-5.88424731047e-05,1793196714711414784
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,743,711,678,662,632,879,784,801,650,629.110459705,650.110459705,0.448111385685,0.00458045147902,0.0697928620799,0.999999946458,6.8151473545e-05,-0.000314763561553,-5.79962907751e-05,1793196714728081408
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,743,711.474906751,677.525093249,661.525093249,632,878.525093249,784,801,650,629.474906751,650.474906751,0.44831628669,0.00458144895502,0.0697981733006,0.999999948393,6.94709486091e-05,-0.00030825464713,-5.80257113499e-05,1793196714744748032
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,743,711.938174319,677,661,632,878.061825681,783.938174319,801.061825681,649.938174319,630,651,0.448508581214,0.00458321559314,0.0698027517309,0.999999949853,7.11155076219e-05,-0.000303047066142,-5.83055393668e-05,1793196714761414656
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,743,711.358158332,677,661,632,878.641841668,783.358158332,801.641841668,649.358158332,630,651,0.44866985475,0.00458723204044,0.0698013488245,0.999999949162,7.55337574548e-05,-0.000304133134177,-5.89404736608e-05,1793196714778081536
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,743,711,677,660.779813659,631.779813659,879,783.220186341,801.559627318,649.220186341,630,651,0.44881832439,0.00459118362252,0.0697982400961,0.999999947585,8.06207467909e-05,-0.000307917393912,-5.93035778151e-05,1793196714794748416
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,743,711,677,660.204167146,631.204167146,879,783.795832854,800.408334293,649.795832854,630,651,0.448946123909,0.00459503048832,0.0697923775557,0.999999944534,8.67873224566e-05,-0.000316057508121,-5.92278500155e-05,1793196714811415040
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,743,711,677.378612753,660,631,878.621387247,784,800.378612753,649.621387247,629.621387247,651,0.449057671888,0.00459697452001,0.0697895543994,0.999999942488,9.18058598743e-05,-0.000321121397812,-5.89578236299e-05,1793196714828081408
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,743,711,677.965313258,660,631,878.034686742,784,800.965313258,649.034686742,629.034686742,651,0.449160287938,0.00459787274347,0.0697884017057,0.999999941009,9.61934294305e-05,-0.000324494577544,-5.85810096156e-05,1793196714844748032
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,743,711,678,660,631.544279963,878,784,801,649.544279963,629,651,0.449242107899,0.00460107121539,0.0697880371084,0.999999940065,9.71057919508e-05,-0.000327005889785,-5.92311574729e-05,1793196714861414912
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.877378377,743,711.122621623,678,660,631.877378377,878,784,801.122621623,649.877378377,629,651,0.44931858053,0.00460427600775,0.0697877841454,0.999999939499,9.83368184672e-05,-0.000328236877122,-5.9934075672e-05,1793196714878081536
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.299552857,743,711.700447143,678,660,631.299552857,878,784,801.700447143,649.299552857,629,651,0.449380053516,0.00460696769312,0.069787761762,0.999999940222,0.000101561459887,-0.000324916005327,-6.05933356577e-05,1793196714894747904
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.277256389,743,712,677.722743611,660,631,878.277256389,783.722743611,801.722743611,649,629.277256389,651,0.449431976414,0.00461068192425,0.0697870083242,0.999999939757,0.000104877021758,-0.00032506848032,-6.17885162274e-05,1793196714911414528
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.852971608,743,712,677.147028392,660,631,878.852971608,783.147028392,801.147028392,649,629.852971608,651,0.449473618902,0.00461549689744,0.0697854679266,0.999999938009,0.000108290456785,-0.000328959917201,-6.35606004348e-05,1793196714928081152
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+219,3.650000000,POSE1_TO_POSE2_PRESS,764.393000934,743,711.606999066,676.393000934,660,631.393000934,879,784,801,650,629.606999066,651,0.449548747714,0.00463124463651,0.0697833381018,0.999999934482,0.000123680793944,-0.000333589702877,-6.67669193006e-05,1793196714978082048
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+222,3.700000000,POSE1_TO_POSE2_PRESS,765,743,712,677,660,631,879,784,801,649.335711469,629,651,0.449577990935,0.00463085802095,0.0697769980551,0.999999932263,0.000120658137614,-0.000341230495314,-6.69139866108e-05,1793196715028081408
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+225,3.750000000,POSE1_TO_POSE2_PRESS,764.914913363,743,712,677,660,631,878.914913363,783.085086637,801,649.914913363,629.914913363,650.085086637,0.44958622125,0.00462963551422,0.0697764016778,0.999999931736,0.000119652640457,-0.000343233111775,-6.63495116267e-05,1793196715078081280
+226,3.766666667,POSE1_TO_POSE2_PRESS,764.334716326,743,712,677,660,631,878.334716326,783.665283674,801,649.334716326,629.334716326,650.665283674,0.449587074262,0.00463142675726,0.0697761719731,0.999999931153,0.000123558058143,-0.000343603482033,-6.60588045938e-05,1793196715094748416
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.243241107,742.756758893,711.756758893,677.243241107,659.756758893,631.243241107,878.243241107,784,801,649.243241107,629,651,0.449587902736,0.00463173955761,0.0697756663673,0.999999930719,0.000124935886564,-0.000344409974923,-6.58409095784e-05,1793196715111415040
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.818144775,742.181855225,711.181855225,677.818144775,659.181855225,631.818144775,878.818144775,784,801,649.818144775,629,651,0.449588697754,0.00463003648111,0.0697747845669,0.999999930499,0.000122867312397,-0.000345811126941,-6.5722294758e-05,1793196715128081664
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,742.401580196,711,677.598419804,659.401580196,631.598419804,879,784,801.401580196,650,629.401580196,651,0.44958894816,0.00462929329343,0.0697739465532,0.999999930299,0.000121154543786,-0.000347020831181,-6.55679238906e-05,1793196715144748032
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,742.988963064,711,677.011036936,659.988963064,631.011036936,879,784,801.988963064,650,629.988963064,651,0.449588946585,0.00462899422607,0.0697731287987,0.999999930107,0.000119606398948,-0.000348141956539,-6.5397009459e-05,1793196715161414656
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.429300686,743.570699314,711,677,659.429300686,631,879,784,801.429300686,650,630,651,0.449589395721,0.00462794971206,0.0697740005335,0.999999930605,0.000118684835827,-0.000347064479099,-6.51909587518e-05,1793196715178081024
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743.850582409,711,677,659,631.149417591,879,784,801,650,629.850582409,651,0.449589889975,0.00462705896853,0.0697746566634,0.99999993096,0.000118182400714,-0.00034626739616,-6.4894558389e-05,1793196715194747904
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743.280064965,711,677,659,631.719935035,879,784,801,650,629.280064965,651,0.449590487063,0.00462664182409,0.0697746139779,0.999999930881,0.000118827367398,-0.000346379199774,-6.43454241816e-05,1793196715211414784
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.295007394,743,711.295007394,677,659,632,879,783.704992606,801.295007394,650,629.295007394,651,0.449590374243,0.00462675080882,0.069774157871,0.999999930649,0.000119222090984,-0.000346955076521,-6.41148833671e-05,1793196715228081408
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.874471837,743,711.874471837,677,659,632,879,783.125528163,801.874471837,650,629.874471837,651,0.449589576905,0.00462736710672,0.0697733031278,0.99999993027,0.000119375520986,-0.000347978429777,-6.41915420316e-05,1793196715244748288
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.536193999,742.536193999,712,677,659,631.536193999,879,783,801.536193999,650,629.536193999,651,0.449590907329,0.00462683315783,0.0697735094216,0.999999930442,0.000119526432514,-0.00034741042618,-6.43006467814e-05,1793196715261414912
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.054009947,742.054009947,712,677,659,631,879,783.054009947,801,650,629.054009947,651,0.449592648275,0.0046261602957,0.0697739611265,0.999999930739,0.00011964050086,-0.000346491374642,-6.44419376675e-05,1793196715278081536
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.62636798,742.62636798,712,677,659,631,879,783.62636798,801,650,629.62636798,651,0.44959268211,0.00462720695162,0.0697739521597,0.999999930765,0.000119407659248,-0.00034642661442,-6.48060171525e-05,1793196715294747904
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.798657284,743,712,677.201342716,659,631.201342716,879,784,801,650,629.798657284,651,0.449592579892,0.00462735876572,0.0697737515819,0.999999930787,0.00011840115728,-0.000346678278676,-6.49690744021e-05,1793196715311414272
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.218762827,743,712,677.781237173,659,631.781237173,879,784,801,650,629.218762827,651,0.449592221877,0.00462582815522,0.0697731907489,0.999999930796,0.000115940068431,-0.000347524864073,-6.47541824337e-05,1793196715328080896
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,712,677.64298327,659,631.64298327,879,784,801,650,629,651,0.449591566457,0.0046255009357,0.069772883428,0.999999930603,0.000115367340099,-0.00034825911745,-6.48000713361e-05,1793196715344748032
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,743,712,677.069696419,659,631.069696419,879,784,801,650,629,651,0.449590730878,0.00462590269473,0.0697727296773,0.999999930292,0.000115938524517,-0.0003489253234,-6.50039335455e-05,1793196715361414912
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,712,677,659.52356332,631,879,783.47643668,801,650,629.52356332,651,0.449591142749,0.00462607144249,0.0697732180228,0.999999930307,0.000117761419757,-0.000348318476369,-6.4746111214e-05,1793196715378081792
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,743,712,677.11586387,659.88413613,631.11586387,879,783.11586387,801.11586387,649.88413613,630,651,0.449591650846,0.00462601608796,0.0697736122128,0.999999930404,0.000118745397466,-0.000347748168691,-6.45219805856e-05,1793196715394748672
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,743,712,677.693330143,659.306669857,631.693330143,879,783.693330143,801.693330143,649.306669857,630,651,0.449591854487,0.00462519638672,0.0697732772453,0.999999930654,0.000115696950283,-0.000348025373458,-6.46866428097e-05,1793196715411415296
+246,4.100000000,HOLD_POSE2,764,743,711,677,659,631,879,784,801,650,630,651,0.449592420149,0.00462504470669,0.0697733571119,0.999999930385,0.000114916561788,-0.000349137143454,-6.42527459125e-05,1793196715449361152
+247,4.116666667,HOLD_POSE2,764.591133991,743,711,677,659,631,879,783.408866009,801,650,630,651,0.449592923729,0.00462519814985,0.0697732959413,0.999999930807,0.000114812414124,-0.000347920330878,-6.4459112117e-05,1793196715466027776
+248,4.133333333,HOLD_POSE2,765,743.178650697,711,677,659,631,879,783.178650697,801,650,630,651,0.449593059631,0.00462514958895,0.0697730255692,0.999999930997,0.00011459192707,-0.000347428141803,-6.45613921879e-05,1793196715482694656
+249,4.150000000,HOLD_POSE2,765,743.758053176,711,677,659,631,879,783.758053176,801,650,630,651,0.449592370749,0.00462464788973,0.0697722859135,0.999999930666,0.000114110465822,-0.000348561438222,-6.44301848051e-05,1793196715499361280
+250,4.166666667,HOLD_POSE2,764.664809022,743.664809022,711,677.335190978,659,631,879,784,801,650,630,651,0.449591920575,0.00462451321933,0.0697720330867,0.999999930466,0.000114231190555,-0.000349106223285,-6.43759027419e-05,1793196715516028160
+251,4.183333333,HOLD_POSE2,764.089294969,743.089294969,711,677.910705031,659,631,879,784,801,650,630,651,0.449591641548,0.00462464169894,0.0697721293033,0.99999993036,0.000114783666754,-0.000349229061183,-6.43767741083e-05,1793196715532695296
+252,4.200000000,HOLD_POSE2,764.495215959,743,711.495215959,677.504784041,659,631,879,784,801.495215959,650,630,651,0.4495920041,0.00462338433246,0.06977234964,0.999999930431,0.000114245056189,-0.000349274663295,-6.39788455198e-05,1793196715549362432
+253,4.216666667,HOLD_POSE2,765,743,712,677.080396508,659,631,879,784,801.919603492,650,630,651,0.449592462325,0.00462218230217,0.0697725705993,0.999999930563,0.00011355828187,-0.00034919109492,-6.35924669282e-05,1793196715566029568
+254,4.233333333,HOLD_POSE2,765,743,712,677.659481702,659,631,879,784,801.340518298,650,630,651,0.449592783135,0.00462290222457,0.0697726540265,0.999999930873,0.000113195397588,-0.000348394283902,-6.37320310653e-05,1793196715582695936
+255,4.250000000,HOLD_POSE2,764.762760165,743.237239835,712,677.762760165,659,631,878.762760165,784,801,649.762760165,630,651,0.449593225724,0.00462313296113,0.0697727058054,0.999999931145,0.000112542848152,-0.000347804338421,-6.38418992359e-05,1793196715599362048
+256,4.266666667,HOLD_POSE2,764.186896259,743.813103741,712,677.186896259,659,631,878.186896259,784,801,649.186896259,630,651,0.449593842133,0.00462266545866,0.0697727124109,0.999999931363,0.00011147684544,-0.000347509662351,-6.39093808824e-05,1793196715616028160
+257,4.283333333,HOLD_POSE2,764,743.610400146,711.610400146,677.389599854,659,631,878.389599854,784,801.389599854,649.389599854,629.610400146,650.610400146,0.449594070076,0.00462293026906,0.0697729898977,0.999999931323,0.000112066065838,-0.000347427767405,-6.39440418911e-05,1793196715632694528
+258,4.300000000,HOLD_POSE2,764,743.033600211,711.033600211,677.966399789,659,631,878.966399789,784,801.966399789,649.966399789,629.033600211,650.033600211,0.449594111365,0.00462354695078,0.069773397541,0.999999931159,0.000113450609587,-0.000347448112315,-6.39629328126e-05,1793196715649361152
+259,4.316666667,HOLD_POSE2,764.554693245,743.554693245,711,677.445306755,659,631,878.445306755,783.445306755,801.445306755,649.445306755,629.554693245,650.554693245,0.449593923678,0.00462405877622,0.0697729258994,0.999999930999,0.000115025117247,-0.000347431328581,-6.37447645385e-05,1793196715666028288
+260,4.333333333,HOLD_POSE2,764.858535509,743.858535509,711.141464491,677.141464491,659,631,878.141464491,783.141464491,801,649,629.858535509,651,0.44959414392,0.0046246419327,0.069772894243,0.999999930947,0.000116429202571,-0.000347132182233,-6.36317065072e-05,1793196715682695168
+261,4.350000000,HOLD_POSE2,764.278684473,743.278684473,711.721315527,677.721315527,659,631,878.721315527,783.721315527,801,649,629.278684473,651,0.449595672187,0.00462546623779,0.0697743946112,0.999999931237,0.000117268750243,-0.000345965134996,-6.38898173292e-05,1793196715699361280
+262,4.366666667,HOLD_POSE2,764,743,711.701839707,677.701839707,659,631,879,784,801.298160293,649.298160293,629.298160293,650.701839707,0.449596032186,0.00462491299695,0.0697745958133,0.999999931204,0.000116950638531,-0.000346197399234,-6.37360176436e-05,1793196715716027904
+263,4.383333333,HOLD_POSE2,764,743,711.127776827,677.127776827,659,631,879,784,801.872223173,649.872223173,629.872223173,650.127776827,0.449595311128,0.00462308504411,0.0697735948323,0.999999930869,0.000115561286807,-0.000347724516231,-6.32010566079e-05,1793196715732694528
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,744,711,678,659,631,879,784,801,650,630,651,0.44959423312,0.00462072096498,0.0697729209328,0.999999931072,0.000109882878121,-0.000348905555814,-6.36141879861e-05,1793196715765347072
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,743.410239525,711.589760475,678,659,631,879,784,801,650,629.410239525,651,0.449593548665,0.00462269197028,0.0697726628301,0.999999930644,0.000112886557097,-0.000349150108156,-6.37399124675e-05,1793196715782013440
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.823774226,743,711.823774226,677.823774226,659.176225774,631.176225774,879,784,801,650,629,651,0.449593448762,0.00462411112734,0.0697726638736,0.999999930449,0.000114673991404,-0.000349082837996,-6.39704799695e-05,1793196715798679808
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.244838916,743,711.244838916,677.244838916,659.755161084,631.755161084,879,784,801,650,629,651,0.449594684673,0.0046242692062,0.069773257115,0.999999930804,0.000113682075054,-0.000348302993943,-6.4440633813e-05,1793196715815346432
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.331771851,743,711,677,659.668228149,631.668228149,878.668228149,784,801,650,629.331771851,650.668228149,0.44959524336,0.00462373016157,0.0697737056273,0.999999931061,0.00011340727579,-0.000347696954015,-6.42202041975e-05,1793196715832012800
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.906679068,743,711,677,659.093320932,631.093320932,878.093320932,784,801,650,629.906679068,650.093320932,0.449595305752,0.0046226802376,0.0697740480762,0.999999931245,0.000113658007987,-0.000347218284584,-6.34936880317e-05,1793196715848678912
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.505776278,743,711.494223722,677,659,631,878.494223722,783.505776278,801,650,630,650,0.449595460297,0.00462156489698,0.069774004584,0.999999931292,0.000112276820452,-0.000347549884403,-6.33976235249e-05,1793196715865345536
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.165203628,743,711.917398186,677.082601814,659,631,879,783,801,650,630,650.082601814,0.449594991543,0.00462061456298,0.0697735222686,0.999999931153,0.000110752483003,-0.000348431110644,-6.34306773433e-05,1793196715882011904
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.322556617,743,711.338721691,677.661278309,659,631,879,783,801,650,630,650.661278309,0.44959067225,0.00462073132427,0.0697708536922,0.999999930068,0.000110267600877,-0.000351670224702,-6.35054733425e-05,1793196715898678528
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.760922039,743,711,677.760922039,659,631,879,783,801.239077961,650,630,651,0.449582471886,0.00462106835073,0.0697663051028,0.999999927611,0.000110623394351,-0.000358469149163,-6.35676418081e-05,1793196715915345152
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.184360191,743,711,677.184360191,659,631,879,783,801.815639809,650,630,651,0.449568792979,0.00462171630483,0.069759102676,0.999999923128,0.000112165890581,-0.000370293123073,-6.3611985159e-05,1793196715932011776
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,743,711.391410339,677,659,631,878.608589661,783.782820678,801.608589661,650,630,651,0.449541269115,0.00462150024129,0.0697451485866,0.999999914585,0.000111992072105,-0.000392749805146,-6.35240070306e-05,1793196715948678656
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,743,711.966808949,677,659,631,878.033191051,784.933617898,801.033191051,650,630,651,0.44950723722,0.00462087803343,0.0697280207769,0.999999903544,0.000111011474361,-0.00042020455116,-6.33738291827e-05,1793196715965345280
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+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.721725685,743,711,677,659,631.278274315,879,784,801,649.278274315,629,650,0.449343956817,0.0046260930953,0.0696775325806,0.999999865435,0.000117219854641,-0.000501292331765,-6.39948601844e-05,1793196716015345408
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,743,711.871643662,677,659.871643662,631,879,783.128356338,801,649.871643662,629,650.871643662,0.449216728923,0.00462458456125,0.069667882775,0.999999857361,0.00012232426417,-0.000516342434194,-6.08693918995e-05,1793196716048678656
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,743,711,678,659,631,879.616705982,784,802,650,629.383294018,651,0.448952782992,0.00462475720046,0.069669815441,0.999999856073,0.000125800848723,-0.000518679537893,-5.47653333191e-05,1793196716098678528
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.218720625,743,711.781279375,677.218720625,659,631,879.218720625,784,801.218720625,649.218720625,629,651,0.448723352221,0.00462358482708,0.0696693871068,0.999999854758,0.000132355491524,-0.000520085467939,-4.97803607891e-05,1793196716132012032
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.357333532,743,711.642666468,677.357333532,659.357333532,631.357333532,879,784,801.357333532,649.357333532,629,650.642666468,0.448582732544,0.00462206739932,0.0696665665553,0.999999851762,0.000134679305044,-0.000525524170295,-4.65046291204e-05,1793196716148678656
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.932233228,743,711.067766772,677.932233228,659.932233228,631.932233228,879,784,801.932233228,649.932233228,629,650.067766772,0.448430989392,0.00462038898675,0.0696625094283,0.999999847652,0.000135933085254,-0.000533261773665,-4.30069006888e-05,1793196716165345280
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+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,743,711.158338773,677,660,631.158338773,879,784,801.158338773,649.158338773,630,651,0.447448272695,0.00461778326621,0.0696790815442,0.99999985373,0.000161310458683,-0.000515842978187,-2.06217802063e-05,1793196716248678656
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,743,712,676,663.504708025,633,878,784,800.495291975,649.504708025,629.495291975,650.495291975,0.434346010995,0.00457208402682,0.0698244476297,0.999999945671,0.00017453223635,-0.000276492929633,4.18203309874e-05,1793196716698679552
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,743,712,675.84330214,663.15669786,633,878.15669786,784.84330214,800.313395721,650,630,651,0.428314569226,0.00454337729942,0.0697579268062,0.999999917572,0.00015174623569,-0.000373896665127,4.50525588701e-05,1793196716832012288
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.561133947,743.561133947,712,675,663.438866053,633,878,785,800.438866053,650,630,651,0.416191222037,0.00444875980873,0.0697896919931,0.999999941727,3.60939041897e-05,-0.000336375116267,4.57687951508e-05,1793196717098678784
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.785123444,663.607438278,633,877.607438278,784,801.392561722,650,630,651,0.408697167262,0.00445355518019,0.0697691011454,0.999999929612,2.59293926413e-05,-0.00037193505349,4.204502808e-05,1793196717298680064
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.880914972,663,633,877.559542514,784,801.440457486,650,629.440457486,651,0.407710133117,0.0044472327664,0.0697853734092,0.999999942168,1.61206985921e-05,-0.000337281047368,4.05678599184e-05,1793196717332013056
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.370335654,743,712,674,663,633,877,784,801,649.370335654,629.370335654,651,0.404808595429,0.00446285975557,0.0698130373606,0.999999952588,3.35452817696e-05,-0.000303341876558,4.10089893173e-05,1793196717448679424
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.310065447,743,711,673.310065447,662.310065447,633,877.310065447,784,800.689934553,650,630,651,0.402798212557,0.00445453507261,0.0698035207743,0.99999994929,1.60884554534e-05,-0.000315857293549,3.73491658654e-05,1793196717565346048
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,663,633,877,784,800,649.010139481,629,650.989860519,0.4020177748,0.00445816362753,0.0697888828414,0.999999940422,1.11689015249e-05,-0.000343129197075,3.59756076384e-05,1793196717632012288
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.250712183,743,712,674,662.250712183,633,877,784,801,649,629.749287817,651,0.401620906948,0.00448551621974,0.0697930468008,0.999999940758,7.43840991583e-05,-0.000334184290765,3.56580722302e-05,1793196717682012160
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.324624555,743,712,674,662.649249111,633,877.324624555,784,801,649,630,651,0.401514161853,0.00449087846481,0.0697934836185,0.999999939993,8.91309601869e-05,-0.000332884606739,3.545675859e-05,1793196717698678784
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.073672892,743.073672892,712,674,663,633,877,784,801.926327108,650,629,651,0.401248690378,0.00448325377785,0.0697879342528,0.999999939784,6.08285949366e-05,-0.000340091761158,3.27013876008e-05,1793196717748678656
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+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.768062388,743.768062388,712,674.231937612,663,633,877,784,800.768062388,649.768062388,629.231937612,651,0.401143815408,0.00448190152391,0.0697923785403,0.999999943621,5.13192077523e-05,-0.000330361756231,3.13963392614e-05,1793196717782012160
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.193406004,743.193406004,712,674.806593996,663,633,877,784,800.193406004,649.193406004,629.806593996,651,0.401101569389,0.00447826149659,0.0697945043797,0.999999945589,4.32589227079e-05,-0.000325522132272,3.14124271886e-05,1793196717798678784
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2c42d2a03c56a230b252cac53b3bba38281c55b3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_01/simulation_data.csv
@@ -0,0 +1,422 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6868a1477648a1fd86e0ca8706fd2f759fadd94f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51bf389e7a932a9569bce6f8ff062fba672107fa48023c8805470afe381aca05
+size 26736235
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..28966eeace3c2ca91316d9f4baeafa9e6858ac75
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_02/franka_data.csv
@@ -0,0 +1,423 @@
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+2,0.033333333,BASELINE,765,743,712,674,663,633,877.148796715,784,801,649.851203285,630,651,0.400949753943,0.00447486094001,0.0698164697774,0.999999956557,3.87529915277e-05,-0.00029055935927,3.0965462213e-05,1793196718526535936
+3,0.050000000,BASELINE,765,743,712,674,663,633,877.738054987,784,801,649.261945013,630,651,0.400949626548,0.00447554589994,0.069816552486,0.999999956516,4.00549297064e-05,-0.000290561794781,3.06324575729e-05,1793196718543202304
+4,0.066666667,BASELINE,765,743,711.678209184,674,663,633,878,784,801,649,629.678209184,651,0.40094860934,0.00447590672387,0.0698161017718,0.999999956275,4.01359596183e-05,-0.00029137964924,3.06192211553e-05,1793196718559868672
+5,0.083333333,BASELINE,765,743,711.098892937,674,663,633,878,784,801,649,629.098892937,651,0.400946880027,0.0044760081455,0.0698152241656,0.999999955873,3.92399108264e-05,-0.000292850073958,3.08618915313e-05,1793196718576535040
+6,0.100000000,BASELINE,765,743,711.478877463,674,663,633,877.521122537,784,801,649.478877463,629.478877463,651,0.400947618402,0.00447576745065,0.0698156599559,0.99999995597,3.9935598762e-05,-0.000292419611368,3.09307466008e-05,1793196718593201920
+7,0.116666667,BASELINE,765,743,712,674.056065662,663,633,877,784,800.943934338,650,630,650.943934338,0.400948839546,0.00447546068576,0.0698163411989,0.999999956199,4.07207363384e-05,-0.000291522576434,3.09484273324e-05,1793196718609868544
+8,0.133333333,BASELINE,765,743,712,674.630811578,663,633,877,784,800.369188422,650,630,650.369188422,0.400949827623,0.00447519419251,0.0698167920484,0.999999956723,3.93021951581e-05,-0.000289929072124,3.08236819588e-05,1793196718626535168
+9,0.150000000,BASELINE,764.789426167,742.789426167,711.789426167,674.789426167,663,633,877,784,800.210573833,650,629.789426167,650.210573833,0.400950264476,0.00447465856661,0.0698171064044,0.999999957043,3.78374169328e-05,-0.000289024821614,3.07770008477e-05,1793196718643201792
+10,0.166666667,BASELINE,764.200654455,742.200654455,711.200654455,674.200654455,663,633,877,784,800.799345545,650,629.200654455,650.799345545,0.400949711309,0.00447363956922,0.0698171756134,0.999999957001,3.62895955304e-05,-0.000289358494907,3.08705258618e-05,1793196718659868160
+11,0.183333333,BASELINE,764,742.764152434,711.382076217,674,663,633,877.382076217,784,801,649.617923783,629.382076217,651,0.400948894318,0.00447413075872,0.0698168906913,0.999999956886,3.66412572548e-05,-0.000289740795131,3.0582018775e-05,1793196718676534784
+12,0.200000000,BASELINE,764,743.923367515,711.961683758,674,663,633,877.961683758,784,801,649.038316242,629.961683758,651,0.400947940932,0.00447540270653,0.0698164226852,0.999999956733,3.79749412739e-05,-0.000290148235242,3.00960031803e-05,1793196718693201408
+13,0.216666667,BASELINE,764,743.462877399,712,674,663,633,877.462877399,784,800.462877399,649,629.462877399,651,0.40094825329,0.00447628904092,0.0698160360526,0.999999956507,4.00183982072e-05,-0.000290635665329,3.02559310295e-05,1793196718709868288
+14,0.233333333,BASELINE,764.114647905,743,712,674,663,633,877,784,800.114647905,649.114647905,629.114647905,651,0.400948756921,0.00447667237801,0.0698158823953,0.999999956379,4.11693374364e-05,-0.000290891807338,3.04764285198e-05,1793196718726534912
+15,0.250000000,BASELINE,764.701992582,743,712,674,663,633,877,784,800.701992582,649.701992582,629.701992582,651,0.400949679764,0.00447509438588,0.0698166655532,0.999999956689,3.84332485106e-05,-0.000290170996233,3.07581341683e-05,1793196718743201792
+16,0.266666667,BASELINE,764.71464243,743,711.71464243,674.28535757,663,633,877.28535757,784,801,650,629.71464243,651,0.400949001139,0.00447493290183,0.0698165453777,0.999999956577,3.73975079821e-05,-0.000290699563911,3.0665016499e-05,1793196718759868416
+17,0.283333333,BASELINE,764.135376419,743,711.135376419,674.864623581,663,633,877.864623581,784,801,650,629.135376419,651,0.400946673057,0.00447623037227,0.0698154948002,0.999999956036,3.81130677339e-05,-0.000292514948626,3.0185843743e-05,1793196718776535040
+18,0.300000000,BASELINE,764.442110202,743,711.442110202,674.557889798,662.557889798,633,878,784,801,649.557889798,629.442110202,651,0.400947195062,0.00447616719325,0.0698159988195,0.999999956243,3.81394220575e-05,-0.000291813993312,3.00697598935e-05,1793196718793201664
+19,0.316666667,BASELINE,765,743,712,674.019007894,662.019007894,633,877.980992106,784.019007894,801,649.019007894,629.980992106,651,0.40094857284,0.00447562866063,0.069816968416,0.999999956685,3.78848127178e-05,-0.000290328277495,3.00793443444e-05,1793196718809868032
+20,0.333333333,BASELINE,765,743,712,674.59455156,662.59455156,633,877.40544844,784.59455156,801,649.59455156,629.40544844,651,0.400949557113,0.00447332207758,0.0698176879688,0.999999957333,3.55580742382e-05,-0.00028833506604,3.05261926579e-05,1793196718826534912
+21,0.350000000,BASELINE,765,742.826030513,712,674.826030513,663,633,877,784.826030513,801,650,629.173969487,651,0.400950008049,0.00447259025282,0.0698179885621,0.99999995759,3.45910190166e-05,-0.000287541416969,3.07029895495e-05,1793196718843201792
+22,0.366666667,BASELINE,765,742.23737777,712,674.23737777,663,633,877,784.23737777,801,650,629.76262223,651,0.400949187694,0.00447561210906,0.0698172905006,0.999999956927,3.68649800864e-05,-0.000289607111206,3.02360769235e-05,1793196718859868160
+23,0.383333333,BASELINE,765,742.346252215,712,674,663,633,877.346252215,784,801,649.653747785,629.653747785,651,0.4009487788,0.0044764095326,0.0698171425555,0.999999956734,3.77841346074e-05,-0.000290180372892,2.99847690328e-05,1793196718876534784
+24,0.400000000,BASELINE,765,742.926488075,712,674,663,633,877.926488075,784,801,649.073511925,629.073511925,651,0.400948647955,0.0044757037722,0.0698173663575,0.999999956864,3.77877643107e-05,-0.000289745107498,2.98791583059e-05,1793196718893201920
+25,0.416666667,BASELINE,765,743,712,674,663,633,877.496337306,784,801,649.503662694,629.503662694,651,0.400949754862,0.00447500472015,0.0698182300403,0.999999957396,3.71122701866e-05,-0.000287980382793,2.99679686113e-05,1793196718909868544
+26,0.433333333,BASELINE,764.920162768,743,712,674,663,633,877,784,801,650,630,651,0.400950970714,0.00447432287928,0.0698190780871,0.999999957937,3.64326732047e-05,-0.000286168248749,3.0098931842e-05,1793196718926535424
+27,0.450000000,BASELINE,764.347420524,743,712,674,663,633,877,784,801,650,630,651,0.400951750563,0.00447374128934,0.0698192564828,0.999999958195,3.6336010756e-05,-0.000285254160744,3.03160064482e-05,1793196718943202048
+28,0.466666667,BASELINE,764.232266323,743,712,674,663,633,877,784,800.767733677,650,630,651,0.40095143575,0.0044737002547,0.0698189853705,0.999999957998,3.70524405142e-05,-0.000285838386255,3.04533368355e-05,1793196718959868416
+29,0.483333333,BASELINE,764.822660923,743,712,674,663,633,877,784,800.177339077,650,630,651,0.400949433091,0.00447449269494,0.0698180211679,0.999999957091,3.90225660732e-05,-0.000288732841019,3.04677106848e-05,1793196718976535808
+30,0.500000000,BASELINE,764.593567403,743,712,674.406432597,663,633,877,784,800,650,629.593567403,651,0.400949101231,0.00447366756914,0.0698179278506,0.999999957099,3.70414148706e-05,-0.000288938308649,3.07500078113e-05,1793196718993202176
+31,0.516666667,BASELINE,764.012639197,743,712,674.987360803,663,633,877,784,800,650,629.012639197,651,0.400949486702,0.00447214796612,0.0698182084346,0.999999957489,3.33638434688e-05,-0.000287989300768,3.1147333692e-05,1793196719009868288
+32,0.533333333,BASELINE,764.562762277,743,712,674.437237723,662.437237723,633,877,784,800,650,629.562762277,651,0.400949287431,0.00447268288898,0.069818027664,0.999999957236,3.40914674171e-05,-0.000288830781535,3.07099753913e-05,1793196719026535424
+33,0.550000000,BASELINE,764.862297989,743,712,674,662.137702011,633,877,784,800.137702011,650,630,651,0.400948959304,0.00447336266016,0.0698178022868,0.999999956997,3.52999084953e-05,-0.000289549569706,3.03320138041e-05,1793196719043202304
+34,0.566666667,BASELINE,764.288431569,743,712,674,662.711568431,633,877,784,800.711568431,650,630,651,0.400948264224,0.0044743564968,0.0698174681215,0.999999956854,3.7720983124e-05,-0.000289753601018,3.02009891798e-05,1793196719059869184
+35,0.583333333,BASELINE,764.29620475,743,712,674,663,633,877,784,801,649.70379525,630,651,0.400947798398,0.00447478515591,0.0698170967045,0.999999956729,3.85698608126e-05,-0.000290066378782,3.02781219481e-05,1793196719076535552
+36,0.600000000,BASELINE,764.891724113,743,712,674,663,633,877,784,801,649.108275887,630,651,0.400947564234,0.0044746427038,0.0698166876445,0.999999956625,3.78300353156e-05,-0.000290489044757,3.05655975436e-05,1793196719093201664
+37,0.616666667,BASELINE,764.529525421,743,712,674,663,633,877,784,800.529525421,649,629.529525421,651,0.400947999998,0.00447490250901,0.0698168269134,0.99999995665,3.77842342176e-05,-0.000290434008284,3.03551376344e-05,1793196719109868288
+38,0.633333333,BASELINE,764.045527985,743,712,674,663,633,877,783.954472015,800.045527985,649.045527985,629,651,0.40094850496,0.00447524098615,0.0698170519131,0.999999956686,3.79435460122e-05,-0.000290319409159,3.00478544164e-05,1793196719126534912
+39,0.650000000,BASELINE,764.620923357,743,712,674,663,633,877,783.379076643,800.620923357,649.620923357,629,651,0.40094808263,0.00447545472177,0.0698168565451,0.999999956537,3.86950819011e-05,-0.000290747072421,2.99015117678e-05,1793196719143201536
+40,0.666666667,BASELINE,764.798860209,743,711.798860209,674,663,633,877,783.201139791,801,649.798860209,629.201139791,651,0.400948143802,0.00447535720951,0.069816872922,0.99999995666,3.8206647947e-05,-0.000290399264307,2.98231673171e-05,1793196719159868160
+41,0.683333333,BASELINE,764.209334703,743,711.209334703,674,663,633,877,783.790665297,801,649.209334703,629.790665297,651,0.400949138575,0.00447465870111,0.0698172981626,0.999999957298,3.5323926016e-05,-0.000288554079623,2.9876122249e-05,1793196719176535296
+42,0.700000000,BASELINE,764.374240938,743,711,674.374240938,663,633,877.374240938,784,800.625759062,649.374240938,629.625759062,651,0.400949887339,0.00447432969626,0.0698178594146,0.999999957562,3.44120603428e-05,-0.000287740687633,2.99405815871e-05,1793196719193202432
+43,0.716666667,BASELINE,764.954540537,743,711,674.954540537,663,633,877.954540537,784,800.045459463,649.954540537,629.045459463,651,0.400950500647,0.00447420414168,0.0698184955551,0.999999957625,3.45853566555e-05,-0.00028749540518,3.00113752987e-05,1793196719209869312
+44,0.733333333,BASELINE,765,743,711.528401619,674.471598381,663,633,877.471598381,784,800.528401619,650,629,651,0.400949460417,0.00447387591489,0.0698183296303,0.999999957396,3.52107268576e-05,-0.000288160030945,3.05419913015e-05,1793196719226535424
+45,0.750000000,BASELINE,765,743,712,674,663,633,877.101575741,784,801.101575741,650,629,651,0.400948252866,0.00447382062066,0.0698179144949,0.999999957076,3.60611068016e-05,-0.00028912163941,3.09393724463e-05,1793196719243201792
+46,0.766666667,BASELINE,765,743,712,674,663,633,877.674101938,784,801.674101938,650,629,651,0.40094692117,0.0044751106329,0.0698166599867,0.99999995645,3.77765783605e-05,-0.000291101614385,3.05378099276e-05,1793196719259868416
+47,0.783333333,BASELINE,765,743,712,674.25679701,663,633,877.74320299,784,801.74320299,649.74320299,629,651,0.4009470486,0.00447540095138,0.0698166903067,0.999999956536,3.88169517665e-05,-0.000290681353157,3.04185504256e-05,1793196719276535040
+48,0.800000000,BASELINE,765,743,712,674.852929465,663,633,877.147070535,784,801.147070535,649.147070535,629,651,0.400949104139,0.00447437025962,0.0698184184177,0.99999995756,3.89652405212e-05,-0.000287089383853,3.06723303352e-05,1793196719293201408
+49,0.816666667,BASELINE,765,743,711.565849473,674.565849473,663,633,877,784,800.565849473,649.434150527,629,651,0.400948968548,0.00447537981363,0.0698182159653,0.999999957419,3.94307593979e-05,-0.000287530461085,3.05447269424e-05,1793196719309868800
+50,0.833333333,BASELINE,764.989548394,743,711,674,663,633,877,784,800.010451606,650,629.010451606,651,0.400948131689,0.00447697912555,0.0698174019387,0.999999956907,3.99448098129e-05,-0.000289261486148,3.02979847307e-05,1793196719326536448
+51,0.850000000,BASELINE,764.415209851,743,711,674,663,633,877,784,800.584790149,650,629.584790149,651,0.400948176517,0.00447434669852,0.0698177045649,0.999999956982,3.74718926763e-05,-0.000289325412456,3.03623598533e-05,1793196719343202560
+52,0.866666667,BASELINE,764.159144245,743,711,674,663,633,877,784,800.840855755,649.840855755,629.840855755,651,0.400948246953,0.00447275019269,0.0698179379325,0.999999957045,3.60899235488e-05,-0.000289286382423,3.03621841381e-05,1793196719359868928
+53,0.883333333,BASELINE,764.733538889,743,711,674,663,633,877,784,800.266461111,649.266461111,629.266461111,651,0.400948384206,0.00447385668576,0.0698179905857,0.999999957085,3.75545331361e-05,-0.000288978711431,3.01935778165e-05,1793196719376535552
+54,0.900000000,BASELINE,765,743,711.319521496,674.319521496,663,633,877.319521496,784,800.319521496,649.319521496,629,651,0.400948884828,0.00447378167806,0.0698183380134,0.999999957242,3.80503204064e-05,-0.000288351006687,3.0352059382e-05,1793196719393202176
+55,0.916666667,BASELINE,765,743,711.915531372,674.915531372,663,633,877.915531372,784,800.915531372,649.915531372,629,651,0.400949699883,0.00447268429391,0.0698189405153,0.999999957502,3.77077661554e-05,-0.000287446370315,3.07935766863e-05,1793196719409868544
+56,0.933333333,BASELINE,765,743,711.50574982,674.50574982,663,633,878,784,800.50574982,650,629,651,0.400949270344,0.00447223988806,0.069818579289,0.999999957444,3.66947248857e-05,-0.000287779211347,3.08048049578e-05,1793196719426535168
+57,0.950000000,BASELINE,765,743,711.069642241,674,663,633,878,784,800,650,629,651,0.400948921333,0.00447212486773,0.0698182684792,0.999999957413,3.58962184904e-05,-0.00028799604675,3.07290444458e-05,1793196719443201792
+58,0.966666667,BASELINE,765,743,711.641632616,674,663,633,878,784,800,650,629,651,0.400950635627,0.00447360803347,0.0698194692301,0.999999957963,3.74438247137e-05,-0.000285902147551,3.05383262029e-05,1793196719459868416
+59,0.983333333,BASELINE,765,743,712,674,662.778618885,633,877.778618885,784,800,649.778618885,629.221381115,651,0.400950746787,0.00447439872175,0.0698195777381,0.999999957989,3.79725059791e-05,-0.000285754763542,3.03964019453e-05,1793196719476535040
+60,1.000000000,BASELINE,765,743,712,674,662.185855502,633,877.185855502,784,800,649.185855502,629.814144498,651,0.400948168577,0.00447402773099,0.0698178539327,0.999999957139,3.67918697714e-05,-0.000288872794263,3.03363329725e-05,1793196719493202176
+61,1.016666667,BASELINE,765,743,712,674.397830765,662.397830765,633,877,784,800,649,630,651,0.40094771923,0.00447319634683,0.0698178844399,0.999999957228,3.41758843628e-05,-0.000288888496975,3.0332113488e-05,1793196719509868800
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+120,2.000000000,POSE1_TO_POSE2_PRESS,765,743,711.427965058,674,663,633,877.572034942,784,800.427965058,649.572034942,629.572034942,651,0.401117477897,0.00447125888128,0.0698836579814,0.999999982436,3.04815276765e-05,-0.000182442776534,3.02135347671e-05,1793196720520054016
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,743,711.150596732,674.150596732,663,633.150596732,877.849403268,784,800.150596732,649.849403268,629.849403268,651,0.401179230498,0.00447077857922,0.069897624999,0.999999985891,2.94132864966e-05,-0.000162679300076,2.98049851966e-05,1793196720536720896
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,743,711.730854632,674.730854632,663,633.730854632,877.269145368,784,800.730854632,649.269145368,629.269145368,651,0.401246388508,0.00447123444957,0.0699028977508,0.999999986625,2.95811611403e-05,-0.000158287145661,2.86250782947e-05,1793196720553387520
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.693966396,743,712,674.693966396,663,633.693966396,877,784,801,649,629,651,0.401323361219,0.00447123067671,0.0699053673785,0.999999987241,2.70606842926e-05,-0.000155147471234,2.67394250899e-05,1793196720570054400
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.123181269,743,712,674.123181269,663,633.123181269,877,784,801,649,629,651,0.401408824684,0.00447082926371,0.0699054120062,0.999999987741,2.22144982936e-05,-0.000153091325081,2.42432265588e-05,1793196720586721024
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.463648657,743,712,674,663,633,877,784,800.536351343,649.463648657,629,650.536351343,0.401506959829,0.00447085961746,0.0699043486998,0.999999987032,1.99149348715e-05,-0.000158312729189,2.18379129063e-05,1793196720603387392
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,743,712,674,663,633,877,784.053766452,800.053766452,649.946233548,629,650.053766452,0.40161250891,0.00447083500895,0.069903284145,0.999999986108,1.79395623186e-05,-0.000164584841743,1.93403839323e-05,1793196720620053760
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,743,712,674,663,633,877,784.632866112,800.632866112,649.367133888,629,650.632866112,0.401756424117,0.00446911240665,0.0699051865156,0.999999986751,1.22841369381e-05,-0.000161554469739,1.56974708895e-05,1793196720636720384
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,712,674,663,633,877,784.788547984,800.788547984,649,629.211452016,651,0.401913150383,0.00446728360741,0.0699074742132,0.999999987544,5.40041666985e-06,-0.000157303058452,1.17643931074e-05,1793196720653387264
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,712,674,663,633,877,784.210851987,800.210851987,649,629.789148013,651,0.40209206594,0.00446527087068,0.0699104293133,0.999999988576,-3.61076254627e-06,-0.000150936754959,7.32873790441e-06,1793196720670053888
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.636537858,743.363462142,712,674,663,633,877,784,800.363462142,649.363462142,630,651,0.402290515958,0.00446300164294,0.0699149258028,0.999999989775,-1.21592150757e-05,-0.000142457948279,2.64113273882e-06,1793196720686720512
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.06416748,743.93583252,712,674,663,633,877,784,800.93583252,649.93583252,630,651,0.402500193874,0.0044605849909,0.0699203082417,0.999999990975,-2.04417056379e-05,-0.000132764931135,-2.1912868882e-06,1793196720703386880
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.523788973,743.476211027,712,674,663,633,878.047577945,784,801,650,630,650.476211027,0.402733050923,0.00445758998791,0.0699208541496,0.999999990791,-3.05561858365e-05,-0.000132035616375,-7.1569336108e-06,1793196720720053248
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.888118122,743,711.888118122,674,663,633,878.776236244,784,800.888118122,649.888118122,629.888118122,650.111881878,0.402980375758,0.00445475206876,0.0699220677803,0.999999990703,-4.0174058179e-05,-0.00012973370453,-1.22359204285e-05,1793196720736720128
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.307695024,743,711.307695024,674,663,633,877.615390048,784,800.307695024,649.307695024,629.307695024,650.692304976,0.403276032757,0.00445287780151,0.0699286351211,0.99999999201,-4.67435300591e-05,-0.000116106311526,-1.77191104243e-05,1793196720753387008
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743,711.270538016,674,663,633,877,784,800,649.270538016,629.270538016,651,0.403595318363,0.00445234363161,0.0699377162927,0.999999994241,-3.58020744364e-05,-9.9452376816e-05,-1.85865156197e-05,1793196720770053632
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,743,711.846300171,674,663,633,877,784,800,649.846300171,629.846300171,651,0.403941262022,0.00445332137525,0.0699496335971,0.999999996735,-5.10458602644e-06,-7.9383863238e-05,-1.42463382983e-05,1793196720786720512
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.418667478,743,712,674,663,633,877,784,800.418667478,649.581332522,630,651,0.404296340809,0.00445619023325,0.0699529857846,0.999999996905,1.55931536071e-05,-7.58821248571e-05,-1.37434694598e-05,1793196720803387392
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.989798492,743,712,674,663,633,877,784,800.989798492,649.010201508,630,651,0.404654746272,0.0044597477666,0.0699532188664,0.999999996286,3.2649346165e-05,-7.84134065449e-05,-1.46380095134e-05,1793196720820054272
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.412401607,743,711.412401607,673.412401607,663,633,877,784,801,649.587598393,629.412401607,651,0.405067808172,0.00445897367145,0.0699616831141,0.999999997202,3.68496510691e-05,-6.26323252465e-05,-1.77590019998e-05,1793196720836720640
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.178790374,743,711.178790374,673.178790374,663,633,877,783.821209626,801,649.821209626,629.178790374,650.821209626,0.405491429331,0.00446009716625,0.0699668980262,0.999999998242,2.07792978904e-05,-5.18466791795e-05,-1.98939117571e-05,1793196720853387008
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.754245843,743,711.754245843,673.754245843,663,633,877,783.245754157,801,649.245754157,629.754245843,650.245754157,0.405936271904,0.0044656054406,0.0699645718254,0.999999997617,-3.97448994906e-05,-5.28828202801e-05,-1.9751257865e-05,1793196720870053632
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,743,711.670611489,674,663,633,877.329388511,783.329388511,801,649,630,650.329388511,0.406394252769,0.00447279783696,0.069951603268,0.999999995843,-4.431905809e-05,-7.69457052037e-05,-2.07009490696e-05,1793196720886720000
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743,711.095701917,674,663,633,877.904298083,783.904298083,801,649,630,650.904298083,0.406862026756,0.00448124555219,0.0699307020637,0.999999992739,-7.18893639696e-06,-0.000118172366018,-2.24648572531e-05,1793196720903386624
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.507938608,743,711.492061392,674,663,633,877.507938608,784,800.507938608,649,629.507938608,651,0.407383110385,0.00448547961563,0.069921118928,0.999999991804,7.96480523494e-06,-0.000125309115125,-2.50396651427e-05,1793196720920053760
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743.080672773,712,674,663.080672773,633,877.161345546,784,800.080672773,649.080672773,629,651,0.407924850353,0.0044896093749,0.0699167109005,0.99999999204,1.77203268919e-05,-0.000121799209863,-2.777619736e-05,1793196720936721408
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743.658687326,712,674,663.658687326,633,878.317374652,784,800.658687326,649.658687326,629,651,0.408528301123,0.0044982839112,0.0699302723505,0.999999994832,2.1253304687e-05,-9.46245907463e-05,-3.05113783407e-05,1793196720953388032
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743.765659371,712,674,663.765659371,633,878.531318742,784,801,649.765659371,629,651,0.409138657349,0.00450546753234,0.0699402078872,0.999999996534,2.46593867351e-05,-7.24588087268e-05,-3.27797091135e-05,1793196720970054656
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743.193410911,712,674,663.193410911,633,877.386821822,784,801,649.193410911,629,651,0.409758970871,0.00451050132552,0.0699449150315,0.999999997366,2.78824910688e-05,-5.75155287571e-05,-3.43748643685e-05,1793196720986721792
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.391706372,743,712,674.391706372,663,633,877.783412743,784,801,649,629,651,0.410394855697,0.00451713535438,0.0699420566938,0.999999996771,3.66137332006e-05,-6.2322896261e-05,-3.51102646509e-05,1793196721003388672
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.983393658,743,712,674.983393658,663,633,878.966787315,784,801,649,629,651,0.411038690244,0.00452458636392,0.0699353358912,0.999999995233,4.81570878542e-05,-7.72137165885e-05,-3.54067274527e-05,1793196721020055296
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,743,712,675,663,633,878.436528496,784,801,649.563471504,629,651,0.411752575279,0.00453153815875,0.0699469468719,0.999999996266,5.49224357096e-05,-5.54614096673e-05,-3.7081136408e-05,1793196721036721408
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,743,712,675,663,633,878,784,801,650,629,651,0.412480309452,0.00453848754122,0.069964236915,0.999999997039,6.17006170372e-05,-2.52120992278e-05,-3.84532090149e-05,1793196721053388032
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,743,712,675,663,633,878,784,801,650,629,651,0.413244091094,0.00454547350918,0.0699972236772,0.999999996488,6.89384653634e-05,2.77115161419e-05,-3.87824511172e-05,1793196721070054144
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.705754268,743,712,674.705754268,663,633,878,784,801,649.705754268,629.294245732,651,0.413996930587,0.00455270355737,0.0700107307634,0.999999995023,7.94669791306e-05,4.58594843848e-05,-3.91813358225e-05,1793196721086720512
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.131350503,743,712,674.131350503,663,633,878,784,801,649.131350503,629.868649497,651,0.414739351902,0.00456016600071,0.0700056908124,0.9999999944,9.31286110301e-05,3.08967769064e-05,-3.9646528934e-05,1793196721103387392
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.455376922,743,712,674,663,633,878.455376922,784,800.544623078,649.455376922,629.544623078,651,0.415464700748,0.00456834452928,0.0699560346592,0.999999992615,9.93442682728e-05,-5.63284138881e-05,-4.15590129482e-05,1793196721120054272
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743,712,674.044917948,663,633,878.955082052,784,800.044917948,650,629,651,0.416194541137,0.00457662879307,0.0698985483039,0.999999981599,0.000103482753973,-0.000155449020235,-4.39213659295e-05,1793196721136720896
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,743,712,674.624462063,663,633,878.375537937,784,800.624462063,650,629,651,0.417038084139,0.00458364475425,0.069905298674,0.999999982994,0.000109172257771,-0.000141164773585,-4.65312398727e-05,1793196721153387264
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,712,675,663.202299679,633,878.202299679,784,800.797700321,650,629,651,0.417884604383,0.00459019635411,0.069921304749,0.999999985787,0.000115648514774,-0.000113010689642,-4.77528579339e-05,1793196721170053376
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743,712,675,663.776995911,633,878.776995911,784,800.223004089,650,629,651,0.418736605128,0.00459589314964,0.0699543488761,0.999999989528,0.000123573039395,-5.93247833838e-05,-4.64189516644e-05,1793196721186720000
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.647412568,743,712,675,663.647412568,633,878.647412568,784,800.352587432,649.647412568,629.352587432,651,0.419607649125,0.0046010391626,0.0699806408458,0.99999999027,0.000129832126258,-2.21258602981e-05,-4.59830279089e-05,1793196721203386880
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.071253375,743,712,675,663.071253375,633,878.071253375,784,800.928746625,649.071253375,629.928746625,651,0.420490768203,0.00460583593024,0.0700026513465,0.999999989809,0.000135035177389,4.61884849125e-06,-4.61165049366e-05,1793196721220053760
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.516676396,743,712,675.516676396,663,633,878,784.516676396,801,649.516676396,629.483323604,651,0.421376786363,0.00460923572367,0.0700114951427,0.999999989417,0.000136211280506,1.9641973285e-05,-4.71823314564e-05,1793196721236720384
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743,712,675.895505524,663.104494476,633,878,784.895505524,800.895505524,649.895505524,629.104494476,651,0.422248596722,0.00461154215028,0.0700067843811,0.999999989394,0.000136644246292,1.35604747668e-05,-4.85454419329e-05,1793196721253387008
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743,712,675.31575056,663.68424944,633,878,784.31575056,800.31575056,649.31575056,629.68424944,651,0.423053926277,0.00460977238602,0.0699488759918,0.999999986151,0.000136281979163,-8.09853188977e-05,-5.06622266502e-05,1793196721270053632
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,712,675,664,633,878,784,800.260921446,649.260921446,629.739078554,651,0.423868201618,0.00459667431599,0.0698923427655,0.99999997758,0.000119708216783,-0.000166496211428,-5.28064737199e-05,1793196721286720512
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,712,675,664,633,878,784,800.833906295,649.833906295,629.166093705,651,0.424693176269,0.00457002753326,0.0698374542337,0.999999965893,8.37454224445e-05,-0.000241201327892,-5.49835663448e-05,1793196721303387136
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.581837991,743,712,675,664,633,878,784,800.581837991,650,629.418162009,651,0.425615783967,0.00455498632052,0.0698640862196,0.999999977629,6.03095411888e-05,-0.000195451882879,-5.38876735114e-05,1793196721320053760
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.006908996,743,712,675,664,633,878,784,800.006908996,649.993091004,630,650.993091004,0.426577767239,0.00454495200512,0.0699238191307,0.99999999267,4.24567375379e-05,-0.000101039940147,-5.14634721808e-05,1793196721336720384
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.586580118,743,712,675,664,633,878,784,800.586580118,649.413419882,630,650.413419882,0.427500094616,0.00455725799248,0.0699689702174,0.999999995563,6.35315682675e-05,-4.86810277411e-05,-4.96801194151e-05,1793196721353387008
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743,712,675,664,633,878.165356545,783.834643455,801,649,629.834643455,650.165356545,0.428421264397,0.00456636250702,0.0700076252686,0.999999995719,7.88462228954e-05,2.32743931487e-06,-4.83756723772e-05,1793196721370053376
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,743,712,675,664,633,878.741908087,783.258091913,801,649,629.258091913,650.741908087,0.429339555508,0.00456750586269,0.0700301265129,0.9999999944,7.98369465278e-05,4.99777270043e-05,-4.82621289116e-05,1793196721386720512
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743,712,675,664,633,878.682286122,783.317713878,801,649.317713878,629.317713878,651,0.430200268474,0.00457082019828,0.0700204454144,0.999999994886,8.01693939256e-05,3.73124040682e-05,-4.9087283253e-05,1793196721403387392
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743,712,675,664,633,878.107084744,783.892915256,801,649.892915256,629.892915256,651,0.431014317861,0.00457589397912,0.069984682511,0.999999995225,7.99683488645e-05,-2.42350030043e-05,-5.06731941883e-05,1793196721420053760
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.51985354,743,712,675.48014646,664,633,878.48014646,784,800.51985354,650,629.51985354,651,0.431782444833,0.00457889492125,0.0699147116168,0.999999984801,8.64474577703e-05,-0.000142300490846,-5.17196713717e-05,1793196721436720128
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,711.931148309,676,664,633,878.931148309,784,800,649.931148309,629,651,0.432557426287,0.00458109874149,0.0698516142928,0.999999963686,9.35660516764e-05,-0.000247191976437,-5.2624155688e-05,1793196721453387008
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,711.351915964,676,664,633,878.351915964,784,800,649.351915964,629,651,0.433461089286,0.00458090863756,0.0698974761348,0.999999981572,9.4097350842e-05,-0.000158589150343,-5.33908129146e-05,1793196721470053632
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,711.225704762,676,664.225704762,633,878.225704762,784,800.225704762,649.225704762,629.225704762,651,0.434345806425,0.00457999864959,0.0699452180698,0.999999991757,8.98523757674e-05,-7.4675507168e-05,-5.32631600819e-05,1793196721486720256
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,711.800830576,676,664.800830576,633,878.800830576,784,800.800830576,649.800830576,629.800830576,651,0.435201192984,0.00457797418517,0.0699958706462,0.9999999956,7.82130922511e-05,1.97866845132e-06,-5.1750996509e-05,1793196721503386624
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743.383500058,712,675.616499942,664.616499942,633,879,784,801,650,630,651,0.436002597168,0.00457258919825,0.0700134336902,0.99999999565,7.0936594458e-05,3.1501305331e-05,-5.171904676e-05,1793196721520053504
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743.970165894,712,675.029834106,664.029834106,633,879,784,801,650,630,651,0.436775403204,0.00456542391661,0.0700134669801,0.999999995797,6.59713585929e-05,3.6055191153e-05,-5.24712660433e-05,1793196721536720384
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.548995784,743.451004216,712,675.548995784,664,633,879,784,801,650,630,650.451004216,0.437534708543,0.00455375182964,0.0699888056145,0.99999999739,4.71018292846e-05,1.21081834203e-05,-5.34302802265e-05,1793196721553387520
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.872655533,743,712,676,664,633,879,784,801,649.872655533,630,650.127344467,0.438273188763,0.00454512988079,0.06995908375,0.999999997711,3.339631098e-05,-2.23541326104e-05,-5.44355118984e-05,1793196721570054400
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743.65842103,712,676,663.65842103,633,878,784,801,650,630,650.65842103,0.443965855967,0.00456288282665,0.0699645939983,0.999999996412,5.04698472073e-05,-4.50604614803e-05,-5.09707192552e-05,1793196721720054272
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743.083183674,712,676,663.083183674,633,878,784,801,650,630,650.083183674,0.444434114959,0.00456814514082,0.0699174067152,0.999999990093,4.53921625499e-05,-0.000122280076874,-5.29193815436e-05,1793196721736720640
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764.823860701,743,712,676,663,632,878.176139299,784,801.176139299,650,630,651,0.446576368769,0.004579126105,0.0698502079017,0.999999972662,7.66357253435e-05,-0.000213378183153,-5.72099443443e-05,1793196721820055552
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+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711,677.531372131,659,631,879,783,801.531372131,649.468627869,630,650.531372131,0.450056776268,0.00463976959049,0.069755991678,0.999999918263,0.000125635823259,-0.000379600150296,-5.9948229914e-05,1793196722470053632
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.047336305,743,711.047336305,677,659,631,879,783.047336305,801,650,630,650.047336305,0.450056646338,0.00464086040609,0.0697560679071,0.999999918104,0.000127857407061,-0.000379351768571,-5.94675714551e-05,1793196722486719744
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.626678565,743,711.626678565,677,659,631,879,783.626678565,801,650,630,650.626678565,0.450056413833,0.00464077392226,0.0697553111845,0.999999917724,0.000127379472731,-0.00038046464751,-5.97815607035e-05,1793196722503386624
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.79573544,743,712,677,659,631,878.79573544,784,801,650,630,651,0.450056599756,0.00464084281475,0.0697551123892,0.999999917596,0.000127402465651,-0.000380778179051,-5.9878240083e-05,1793196722520053504
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.221331927,743,712,677,659,631,878.221331927,784,801,650,630,651,0.450057543893,0.00464119325794,0.0697559245898,0.999999917926,0.000128333167149,-0.000379643247764,-5.95811416531e-05,1793196722536720384
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,743,711.639110799,677,659,631,878.360889201,784,801,650,630,651,0.45005760452,0.00464125511342,0.0697554223833,0.999999917763,0.000127420408969,-0.0003803643313,-5.96800618436e-05,1793196722553387520
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,711.051989022,677,659,631,878.948010978,784,801,650,630,651,0.450057111295,0.00464113606035,0.0697540962073,0.999999917285,0.000125352031153,-0.000382248904987,-6.00272363923e-05,1793196722570054912
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,743,711.530809922,677,658.469190078,631,879,783.469190078,801.530809922,650,630,651,0.450058616496,0.00464022587782,0.0697556905985,0.99999991829,0.000124889599216,-0.000379775547366,-5.99492537708e-05,1793196722586721280
+245,4.083333333,POSE1_TO_POSE2_PRESS,764.111859782,743,711.888140218,677,658.111859782,631,878.888140218,783.111859782,801.888140218,650,630,651,0.450060055869,0.00463962812955,0.0697571935041,0.999999919166,0.000124706544886,-0.000377533153473,-5.98803172498e-05,1793196722603387392
+246,4.100000000,POSE1_TO_POSE2_PRESS,764.687400044,743,711.312599956,677,658.687400044,631,878.312599956,783.687400044,801.312599956,650,630,651,0.450060417582,0.00464064407973,0.0697571410351,0.999999918939,0.000125034830731,-0.00037800314261,-6.00200946501e-05,1793196722620053504
+247,4.116666667,HOLD_POSE2,764,743,712,677,659,631,879,783,801,650,629,651,0.450059188856,0.00464075975082,0.0697557953672,0.999999918499,0.000127990362312,-0.000378233528848,-5.9659556532e-05,1793196722658191104
+248,4.133333333,HOLD_POSE2,764,743,711.408360498,677,659,631,879,783.591639502,801,650,629.591639502,651,0.450058090946,0.00463912591831,0.0697553106348,0.999999918154,0.000124904204705,-0.000380265586997,-5.90651655514e-05,1793196722674858496
+249,4.150000000,HOLD_POSE2,764.179427024,743,711.179427024,677,659,631,879,783.820572976,801,650,630,651,0.450057237907,0.0046383125103,0.0697549189838,0.999999917753,0.000123585223532,-0.000381795581634,-5.87691788908e-05,1793196722691525632
+250,4.166666667,HOLD_POSE2,764.758632134,743,711.758632134,677,659,631,879,783.241367866,801,650,630,651,0.45005693046,0.00463932707482,0.0697547347257,0.999999917247,0.000126203655397,-0.000382206938105,-5.91380613489e-05,1793196722708192000
+251,4.183333333,HOLD_POSE2,764.663893278,743,712,677,659,631,878.663893278,783,801.336106722,650,630,651,0.450057789735,0.00464033387806,0.0697550994448,0.999999917332,0.000127141914082,-0.000381616594307,-5.94935425391e-05,1793196722724858368
+252,4.200000000,HOLD_POSE2,764.087655097,743,712,677,659,631,878.087655097,783,801.912344903,650,630,651,0.450059482574,0.0046413351362,0.0697558563808,0.999999917842,0.000126879772819,-0.000380310585689,-5.98394491708e-05,1793196722741524992
+253,4.216666667,HOLD_POSE2,764.487039988,743,711.512960012,677.487039988,659,631,878,783.487039988,801.512960012,650,630,651,0.450060052326,0.0046403027103,0.0697561019606,0.999999918432,0.000126316138563,-0.000378967556911,-5.96968405788e-05,1793196722758191360
+254,4.233333333,HOLD_POSE2,764.936749334,743,711,677.936749334,659,631,878.063250666,784,801,650,630,651,0.45006026606,0.00463920523429,0.0697561245591,0.999999918879,0.000125835059741,-0.000377976107187,-5.95042557463e-05,1793196722774857728
+255,4.250000000,HOLD_POSE2,764.345578098,743,711,677.345578098,659,631,878.654421902,784,801,650,630,651,0.450059190021,0.00464061008798,0.0697550517601,0.999999918032,0.000126494488546,-0.000379974540354,-5.96260552005e-05,1793196722791524096
+256,4.266666667,HOLD_POSE2,764,743,711,677,659,631,879,783.760486506,801.239513494,650,630,651,0.450058615296,0.00464003729855,0.0697545344365,0.999999917773,0.000124907443459,-0.00038120062709,-5.94759887363e-05,1793196722808190976
+257,4.283333333,HOLD_POSE2,764,743,711,677,659,631,879,783.183949728,801.816050272,650,630,651,0.450058745978,0.00463668173561,0.0697547987315,0.999999918334,0.000120159348819,-0.000381339932586,-5.89433753611e-05,1793196722824857600
+258,4.300000000,HOLD_POSE2,764,743,711,677,659,631,879,783.391286689,802,650,630,651,0.450057909931,0.00463709808695,0.0697539683825,0.999999917779,0.000120703760409,-0.000382596850947,-5.90867632218e-05,1793196722841524480
+259,4.316666667,HOLD_POSE2,764,743,711,677,659,631,879,783.965913864,802,650,630,651,0.450056620916,0.00463928179838,0.0697526251293,0.9999999167,0.000123728017398,-0.0003843774357,-5.9546896782e-05,1793196722858191360
+260,4.333333333,HOLD_POSE2,764,743.554166579,711,677,659,631,879,783.445833421,801.445833421,650,630,651,0.450058893685,0.0046387540465,0.0697544201341,0.99999991777,0.000123129619608,-0.000381808565646,-5.93440818849e-05,1793196722874858240
+261,4.350000000,HOLD_POSE2,764.140974797,743.859025203,711.140974797,677.140974797,659,631,879,783.140974797,801,649.859025203,629.859025203,651,0.450060195077,0.00463861676429,0.0697554855433,0.999999918356,0.000122879866391,-0.000380371995183,-5.92040968006e-05,1793196722891525120
+262,4.366666667,HOLD_POSE2,764.720614792,743.279385208,711.720614792,677.720614792,659,631,879,783.720614792,801,649.279385208,629.279385208,651,0.450057774984,0.00464022652988,0.0697536649167,0.999999917031,0.000124425808548,-0.000383312197033,-5.93896994858e-05,1793196722908191232
+263,4.383333333,HOLD_POSE2,765,743,711.701255266,678,659,631,879,784,801,649.298744734,629.298744734,651,0.450057883387,0.00463933627345,0.0697537071081,0.999999917169,0.000123779775758,-0.000383211552984,-5.90779202625e-05,1793196722924857856
+264,4.400000000,HOLD_POSE2,765,743,711.124530452,678,659,631,879,784,801,649.875469548,629.875469548,651,0.450060344538,0.00463611976232,0.0697554826397,0.999999918661,0.000121094124096,-0.000380281420941,-5.83033303182e-05,1793196722941524480
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,677,659,631,879,784,801,650,630,651,0.450061952413,0.00463580275696,0.0697570666952,0.999999919618,0.000119750836656,-0.000378146348155,-5.85661058081e-05,1793196722974134016
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,677,658.406155392,631,879,784,801,650,630,651,0.450062449245,0.00463728311999,0.0697566843885,0.99999991955,0.000119324876529,-0.000378386440902,-5.90421093421e-05,1793196722990801152
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.182081837,743,711,677,658.182081837,631.182081837,878.817918163,784,801,650,630,651,0.450062104045,0.00463831508071,0.0697559008896,0.999999919111,0.000120046515492,-0.000379261855188,-5.9386847696e-05,1793196723007468288
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.758184927,743,711,677,658.758184927,631.758184927,878.241815073,784,801,650,630,651,0.450059936707,0.00463837670858,0.0697542492189,0.999999917862,0.000123251534592,-0.000381512091916,-5.944753106e-05,1793196723024134912
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.666227145,743,711,677,659,631.666227145,878,784,801.333772855,650,630,651,0.450059640696,0.00463884483358,0.0697543510057,0.999999917767,0.000124033024139,-0.000381502574553,-5.94804148334e-05,1793196723040800768
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.091011905,743,711,677,659,631.091011905,878,784,801.908988095,650,630,651,0.450060698354,0.00463960700776,0.0697557211969,0.999999918512,0.000123061396833,-0.000379858411197,-5.94931891207e-05,1793196723057466624
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711.496680964,677.496680964,659,631.496680964,878.496680964,784,801.503319036,650,630,651,0.450060871828,0.00463832767814,0.0697561416405,0.999999918902,0.000121448768772,-0.000379421604228,-5.90447456719e-05,1793196723074133248
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711.914846628,677.914846628,658.914846628,631.914846628,879,784,801.085153372,650,629.914846628,651,0.450060554714,0.00463679504309,0.069756210671,0.999999919096,0.000119652006094,-0.000379544351587,-5.86363433267e-05,1793196723090799872
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711.33546205,677.33546205,658.33546205,631.33546205,879,784,801.66453795,650,629.33546205,651,0.450058354805,0.00463601936755,0.0697552762093,0.999999918552,0.000117485813791,-0.000381597612152,-5.89634984514e-05,1793196723107466496
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711,677,658,631,879,783.758027265,802,650,629,650.758027265,0.450052698783,0.00463591826887,0.0697521158112,0.999999916811,0.000117164111573,-0.000386193055205,-5.92086018774e-05,1793196723124133120
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711,677,658,631,879,783.18327404,802,650,629,650.18327404,0.450042289636,0.00463674490296,0.0697458941251,0.999999913383,0.000119379101578,-0.000394284713185,-5.93408611374e-05,1793196723140800000
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.3995372,743,711,677,658.3995372,631.3995372,879,783.3995372,801.6004628,649.6004628,629.3995372,650.3995372,0.450019123603,0.00463676709923,0.0697341827917,0.999999905577,0.000121662179409,-0.000412977336148,-5.91049692513e-05,1793196723157466880
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.986120913,743,711,677,658.986120913,631.986120913,879,783.986120913,801.013879087,649.013879087,629.986120913,650.986120913,0.449989985332,0.00463641269161,0.0697199014358,0.999999895268,0.000123977133237,-0.000436632885621,-5.86967244661e-05,1793196723174134016
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,743,711.564923298,677,659,631.435076702,878.435076702,783.435076702,801,649.564923298,630,651,0.449941638334,0.00463597401313,0.0696992990221,0.999999880005,0.000122804901199,-0.000470576525428,-5.88816284618e-05,1793196723190800128
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.856543605,743,711.856543605,676.856543605,659,631,878,783.143456395,800.856543605,650,630,651,0.449891974709,0.00463573997239,0.0696808927137,0.99999986598,0.000122023507559,-0.000499671335831,-5.89857276329e-05,1793196723207466240
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.278255012,743,711.278255012,676.278255012,659,631,878,783.721744988,800.278255012,650,630,651,0.449839731245,0.00463613240142,0.0696696073626,0.999999859,0.000122682945874,-0.000513313087641,-5.88013278581e-05,1793196723224133120
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.298373947,743,711.298373947,676.298373947,659,631,878,783.701626053,800.298373947,650,630,651,0.449782432093,0.00463651038858,0.0696625065821,0.999999854619,0.0001239744396,-0.000521534913719,-5.82556425613e-05,1793196723240799744
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.873463708,743,711.873463708,676.873463708,659,631,878,783.126536292,800.873463708,650,630,651,0.449720444235,0.00463687498216,0.0696592866267,0.999999852764,0.00012585210957,-0.000524730230626,-5.7374896471e-05,1793196723257466112
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.553907557,743,711.553907557,677,659,631.446092443,878.446092443,783.446092443,801,649.553907557,629.553907557,650.553907557,0.449646702132,0.00463559950518,0.0696597581591,0.999999852759,0.000126003465879,-0.000524892955397,-5.5612560533e-05,1793196723274132992
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.981219496,743,711,677,659,631.981219496,879,783.981219496,801,649,629,650.018780504,0.449569066491,0.00463394132527,0.0696612869261,0.999999853271,0.000125770332958,-0.000524181229652,-5.36111825218e-05,1793196723290800128
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.38537624,743,711,677,659,631.38537624,879,783.38537624,801,649,629,650.61462376,0.449473680556,0.00463474000879,0.0696633033583,0.999999853667,0.000128686728376,-0.000522886906703,-5.19064133246e-05,1793196723307466752
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.203807693,743,711,677,659,631.203807693,879,783.203807693,801.203807693,649.203807693,629.203807693,650.796192307,0.449370090537,0.00463219705242,0.0696651450447,0.999999854559,0.000128135813509,-0.000521523566106,-4.97530777867e-05,1793196723324133632
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.780797987,743,711,677,659,631.780797987,879,783.780797987,801.780797987,649.780797987,629.780797987,650.219202013,0.449251478421,0.00462353537761,0.0696666667619,0.999999856339,0.000121236070871,-0.000520033850702,-4.67783938795e-05,1793196723340800256
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,711,676.642523223,659,631.642523223,878.642523223,783.642523223,802,650,630,650.357476777,0.449113693334,0.00460805795065,0.0696675842337,0.999999857554,0.000108164314226,-0.00052088543055,-4.32557225937e-05,1793196723357466624
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,743,711,677,659.104683113,631.104683113,879.895316887,784,801,650,629.895316887,651,0.448622125812,0.00457728830768,0.069662367963,0.999999853273,8.88642083818e-05,-0.000533446148556,-3.14966175987e-05,1793196723407466496
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,743,711,677,659.684550005,631.684550005,879.315449995,784,801,650,629.315449995,651,0.448424103274,0.00458467394325,0.069661190965,0.99999984995,0.000101598547668,-0.000537542696812,-2.87377652965e-05,1793196723424133632
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,675.571611901,662.856776198,633,878,784,800.571611901,649,630,651,0.42971080304,0.00454918266223,0.0697340982824,0.999999900659,0.000159242151422,-0.000413975216295,4.41300017164e-05,1793196724024132608
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.494871412,743,711.505128588,674.494871412,663.494871412,633,877,784,801,649.494871412,630,651,0.412119865621,0.00440306512068,0.0698373704947,0.999999967163,-2.17808533504e-05,-0.000251161399562,4.60269356042e-05,1793196724424133120
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.913098974,743,711.086901026,675,663.913098974,633,877,784,801,650,630,651,0.411552476329,0.00439775252781,0.0698729414755,0.999999979695,-2.91429697096e-05,-0.000193997246857,4.611468876e-05,1793196724440799744
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764.332378338,743,711.667621662,675,663.332378338,633,877,784,801,650,630,651,0.410936255098,0.00439703724763,0.069863978522,0.99999997629,-3.44316779971e-05,-0.000210031291601,4.6062582429e-05,1793196724457466624
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,743,712,674.75491336,663,633,877.24508664,784,801,650,630,651,0.410318517308,0.00441144233396,0.0698431987455,0.99999996877,-1.89143375637e-05,-0.000245041068576,4.5360736133e-05,1793196724474133248
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,743,712,674.181805762,663,633,877.818194238,784,801,650,630,651,0.409698749824,0.00444608433381,0.0698066034783,0.999999952093,2.44495643208e-05,-0.000305447731159,4.37892856583e-05,1793196724490800128
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.39233984,743,712,674,663,633,877.60766016,784,800.60766016,650,630,651,0.40912621165,0.00446512837554,0.0697820599869,0.999999936789,4.88250537945e-05,-0.000349576577511,4.28290751084e-05,1793196724507466496
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.966967767,743,712,674,663,633,877.033032233,784,800.033032233,650,630,651,0.408575617003,0.00447692533077,0.0697631159623,0.999999922486,6.43781919998e-05,-0.000386142465514,4.21528574076e-05,1793196724524133120
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.460759954,743,711.460759954,674.539240046,663,633,877,784,800,650,630,650.460759954,0.408096997074,0.00446252147155,0.0697753724782,0.999999934549,3.5805658478e-05,-0.000357797308439,4.00167078914e-05,1793196724540800000
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,743,711.71315406,674.28684594,663,633,877,784.71315406,800.71315406,649.28684594,630,650.71315406,0.407170351546,0.00444965978128,0.0698053221161,0.999999951501,1.99924549557e-05,-0.000308022461566,4.14695886127e-05,1793196724574133504
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,663,633,877,784.700975464,801,649,630,651,0.406710295273,0.00444994015057,0.0698100150867,0.999999951694,2.2404784102e-05,-0.000307070270824,4.26269782258e-05,1793196724590799616
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.463440786,743,712,674,663,633,877.463440786,784.463440786,801,649.463440786,630,650.536559214,0.4058240493,0.00445596466282,0.0697946203049,0.999999940088,2.62508142122e-05,-0.000342582529838,4.21077861529e-05,1793196724624133120
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.945393015,743,711.945393015,674,663,633,877.945393015,784.945393015,801,650,629.945393015,650.054606985,0.405419661102,0.00446288009618,0.0697857750658,0.999999934532,3.54978395349e-05,-0.000357659451096,4.1901714576e-05,1793196724640799744
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.366702154,743,711.366702154,674,663,633,877.366702154,784.366702154,801,650,629.366702154,650.633297846,0.405077543504,0.00447001990412,0.0698013444083,0.999999943819,4.73478587826e-05,-0.000329195011971,4.18373612099e-05,1793196724657466368
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.210558634,743,711.210558634,674,663,633.210558634,877,784,800.789441366,649.789441366,629.210558634,650.789441366,0.404746434645,0.00447176117299,0.0698171254018,0.999999952691,5.06694730751e-05,-0.000300505576503,4.17907521563e-05,1793196724674132736
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.785345595,743,711.785345595,674,663,633.785345595,877,784,800.214654405,649.214654405,629.785345595,650.214654405,0.404434368947,0.00446416394561,0.0698332725117,0.999999961521,3.92384891661e-05,-0.000271426941269,4.17748375866e-05,1793196724690799616
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.639017853,743,712,674,662.639017853,633.639017853,877,784,800.360982147,649,630,650.360982147,0.404121747112,0.00445889991422,0.0698399789174,0.999999965059,3.21352726042e-05,-0.000259060727313,4.16860478795e-05,1793196724707466240
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.062874853,743,712,674,662.062874853,633.062874853,877,784,800.937125147,649,630,650.937125147,0.403808793768,0.00445502656704,0.0698410582599,0.999999965819,2.76115900393e-05,-0.000256655831016,4.1553821477e-05,1793196724724132864
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742.473812803,711.473812803,674,662.526187197,633,877,784,801,649.526187197,629.473812803,651,0.403521227464,0.00445583851725,0.0698277923934,0.999999960223,2.72647327903e-05,-0.000277741582928,4.08642479398e-05,1793196724740799232
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.114151332,742.114151332,711.114151332,674.114151332,663,633,877,784,801,649.885848668,629,651,0.403244139714,0.00445636383559,0.0698147287212,0.999999954334,2.5209221744e-05,-0.000298493433445,3.99836664541e-05,1793196724757465856
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.691244896,742.691244896,711.691244896,674.691244896,663,633,877,784,801,649.308755104,629,651,0.402996935596,0.00445339907595,0.0698096116951,0.999999952269,1.41492108121e-05,-0.000306221079515,3.86053376423e-05,1793196724774132480
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.732877496,743,712,674.732877496,663,633,877.267122504,784,801,649,629,651,0.40276351142,0.00445057351954,0.0698056916936,0.999999950128,2.97233970425e-06,-0.000313581425357,3.74426979738e-05,1793196724790799360
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.42715515,743,712,674.42715515,663,633,877.57284485,784,800.57284485,649.42715515,629.42715515,651,0.402347114176,0.00444579445204,0.0697995154429,0.999999945519,-1.50390307407e-05,-0.00032771307319,3.66124386741e-05,1793196724824132608
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.404397204,662.404397204,633,877,784,800,650,630,651,0.401995604057,0.0044437904624,0.0697921766666,0.999999941273,-2.26745650893e-05,-0.000339888736099,3.7619093137e-05,1793196724857465856
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.826222124,743,712,674.173777876,662,633,877,784,800,649.826222124,629.826222124,651,0.40184440327,0.00444439116424,0.0697897313802,0.999999940056,-2.34800627019e-05,-0.000343328465652,3.82412798428e-05,1793196724874132480
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,743,711.671032316,674.671032316,662.328967684,633,877,784,800,649,629.328967684,651,0.401598446368,0.0044525467411,0.0697889453925,0.999999940658,1.92224409068e-05,-0.000341709616752,3.93562771855e-05,1793196724907465984
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,743,711.090147783,674.090147783,662.909852217,633,877,784,800,649,629.909852217,651,0.401491182353,0.0044610212175,0.0697886710156,0.999999938133,8.52400441498e-05,-0.000339007104849,3.92686183399e-05,1793196724924132608
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.492887879,742.507112121,711,674.492887879,663,633,877,784,800,649.492887879,629.507112121,651,0.401398808237,0.00447736073639,0.0697895623946,0.999999937792,9.58507573608e-05,-0.000337658810032,3.48588871659e-05,1793196724940799232
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,742.075833883,711.075833883,674.848332234,663,633,877.075833883,784,800.075833883,650,629,651,0.401312026601,0.00449189450021,0.0697905331041,0.99999993849,9.36159919218e-05,-0.000336663233125,3.02230523073e-05,1793196724957465856
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,742.655558699,711.655558699,673.688882602,663,633,877.655558699,784,800.655558699,650,629,651,0.401244230215,0.00448482941908,0.069790607996,0.999999940288,7.36579313089e-05,-0.00033635836632,2.93604297751e-05,1793196724974132480
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.76716653,743,712,673.23283347,663,633.23283347,878,784,801,650,629.23283347,651,0.401184451215,0.00447733328824,0.0697912625003,0.999999941949,5.68166387357e-05,-0.000334666632502,2.95204280214e-05,1793196724990799104
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.193478516,743,712,673.806521484,663,633.806521484,878,784,801,650,629.806521484,651,0.401136409201,0.00446920612634,0.0697927655232,0.99999994376,4.45381129985e-05,-0.000330944606852,3.11774831731e-05,1793196725007465984
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,663,633.608449688,877.608449688,784,801,650,629.608449688,651,0.40109423021,0.00446440701386,0.0697941387295,0.999999945003,3.79871320016e-05,-0.000327856480254,3.25798669738e-05,1793196725024132608
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,663,633.017649838,877.017649838,784,801,650,629.017649838,651,0.401055034757,0.00446130145745,0.0697954458753,0.999999945995,3.43507465329e-05,-0.000325090928147,3.38526552495e-05,1793196725040799488
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.560437731,743,712,674,662.439562269,633,877,784,800.439562269,650,629,651,0.401028877296,0.00446178485894,0.0697978703841,0.999999946719,3.68199028061e-05,-0.000322538665789,3.42906852213e-05,1793196725057466368
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.138037377,633,877,784,800.276074753,649.861962623,629.138037377,650.861962623,0.401005930332,0.00446205580141,0.0698002907046,0.999999947676,3.79107617555e-05,-0.000319393163285,3.46368332323e-05,1793196725074132992
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.715329972,633,877,784,801.430659944,649.284670028,629.715329972,650.284670028,0.400991922018,0.00446129897713,0.0698025882036,0.999999949412,3.40173784929e-05,-0.000314338983177,3.47723992777e-05,1793196725090799616
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.707750472,743,712,674,662.707750472,633,877.292249528,784,801.415500944,649,629.707750472,650.292249528,0.400979868829,0.00445985135071,0.0698042692513,0.999999950699,3.05669560095e-05,-0.000310561236554,3.49222371379e-05,1793196725107466240
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.13119375,743,712,674,662.13119375,633,877.86880625,784,800.2623875,649,629.13119375,650.86880625,0.400969717628,0.00445773169566,0.0698053506011,0.999999951565,2.75474556996e-05,-0.000308025233767,3.50859589708e-05,1793196725124132864
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,743,712,674.454860374,662,633,877.545139626,784,800,649.454860374,629,651,0.400961265027,0.00445738324321,0.0698062745441,0.999999951872,2.73495734354e-05,-0.000307057195201,3.49941267558e-05,1793196725140799488
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.042912284,743,712,674.957087716,662.042912284,633,877,784,800.042912284,650,629,651,0.400953893403,0.00445755301197,0.0698071838013,0.999999952083,2.79794737637e-05,-0.000306328076448,3.48483998108e-05,1793196725157466368
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.620988646,743,712,674.379011354,662.620988646,633,877,784,800.620988646,650,629,651,0.400953762609,0.00445767870068,0.0698084881767,0.999999953131,2.8566953151e-05,-0.000302818314886,3.49693756549e-05,1793196725174132992
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.802172714,743,712,674,663,633,877,784,800.802172714,650,629.197827286,651,0.400953734865,0.00445811972249,0.0698099704452,0.999999954088,2.91319325229e-05,-0.00029959388828,3.49046089438e-05,1793196725190799360
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.227690679,743,712,674,663,633,877,784,800.227690679,650,629.772309321,651,0.400953903327,0.00445916112513,0.0698117914143,0.999999954887,2.96540727867e-05,-0.000296912727526,3.44861962906e-05,1793196725207466240
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,662.652547252,633,877.347452748,784,800.347452748,649.652547252,630,651,0.400952290558,0.0044587281077,0.0698122741949,0.999999955041,2.82454180627e-05,-0.000296566686647,3.41905193009e-05,1793196725224132864
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,662.076969603,633,877.923030397,784,800.923030397,649.076969603,630,651,0.400949508298,0.00445732703937,0.0698118783694,0.999999954767,2.55690731965e-05,-0.000297753801086,3.39754261228e-05,1793196725240799232
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,743,711.487025436,674,662.512974564,633,877.487025436,784,801,649,629.487025436,650.487025436,0.400950074225,0.004458926389,0.06981224288,0.999999954935,2.66457068271e-05,-0.000297094455924,3.3976021916e-05,1793196725257465856
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.1024628,743,711,674,662.8975372,633,877,784,800.8975372,649,629,650.1024628,0.400951002073,0.00446040914255,0.0698128413026,0.999999955224,2.78745205087e-05,-0.000296002215283,3.40282571062e-05,1793196725274132736
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.679565536,743,711,674,662.320434464,633,877,784,800.320434464,649,629,650.679565536,0.400951212214,0.00445920623008,0.0698139795738,0.999999955764,2.71245787301e-05,-0.000294225043491,3.41654661511e-05,1793196725290800640
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764.745280524,743,711.254719476,674,662,633,877,784,800,649,629.254719476,651,0.400951089916,0.00445786243187,0.0698147703236,0.999999956141,2.54095918961e-05,-0.000293076287046,3.43439510248e-05,1793196725307468032
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ee9bbc348922d75f230cad9d5e764d037f4ac926
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_02/simulation_data.csv
@@ -0,0 +1,423 @@
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+359,5.983333333,pose2_to_pose3_retreat,0.585109034349,0.0100012307633,1.0600114896,0.555680268273,0.0186748935666,1.0596610246
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+363,6.050000000,pose2_to_pose3_retreat,0.583337479422,0.0100013066458,1.06001198574,0.553908714635,0.0186749736539,1.05966151755
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+365,6.083333333,pose2_to_pose3_retreat,0.582558752445,0.0100012020907,1.06001149018,0.553129986347,0.0186748645933,1.05966102056
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+372,6.200000000,pose2_to_pose3_retreat,0.580453242448,0.0100013772739,1.0600115243,0.551024474584,0.0186750340976,1.05966106256
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+376,6.266666667,pose2_to_pose3_retreat,0.579587264551,0.0100013622814,1.0600117649,0.550158498064,0.0186750238921,1.05966130565
+377,6.283333333,pose2_to_pose3_retreat,0.579411701064,0.0100013837098,1.06001170861,0.549982934555,0.0186750449757,1.05966124296
+378,6.300000000,pose2_to_pose3_retreat,0.57925310997,0.0100013035157,1.06001175363,0.549824344977,0.0186749697717,1.05966128413
+379,6.316666667,pose2_to_pose3_retreat,0.57911034177,0.0100012713084,1.06001178757,0.549681576993,0.0186749384729,1.05966132235
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+382,6.366666667,pose2_to_pose3_retreat,0.578769011718,0.0100011981912,1.06001178484,0.549340247825,0.0186748682707,1.05966131767
+383,6.383333333,pose2_to_pose3_retreat,0.578679670221,0.0100014086651,1.06001148398,0.549250900951,0.0186750607098,1.05966102627
+384,6.400000000,pose2_to_pose3_retreat,0.578601331217,0.0100014882474,1.06001145324,0.549172563149,0.0186751445981,1.05966099957
+385,6.416666667,pose2_to_pose3_retreat,0.578534360555,0.0100013279536,1.0600114586,0.549105595754,0.0186749953904,1.05966100291
+386,6.433333333,pose2_to_pose3_retreat,0.578477037632,0.0100011764374,1.06001146723,0.549048273258,0.0186748451654,1.05966100753
+387,6.450000000,pose2_to_pose3_retreat,0.578428883313,0.0100013244264,1.06001166162,0.549000116098,0.0186749833514,1.0596611978
+388,6.466666667,pose2_to_pose3_retreat,0.578388744139,0.0100012555388,1.06001171929,0.54895997801,0.0186749176698,1.05966124359
+389,6.483333333,pose2_to_pose3_retreat,0.578355552784,0.0100011587518,1.0600118784,0.548926790024,0.0186748324924,1.05966140706
+390,6.500000000,pose2_to_pose3_retreat,0.578328909728,0.0100010992003,1.06001171003,0.548900147505,0.0186747749685,1.05966124375
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+392,6.533333333,pose2_to_pose3_retreat,0.578292496275,0.0100013737127,1.06001179635,0.548863729222,0.0186750329951,1.05966132774
+393,6.550000000,pose2_to_pose3_retreat,0.578280412635,0.0100013928982,1.06001169499,0.548851644886,0.0186750499076,1.05966122867
+394,6.566666667,pose2_to_pose3_retreat,0.578271319207,0.0100012750352,1.06001176187,0.548842553856,0.018674940043,1.05966129214
+395,6.583333333,pose2_to_pose3_retreat,0.578264747114,0.0100012312187,1.06001181479,0.548835983062,0.0186749006095,1.05966134454
+396,6.600000000,pose2_to_pose3_retreat,0.578260294781,0.010001330926,1.06001178706,0.54883152949,0.0186749963279,1.05966132202
+397,6.616666667,pose2_to_pose3_retreat,0.578257777379,0.0100014081596,1.06001168073,0.548829010566,0.0186750683986,1.05966121576
+398,6.633333333,pose2_to_pose3_retreat,0.57825638392,0.0100014553477,1.06001160258,0.54882761609,0.0186751121104,1.05966113705
+399,6.650000000,pose2_to_pose3_retreat,0.578255703049,0.0100014784047,1.0600115644,0.548826934721,0.0186751334688,1.0596610986
+400,6.666666667,pose2_to_pose3_retreat,0.578255153164,0.0100014365513,1.06001157657,0.54882638549,0.0186750938146,1.05966111022
+401,6.683333333,pose2_to_pose3_retreat,0.578254753853,0.0100013837633,1.06001160134,0.548825987046,0.0186750439461,1.05966113447
+402,6.700000000,pose2_to_pose3_retreat,0.578254360633,0.0100013317804,1.06001162573,0.548825594679,0.0186749948382,1.05966115836
+403,6.716666667,pose2_to_pose3_retreat,0.578254185198,0.0100013085881,1.06001163661,0.548825419624,0.0186749729286,1.05966116901
+404,6.733333333,pose2_to_pose3_retreat,0.578254032608,0.0100012884161,1.06001164607,0.548825267366,0.0186749538722,1.05966117828
+405,6.750000000,pose2_to_pose3_retreat,0.578253993392,0.0100012832317,1.06001164851,0.548825228234,0.0186749489746,1.05966118066
+406,6.766666667,pose2_to_pose3_retreat,0.578253886831,0.0100012691446,1.06001165512,0.548825121905,0.0186749356666,1.05966118713
+407,6.783333333,pose2_to_pose3_retreat,0.578253697216,0.0100012440779,1.06001166688,0.548824932701,0.0186749119861,1.05966119865
+408,6.800000000,pose2_to_pose3_retreat,0.578253534779,0.010001222604,1.06001167695,0.548824770616,0.0186748916999,1.05966120851
+409,6.816666667,pose2_to_pose3_retreat,0.578253447622,0.010001211082,1.06001168236,0.548824683649,0.0186748808152,1.05966121381
+410,6.833333333,pose2_to_pose3_retreat,0.578253272888,0.010001196201,1.06001168523,0.548824509107,0.0186748665872,1.0596612167
+411,6.850000000,pose2_to_pose3_retreat,0.578253143554,0.0100012113683,1.06001166197,0.548824379319,0.0186748802484,1.05966119428
+412,6.866666667,pose2_to_pose3_retreat,0.578252986995,0.0100012297283,1.06001163381,0.548824222211,0.0186748967852,1.05966116713
+413,6.883333333,pose2_to_pose3_retreat,0.578252863274,0.0100012442374,1.06001161156,0.548824098055,0.0186749098536,1.05966114567
+414,6.900000000,pose2_to_pose3_retreat,0.578252718667,0.0100012611957,1.06001158556,0.548823952941,0.018674925128,1.05966112059
+415,6.916666667,pose2_to_pose3_retreat,0.578252460781,0.0100012921382,1.06001154208,0.548823694183,0.0186749531735,1.05966107859
+416,6.933333333,pose2_to_pose3_retreat,0.578252282872,0.0100013219993,1.06001154732,0.548823516081,0.018674982329,1.05966108263
+417,6.950000000,pose2_to_pose3_retreat,0.578252171188,0.0100013407451,1.06001155061,0.548823404275,0.0186750006318,1.05966108517
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+420,7.000000000,pose2_to_pose3_retreat,0.578252135778,0.0100013366363,1.06001149867,0.548823368693,0.0186749958415,1.05966103084
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a8fbde15f2629bffc227117a669aeef3449b5a15
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d8e5d1db2776b2421d879d2f28b44fcebb8dc423a547157974ba976d0e521f6
+size 26747713
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..05a8fdaa444ef05a68ffe40453b0e30b8134451e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_03/franka_data.csv
@@ -0,0 +1,423 @@
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+9,0.150000000,BASELINE,765,742.240891746,712,674,663.518216509,633,877,784,801,649.759108254,628.240891746,651,0.400951937149,0.00445961671577,0.0698201468852,0.999999958134,2.79459997965e-05,-0.000286060097625,3.34690953178e-05,1793196725881207296
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+11,0.183333333,BASELINE,765,743,711.605968984,674,662.394031016,633,877,784,801,649,629,651,0.40094980206,0.00445914232911,0.0698187989084,0.99999995752,2.4504124821e-05,-0.000288541251681,3.32080129522e-05,1793196725914540800
+12,0.200000000,BASELINE,765,743,711.036314001,674,662.963685999,633,877,784,801,649,629,651,0.400949844774,0.00445873021081,0.069818881627,0.999999957705,2.31152551584e-05,-0.000288028813178,3.30840026444e-05,1793196725931207424
+13,0.216666667,BASELINE,764.447996364,743,711.552003636,674,662.447996364,633,877,784,801,649.552003636,629,651,0.400950008933,0.00445805061816,0.069818624519,0.999999957707,2.39710098224e-05,-0.000287924058433,3.33468620806e-05,1793196725947874048
+14,0.233333333,BASELINE,764.140320517,743,712,674,662.140320517,633,877,784,800.859679483,649.859679483,629,651,0.400950069258,0.00445776323839,0.0698183599936,0.999999957666,2.47518600822e-05,-0.000287980825858,3.34895789265e-05,1793196725964540928
+15,0.250000000,BASELINE,764.724614669,743,712,674,662.724614669,633,877,784,800.275385331,649.275385331,629,651,0.400949774896,0.00445877444054,0.069818145208,0.999999957537,2.48121550496e-05,-0.000288460821762,3.31688219492e-05,1793196725981207552
+16,0.266666667,BASELINE,765,743,712,674,663,633,877,784,800.303637194,649.303637194,629.303637194,651,0.400950254335,0.0044598185036,0.0698185665272,0.999999957656,2.65105726348e-05,-0.000287910351953,3.30714929824e-05,1793196725997874176
+17,0.283333333,BASELINE,765,743,712,674,663,633,877,784,800.877960147,649.877960147,629.877960147,651,0.400951423601,0.00446089186138,0.0698195549196,0.999999957985,2.96693398413e-05,-0.00028644124501,3.31733451019e-05,1793196726014540800
+18,0.300000000,BASELINE,765,743,712,673.547734649,663,633,877,784,801,650,630,651,0.400950456622,0.00446002889579,0.069818969623,0.999999957704,2.89204101702e-05,-0.000287488498944,3.32710984424e-05,1793196726031207424
+19,0.316666667,BASELINE,765,743,712,673.054734919,663,633,877,784,801,649.97263254,629.97263254,651,0.40094906154,0.0044586778414,0.0698180548032,0.999999957304,2.70708031614e-05,-0.000289045200477,3.33540181925e-05,1793196726047874048
+20,0.333333333,BASELINE,765,743,712,674.237998143,663,633,877,784,801,649.381000929,629.381000929,651,0.400950724561,0.0044580358553,0.0698191008899,0.999999957941,2.42673861342e-05,-0.000287106237855,3.31539010835e-05,1793196726064540672
+21,0.350000000,BASELINE,765,743,712,674.793927456,663,633,877,784,801,649.206072544,629.206072544,651,0.400951471052,0.00445809616833,0.0698196593031,0.999999958206,2.34713126625e-05,-0.00028625364198,3.3105636522e-05,1793196726081207552
+22,0.366666667,BASELINE,765,743,712,674.215099072,663,633,877,784,801,649.784900928,629.784900928,651,0.400950559671,0.0044594268404,0.0698193355844,0.999999957809,2.63062376837e-05,-0.000287366128817,3.3332051583e-05,1793196726097875200
+23,0.383333333,BASELINE,765,743,712,674,662.639128015,633,877.360871985,784,801,649.639128015,630,651,0.400950067684,0.00445899905469,0.0698190682571,0.999999957744,2.67142628528e-05,-0.000287530740754,3.35291945922e-05,1793196726114541568
+24,0.400000000,BASELINE,765,743,712,674,662.064846645,633,877.935153355,784,801,649.064846645,630,651,0.400949823716,0.00445753136741,0.0698188342779,0.999999957879,2.56870890375e-05,-0.000287134806655,3.37090269677e-05,1793196726131207424
+25,0.416666667,BASELINE,765,743,712,674,662,633,878,784,801,649.520124492,630,651,0.400950639385,0.00445708399921,0.069819194687,0.999999958221,2.49980966171e-05,-0.000286042526438,3.33481246233e-05,1793196726147874048
+26,0.433333333,BASELINE,765,743,712,674,662.105524566,633,878,784,800.894475434,650,630,651,0.400951332616,0.00445700480714,0.0698194669788,0.999999958437,2.44583119008e-05,-0.000285364884329,3.30738008852e-05,1793196726164540416
+27,0.450000000,BASELINE,765,743,712,674,662.686724636,633,878,784,800.313275364,650,630,651,0.400950865912,0.00445799979768,0.0698190010059,0.999999957969,2.43970674252e-05,-0.000286955874929,3.35000198401e-05,1793196726181207040
+28,0.466666667,BASELINE,764.733878803,743,712,674,663,633,877.733878803,784,800.266121197,649.733878803,630,651,0.40095055742,0.00445892448066,0.0698192866908,0.999999957855,2.54090296368e-05,-0.000287262412721,3.35443699296e-05,1793196726197873920
+29,0.483333333,BASELINE,764.156591061,743,712,674,663,633,877.156591061,784,800.843408939,649.156591061,630,651,0.400950433919,0.00445976695531,0.0698204512638,0.999999958151,2.76758562576e-05,-0.000286067083042,3.31422136008e-05,1793196726214541056
+30,0.500000000,BASELINE,764,743,711.580757256,674,663,633,877.419242744,784,800.580757256,649,629.580757256,651,0.400950015081,0.00445950736624,0.069820154287,0.999999958066,2.74830977611e-05,-0.000286392204584,3.30392672863e-05,1793196726231207936
+31,0.516666667,BASELINE,764,743,711.005464647,674,663,633,877.994535353,784,800.005464647,649,629.005464647,651,0.400949486313,0.00445883756875,0.0698193132945,0.99999995784,2.63748363596e-05,-0.000287283266083,3.30476924555e-05,1793196726247874560
+32,0.533333333,BASELINE,764.582260212,743,711.582260212,674,663,633,878,784,800.582260212,649,629.582260212,651,0.400951649126,0.00445916429008,0.0698210416924,0.999999958501,2.84383262897e-05,-0.00028475840839,3.31878797468e-05,1793196726264540928
+33,0.550000000,BASELINE,765,743,712,674,663,633,877.831437288,784,801,649,629.831437288,651,0.40095270167,0.00445908569847,0.06982191866,0.999999958879,2.86232197445e-05,-0.00028340569549,3.32264664356e-05,1793196726281207296
+34,0.566666667,BASELINE,765,743,712,674,663,633,877.248920678,784,801,649,629.248920678,651,0.400950964243,0.00445798827608,0.0698206441855,0.999999958548,2.41199846847e-05,-0.000285011967616,3.301244067e-05,1793196726297873920
+35,0.583333333,BASELINE,764.671452358,743,711.671452358,674,662.671452358,633,877,784,801,649,629,651,0.400951414383,0.00445774894915,0.0698205023258,0.999999958656,2.29108459206e-05,-0.000284738731658,3.29724056414e-05,1793196726314540544
+36,0.600000000,BASELINE,764.097750881,743,711.097750881,674,662.097750881,633,877,784,801,649,629,651,0.400953496829,0.00445814991096,0.0698212055941,0.999999959099,2.41596769632e-05,-0.00028306305508,3.3062198022e-05,1793196726331207168
+37,0.616666667,BASELINE,764,743,711.487622006,674,662,633,877,784,801,649.487622006,629.487622006,651,0.400953122999,0.00445880566564,0.0698211068481,0.999999959019,2.563107997e-05,-0.000283202698814,3.31707113735e-05,1793196726347874048
+38,0.633333333,BASELINE,764,743,712,674,662.074271845,633,877,784.074271845,801,650,630,651,0.400952381,0.00445935227517,0.0698208944485,0.99999995886,2.68404647159e-05,-0.000283645870182,3.32413859325e-05,1793196726364541184
+39,0.650000000,BASELINE,764,743,712,674,662.653309371,633,877,784.653309371,801,650,630,651,0.400952565328,0.00445880147269,0.0698210290911,0.999999958898,2.59584570745e-05,-0.0002836180425,3.30287700604e-05,1793196726381208064
+40,0.666666667,BASELINE,764.232375445,743,712,674,663,633,877,784.767624555,800.767624555,650,630,651,0.400952767486,0.00445852484381,0.0698209632864,0.999999958934,2.56101299413e-05,-0.000283536133722,3.29259233518e-05,1793196726397874688
+41,0.683333333,BASELINE,764.811484079,743,712,674,663,633,877,784.188515921,800.188515921,650,630,651,0.400952996248,0.00445865731621,0.0698205983893,0.999999958966,2.60581208412e-05,-0.000283373529197,3.29868659589e-05,1793196726414541056
+42,0.700000000,BASELINE,765,743,712,674,662.612551323,633,877.387448677,784,800,649.612551323,629.612551323,651,0.400952973108,0.0044589993439,0.0698211524664,0.999999958966,2.7504985354e-05,-0.000283209699432,3.32261451756e-05,1793196726431207424
+43,0.716666667,BASELINE,765,743,712,674,662.038104181,633,877.961895819,784,800,649.038104181,629.038104181,651,0.400952828388,0.00445944251148,0.0698221500778,0.999999958947,2.94339468202e-05,-0.000283045278318,3.35514968798e-05,1793196726447874048
+44,0.733333333,BASELINE,765,743,711.464877383,674,662,633.535122617,878,784.535122617,800.535122617,649.535122617,629,651,0.400951153862,0.00445980519296,0.0698203027386,0.999999958375,2.76784775559e-05,-0.000285302056177,3.2974627863e-05,1793196726464540672
+45,0.750000000,BASELINE,765,743,711,674,662.112106543,633.887893457,878,784.887893457,801,650,629,650.887893457,0.400950180092,0.00445980906116,0.0698191485043,0.999999958074,2.57293790278e-05,-0.000286582928871,3.25479037395e-05,1793196726481207296
+46,0.766666667,BASELINE,765,743,711,674,662.705595595,633.294404405,878,784.294404405,801,650,629,650.294404405,0.400952682037,0.00445829674788,0.0698218383332,0.999999959138,2.40728252793e-05,-0.000282934672117,3.30411320393e-05,1793196726497874176
+47,0.783333333,BASELINE,765,743,711.290956949,674.290956949,663,633,878,784,801,650,629.290956949,650.290956949,0.400953131291,0.0044573994351,0.069822358606,0.999999959298,2.30363502682e-05,-0.000282432898833,3.32434402613e-05,1793196726514540800
+48,0.800000000,BASELINE,765,743,711.868317859,674.868317859,663,633,878,784,801,650,629.868317859,650.868317859,0.400951559975,0.0044571074989,0.0698207432729,0.999999958574,2.26102506076e-05,-0.000285028371409,3.31593808744e-05,1793196726531207168
+49,0.816666667,BASELINE,765,743,712,675,663,633,878,784,801,650,629.556072092,651,0.400950870688,0.0044577798979,0.0698199947501,0.999999958388,2.44325882099e-05,-0.000285511521987,3.33164835804e-05,1793196726547874048
+50,0.833333333,BASELINE,765,743,712,675,663,633.019461104,877.980538896,784,801,649.980538896,629.019461104,651,0.400950485974,0.0044587376155,0.0698195566139,0.999999958369,2.68581755664e-05,-0.000285336295944,3.35272741705e-05,1793196726564541440
+51,0.850000000,BASELINE,765,743,712,675,663,633.607872442,877.392127558,784,801,649.392127558,629.607872442,651,0.400951386547,0.00445970679545,0.0698207052245,0.999999958697,2.74979888114e-05,-0.000284159440904,3.3224492722e-05,1793196726581207808
+52,0.866666667,BASELINE,765,743,712,674.806306448,663,634,877,784.193693552,801,649.193693552,630,651,0.400951944076,0.00445966692655,0.0698213077422,0.999999958911,2.7280457278e-05,-0.000283429788102,3.31790996172e-05,1793196726597874176
+53,0.883333333,BASELINE,765,743,712,674.225660021,663,634,877,784.774339979,801,649.774339979,630,651,0.400951816286,0.004457611222,0.0698208192984,0.9999999589,2.53501581826e-05,-0.000283593537287,3.36479061935e-05,1793196726614540800
+54,0.900000000,BASELINE,765,743,712,674.351635595,662.648364405,634,877.351635595,784.648364405,800.648364405,649.648364405,630,651,0.400951857986,0.00445807716102,0.0698208383374,0.99999995892,2.59034078749e-05,-0.000283482396672,3.35610267367e-05,1793196726631207424
+55,0.916666667,BASELINE,765,743,712,674.926801123,662.073198877,634,877.926801123,784.073198877,800.073198877,649.073198877,630,651,0.400952007428,0.00446014607443,0.0698211799762,0.999999958958,2.80354156067e-05,-0.000283196512369,3.31209052579e-05,1793196726647874048
+56,0.933333333,BASELINE,765,743,712,675,662.500884942,633.499115058,877.499115058,784,800.500884942,649,630,651,0.400950951109,0.00446054922751,0.0698201203496,0.999999958409,2.80256225637e-05,-0.000285157404185,3.28800536009e-05,1793196726664540928
+57,0.950000000,BASELINE,764.922552354,743,712,674.922552354,663,633,877,784,800.922552354,649.077447646,629.922552354,651,0.400949905114,0.00446039429473,0.0698191266877,0.999999957891,2.73240673492e-05,-0.000287052745083,3.2744472449e-05,1793196726681207808
+58,0.966666667,BASELINE,764.328399212,743,712,674.328399212,663,633,877,784,800.328399212,649.671600788,629.328399212,651,0.400950101067,0.00445813659872,0.0698199364012,0.99999995817,2.40910399374e-05,-0.000286324881167,3.31173540346e-05,1793196726697874432
+59,0.983333333,BASELINE,764.257880641,743,712,674,663,633,877.257880641,784,800,650,629.257880641,651,0.400950468092,0.00445798282913,0.0698204040813,0.999999958279,2.35082262115e-05,-0.000285982270886,3.32339865522e-05,1793196726714540800
+60,1.000000000,BASELINE,764.83443134,743,712,674,663,633,877.83443134,784,800,650,629.83443134,651,0.400951046515,0.00446042893782,0.0698204491015,0.99999995818,2.62003525319e-05,-0.000286115728809,3.30339652403e-05,1793196726731207680
+61,1.016666667,BASELINE,764.591333084,743,712,673.591333084,663,633,877.591333084,784,800.408666916,650,629.591333084,651,0.400951693042,0.00446108695631,0.0698210357329,0.999999958595,2.72991053452e-05,-0.000284568789907,3.29494222731e-05,1793196726747874304
+62,1.033333333,BASELINE,764.018030215,743,712,673.018030215,663,633,877.018030215,784,800.981969785,650,629.018030215,651,0.400952367004,0.00446102462288,0.0698218405581,0.999999959214,2.77559499873e-05,-0.000282344884689,3.29114010366e-05,1793196726764540672
+63,1.050000000,BASELINE,764.572471237,743,711.427528763,673.572471237,663,633,877,784,800.427528763,650,629,651,0.400952512555,0.00446012358304,0.0698219770425,0.999999959276,2.75767360931e-05,-0.000282130025347,3.30315720496e-05,1793196726781207296
+64,1.066666667,BASELINE,765,743.16026845,711.16026845,674,662.83973155,633,876.83973155,784,800.16026845,649.83973155,629,651,0.400952382454,0.00445989321405,0.0698219435349,0.999999959224,2.79899643917e-05,-0.000282263577814,3.30920619021e-05,1793196726797873920
+65,1.083333333,BASELINE,765,743.73953579,711.73953579,674,662.26046421,633,876.26046421,784,800.73953579,649.26046421,629,651,0.400951576557,0.0044614874162,0.0698215223435,0.999999958922,3.00060432665e-05,-0.000283137453963,3.29830948778e-05,1793196726814541056
+66,1.100000000,BASELINE,765,743.683039213,712,674,662.316960787,633,876.316960787,784,801,649.316960787,629.316960787,651,0.400950957794,0.00446163998943,0.0698207636789,0.999999958569,2.9680304306e-05,-0.000284450154231,3.2694702462e-05,1793196726831207936
+67,1.116666667,BASELINE,765,743.10711945,712,674,662.89288055,633,876.89288055,784,801,649.89288055,629.89288055,651,0.400950491921,0.00446061474259,0.0698197292964,0.99999995817,2.7441285203e-05,-0.000286121376547,3.22597183674e-05,1793196726847874304
+68,1.133333333,BASELINE,765,743,712,674,663,633,877,784,801,650,629.522957442,651,0.400949885768,0.00446068769514,0.0698193344548,0.999999958116,2.8117888575e-05,-0.000286237700651,3.23337000224e-05,1793196726864540928
+69,1.150000000,BASELINE,764.937665941,743,712,674,663,633,877,784,801,650,629.062334059,651,0.400949490989,0.00446094183843,0.0698192472872,0.999999958194,2.92127981334e-05,-0.000285834501217,3.25192629077e-05,1793196726881207296
+70,1.166666667,BASELINE,764.358623587,743,712,674,663,633,877,784,801,650,629.641376413,651,0.400951114054,0.00446061784558,0.069820499186,0.99999995872,2.82527401235e-05,-0.000284069910123,3.26657339755e-05,1793196726897873920
+71,1.183333333,BASELINE,764.220367651,743,712,674,663,633,877,784,801,649.779632349,629.779632349,651,0.40095209711,0.00446090035928,0.0698211752037,0.999999959017,2.81590608323e-05,-0.000283023549031,3.27257281895e-05,1793196726914540544
+72,1.200000000,BASELINE,764.799275814,743,712,674,663,633,877,784,801,649.200724186,629.200724186,651,0.400952038863,0.00446216966551,0.0698209142568,0.999999958947,2.94749887734e-05,-0.000283145755508,3.26450236664e-05,1793196726931207168
+73,1.216666667,BASELINE,764.625010616,743,712,674,663,633,877,784.374989384,801,649.374989384,629,651,0.400951863229,0.00446112366862,0.0698207146445,0.999999958912,2.81116821081e-05,-0.000283416719108,3.25791523557e-05,1793196726947874048
+74,1.233333333,BASELINE,764.050992637,743,712,674,663,633,877,784.949007363,801,649.949007363,629,651,0.40095162529,0.00445884880612,0.0698205475859,0.999999958889,2.53263502981e-05,-0.000283766636725,3.2521153895e-05,1793196726964541184
+75,1.250000000,BASELINE,764.5356681,743,712,674,663,633,877,784.4643319,800.4643319,650,629,651,0.400950573755,0.004459450361,0.0698200614513,0.99999995861,2.64096001201e-05,-0.000284625074583,3.27197119073e-05,1793196726981207552
+76,1.266666667,BASELINE,765,743,712,674.122221757,663,633,877,784.122221757,800.122221757,650,629.122221757,651,0.400949861753,0.00446031744579,0.0698196731285,0.999999958388,2.7606877011e-05,-0.000285273277652,3.28782475804e-05,1793196726997874176
+77,1.283333333,BASELINE,765,743,712,674.70374096,663,633,877,784.70374096,800.70374096,650,629.70374096,651,0.400950723768,0.00446112850792,0.0698197692758,0.999999958479,2.78152904592e-05,-0.000284945127848,3.27923863642e-05,1793196727014541056
+78,1.300000000,BASELINE,764.717013309,743,712,674.717013309,663.282986691,633,877,784.717013309,801,649.717013309,630.282986691,651,0.400951403125,0.0044618505547,0.0698199574543,0.999999958566,2.8569591404e-05,-0.000284564413206,3.27797725937e-05,1793196727031207680
+79,1.316666667,BASELINE,764.140128743,743,712,674.140128743,663.859871257,633,877,784.140128743,801,649.140128743,630.859871257,651,0.400951892782,0.00446248015391,0.0698202412125,0.999999958649,2.98908277418e-05,-0.000284129106989,3.28432304926e-05,1793196727047874304
+80,1.333333333,BASELINE,764,743,711.565232348,674.434767652,663.130464696,633,877,784,801,649.434767652,630.565232348,651,0.400951692653,0.0044607762531,0.0698201004192,0.999999958649,2.89095683805e-05,-0.000284227254311,3.28708718101e-05,1793196727064541184
+81,1.350000000,BASELINE,764.009297909,743,711.009297909,674.990702091,662.009297909,633,877,784,800.990702091,649.990702091,630,651,0.40095129352,0.00445836392331,0.0698198477367,0.999999958626,2.71959736205e-05,-0.000284474855569,3.28890557927e-05,1793196727081207808
+82,1.366666667,BASELINE,764.600842454,743,711.600842454,674.399157546,662.600842454,633,877,784,800.399157546,649.399157546,630,651,0.400952291238,0.00445847218473,0.0698211182521,0.999999958972,2.58829970621e-05,-0.000283363618048,3.30346149165e-05,1793196727097874432
+83,1.383333333,BASELINE,765,743,712,674,663,633,877.187780167,784,800,649.187780167,630,650.812219833,0.400952841579,0.00445863524759,0.0698220150616,0.999999959241,2.47755484756e-05,-0.000282502576537,3.31044254042e-05,1793196727114541056
+84,1.400000000,BASELINE,765,743,712,674,663,633,877.765159898,784,800,649.765159898,630,650.234840102,0.400952463715,0.00445891201057,0.0698221365196,0.999999959357,2.40945217209e-05,-0.000282160632543,3.30170753623e-05,1793196727131207680
+85,1.416666667,BASELINE,765,743,712,674,663,633,877.660196721,784,800.339803279,650,630,650.339803279,0.400952922549,0.00445910551035,0.06982262265,0.999999959558,2.44112434414e-05,-0.00028141684214,3.30511061683e-05,1793196727147874304
+86,1.433333333,BASELINE,765,743,712,674,663,633,877.087429376,784,800.912570624,650,630,650.912570624,0.40095395501,0.00445924192611,0.0698233587944,0.999999959816,2.54120066921e-05,-0.000280397551845,3.31683538806e-05,1793196727164540672
+87,1.450000000,BASELINE,764.498729129,743,712,674,663,633,877,784,801,649.498729129,630,651,0.400952477515,0.00445980742481,0.0698221270299,0.999999959356,2.60168896493e-05,-0.000281998389817,3.29950229404e-05,1793196727181207552
+88,1.466666667,BASELINE,764,743,712,674,663,633,877,784,800.909148403,649.090851597,630,651,0.400951015437,0.00446017935765,0.0698209435336,0.999999958906,2.60925858217e-05,-0.000283604632705,3.28106931284e-05,1793196727197874176
+89,1.483333333,BASELINE,764,743,712,674,663,633,877,784,800.330255999,649.669744001,630,651,0.400952065041,0.00445909626481,0.0698219236545,0.999999959219,2.37086617657e-05,-0.00028270443556,3.28484694019e-05,1793196727214540800
+90,1.500000000,BASELINE,764.247484496,743,712,674,662.752515504,633,877,784,800,649.752515504,630,651,0.400952537592,0.00445884939436,0.0698223264805,0.999999959439,2.27649522123e-05,-0.000282012058933,3.27593529031e-05,1793196727231207680
+91,1.516666667,BASELINE,764.823694901,743,712,674,662.176305099,633,877,784,800,649.176305099,630,651,0.400952243659,0.00445971325202,0.0698219625037,0.999999959542,2.37342346904e-05,-0.000281595723868,3.25016887039e-05,1793196727247874304
+92,1.533333333,BASELINE,765,743,712,674,662,633,877,784,800.395946615,649.395946615,629.604053385,651,0.400952965835,0.00445970284179,0.0698220151448,0.999999959793,2.38796860389e-05,-0.000280692540728,3.25024737183e-05,1793196727264540928
+93,1.550000000,BASELINE,765,743,712,674,662,633,877,784,800.966453123,649.966453123,629.033546877,651,0.400954135979,0.00445930699556,0.0698222514592,0.999999960107,2.36619373136e-05,-0.000279574722184,3.26172005023e-05,1793196727281207552
+94,1.566666667,BASELINE,765,743,711.440917581,674,662.559082419,633,877,784,801,650,629,651,0.400953986842,0.00445964749944,0.0698223693601,0.999999959915,2.5212341007e-05,-0.000280124279955,3.26366946285e-05,1793196727297874176
+95,1.583333333,BASELINE,765,743,711.149291035,674,663,633,877,784,800.850708965,650,629,651,0.400953028991,0.0044596345236,0.0698220250196,0.999999959529,2.60770310469e-05,-0.000281414658655,3.26651127551e-05,1793196727314540800
+96,1.600000000,BASELINE,765,743,711.728547498,674,663,633,877,784,800.271452502,650,629,651,0.400949979382,0.00445847101557,0.0698203707075,0.999999958679,2.46486843035e-05,-0.000284538622092,3.2736367916e-05,1793196727331207680
+97,1.616666667,BASELINE,764.694422608,743,712,674.305577392,663,633,877.611154784,784,800.305577392,650,629,651,0.400950274829,0.00445800098351,0.0698206617487,0.999999958788,2.41677571177e-05,-0.000284186233071,3.28204110944e-05,1793196727347874304
+98,1.633333333,BASELINE,764.119356361,743,712,674.880643639,663,633,878.761287277,784,800.880643639,650,629,651,0.400953520283,0.00445814252835,0.0698226683979,0.999999959742,2.45223598005e-05,-0.000280768046883,3.29157320273e-05,1793196727364540928
+99,1.650000000,BASELINE,764,743,711.537101231,674.537101231,663,633,878.074202462,784,801.462898769,650,629,651,0.40095323382,0.0044595537765,0.0698221714944,0.99999995954,2.60881185842e-05,-0.000281368066685,3.27244987734e-05,1793196727381207808
+100,1.666666667,BASELINE,764.046741752,743,711,674,663,633,877,784,801.953258248,650,629,651,0.400952043618,0.00446117595586,0.0698210672799,0.999999959051,2.77590574135e-05,-0.000282975834419,3.24448776186e-05,1793196727397874688
+101,1.683333333,BASELINE,764.627216161,743,711,674,663,633,877,784,801.372783839,650,629,651,0.400951096804,0.00446140937908,0.0698205157551,0.999999958774,2.70087916419e-05,-0.0002840734967,3.20129802115e-05,1793196727414541312
+102,1.700000000,BASELINE,765,743,711.207239952,674,663,633,877,784,801,649.792760048,629.207239952,651,0.400950951111,0.00446183654101,0.0698205934089,0.999999958739,2.75903936786e-05,-0.000284156645896,3.18578961186e-05,1793196727431207936
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+104,1.733333333,BASELINE,765,743,712,674,663,633,877,784,800.636358427,649.363641573,630,651,0.400953726835,0.00446130475339,0.0698229460689,0.999999959631,2.92448264886e-05,-0.000280740948815,3.26805490356e-05,1793196727464540672
+105,1.750000000,BASELINE,765,743,712,674,663,633,877,784,800.060356103,649.939643897,630,651,0.400955322007,0.00445878244504,0.0698240559799,0.999999960176,2.54218505493e-05,-0.000279098034575,3.32426757125e-05,1793196727481207296
+106,1.766666667,BASELINE,764.474884167,743,712,674,663,633,877.525115833,784,800,649.474884167,630,651.525115833,0.400954344459,0.00445806123042,0.0698231369183,0.999999959946,2.39603788333e-05,-0.00028005984427,3.31728238312e-05,1793196727497874176
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,712,674,663,633,877,784,801,650,630,651,0.400951356296,0.00446026295277,0.0698212956502,0.999999959038,2.51566836319e-05,-0.000283244171238,3.26158918078e-05,1793196727539956736
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,743,712,674,663,633,877,784.574273019,801,650,630,651,0.400951331097,0.00445976448475,0.0698209498455,0.999999959043,2.58142981667e-05,-0.000283167247947,3.26076924202e-05,1793196727556623104
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,743,712,674.148290052,662.851709948,633,877,784.851709948,800.851709948,649.851709948,630,651,0.400951574409,0.00445962377795,0.0698209376353,0.9999999591,2.64088135698e-05,-0.000282912921894,3.25969719982e-05,1793196727573289472
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,743,712,674.721573571,662.278426429,633,877,784.278426429,800.278426429,649.278426429,630,651,0.40095258726,0.00446050840064,0.0698218814943,0.999999959305,2.68224894918e-05,-0.000282150166471,3.25790263887e-05,1793196727589955584
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,743,712,674.694720208,662.305279792,633,877.305279792,784.305279792,800,649,629.694720208,651,0.400953101854,0.00446033847761,0.0698223635358,0.99999995946,2.67237162104e-05,-0.000281595969629,3.27031944709e-05,1793196727606621696
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,743,712,674.101172116,662.898827884,633,877.898827884,784.898827884,800,649,629.101172116,651,0.400953145954,0.0044591727726,0.0698224094942,0.999999959567,2.6141049557e-05,-0.000281238709637,3.29615570647e-05,1793196727623288064
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,743,712,674,662.520854009,633,878,784.520854009,800.479145991,649.479145991,629.479145991,651,0.400954536124,0.00446023880808,0.0698229808074,0.99999995973,2.71402497783e-05,-0.00028058849766,3.27735857868e-05,1793196727639954944
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.943479989,743,711.943479989,674,662,633,877.943479989,784,800.943479989,650,630,651,0.400956972418,0.00446148491663,0.0698240758598,0.999999960082,2.81411613781e-05,-0.000279259049042,3.25347468966e-05,1793196727656621312
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.368176889,743,711.368176889,674,662,633,877.368176889,784,800.368176889,650,630,651,0.400966472103,0.00446017475171,0.0698289873515,0.999999962064,2.61743401505e-05,-0.000272247571525,3.26708039125e-05,1793196727673288192
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,743,711,674,662.206580448,633,877.206580448,784,800,650,629.793419552,651,0.400984765586,0.00445935195081,0.0698373729779,0.999999965714,2.50901086577e-05,-0.000258590086832,3.27626516369e-05,1793196727689955072
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,743,711,674,662.780367604,633,877.780367604,784,800,650,629.219632396,651,0.401018690467,0.00445939546311,0.0698519340458,0.999999971964,2.55747231801e-05,-0.000233119004547,3.27759151872e-05,1793196727706621696
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.366361193,743,711.366361193,674,663,633,877.633638807,784,800.366361193,649.633638807,629,651.366361193,0.401063928687,0.00445966720033,0.069869044517,0.999999978197,2.58877323358e-05,-0.000204610926374,3.27044196078e-05,1793196727723288064
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.959924772,743,711.959924772,674,663,633,877.040075228,784,800.959924772,649.040075228,629,651.959924772,0.401116182984,0.00446008047342,0.0698877360264,0.999999983953,2.6094318822e-05,-0.000174219423677,3.25803598317e-05,1793196727739954688
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.461054206,743,712,674,663,633,877.538945794,783.461054206,801,649,629.538945794,651.461054206,0.401176027965,0.00445840623874,0.0698960093573,0.999999985129,2.27974027213e-05,-0.00016789350634,3.21509958985e-05,1793196727756621056
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.116440555,743,712,674,662.883559445,633,878,783.116440555,801,649.116440555,629.883559445,650.883559445,0.401240444557,0.00445691068573,0.0699026257139,0.999999986089,1.94181512605e-05,-0.000162675729938,3.13415262153e-05,1793196727773287936
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.692068976,743,712,674,662.307931024,633,878,783.692068976,801,649.692068976,629.307931024,650.307931024,0.401320722119,0.00445671581899,0.0699056824452,0.999999987431,1.67145655224e-05,-0.000154956472399,2.91202684438e-05,1793196727789954560
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,743,712,674,662.274765578,633,878,784,800.725234422,650,629,650.274765578,0.401406672157,0.00445805338642,0.0699060520209,0.999999987694,1.66514705323e-05,-0.000153717637513,2.6549935922e-05,1793196727806621440
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,743,712,674,662.86559264,633,878,784,800.13440736,650,629,650.86559264,0.401499147212,0.0044611537053,0.0699033305743,0.99999998674,1.96257191435e-05,-0.000159933201201,2.3578064577e-05,1793196727823288064
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.553518957,743,712,674,663,633,877.553518957,784,800,650,629.446481043,651,0.401620278048,0.00446195980067,0.0699025903319,0.999999986526,1.62904595573e-05,-0.000162084133893,2.02859538637e-05,1793196727839954688
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.024261976,743,711.975738024,674,663,633,877,784,800,650,629.975738024,651,0.40175111473,0.00446210919213,0.0699025815767,0.99999998654,1.11352903049e-05,-0.000162826616416,1.68633824596e-05,1793196727856621568
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.59795074,743,711.40204926,674,663,633,877,784,800,650,629.40204926,651,0.401910648795,0.00446268666404,0.0699059256922,0.999999987291,6.84351776197e-06,-0.000158779789093,1.2622036369e-05,1793196727873289216
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,711.172294485,674,663,633.172294485,877,784.172294485,800.172294485,650,629.172294485,651,0.402080510812,0.00446312857861,0.0699091356006,0.999999988072,1.97274482359e-06,-0.000154234410964,8.01936558256e-06,1793196727889956352
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,711.74817238,674,663,633.74817238,877,784.74817238,800.74817238,650,629.74817238,651,0.402274565052,0.00446325296293,0.0699120311414,0.999999988958,-4.25428075099e-06,-0.000148521225666,2.57032673148e-06,1793196727906622464
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,711.666204781,674,663,633.666204781,877,784.666204781,801,650,629.666204781,651,0.402487520544,0.00446511076199,0.0699154113964,0.999999989856,-9.79661629639e-06,-0.000142065044193,-3.07706851425e-06,1793196727923288576
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,743,711.073008835,674,663,633.073008835,877,784.073008835,801,650,629.073008835,651,0.402715164699,0.00446831564159,0.0699191683354,0.999999990734,-1.48068625283e-05,-0.000135031460945,-8.87861212292e-06,1793196727939954944
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,743,711.505718273,674,663,633,877,784,800.494281727,649.494281727,629.505718273,651,0.402990121524,0.00447011727324,0.0699250541091,0.99999999238,-1.99569142233e-05,-0.000120802281187,-1.57665449785e-05,1793196727956621824
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,743,712,674,663,633,877.081924079,784,800.081924079,649.081924079,629.918075921,651,0.403276855593,0.00447179859445,0.0699318904451,0.999999993874,-2.48075397177e-05,-0.000105469252869,-2.26252223695e-05,1793196727973288704
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,743,712,674,663,633,877.65518784,784,800.65518784,649.65518784,629.34481216,651,0.403594398086,0.00447393954657,0.0699426358221,0.9999999952,-2.77446766523e-05,-8.95728212721e-05,-2.83939686587e-05,1793196727989955584
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,743,711.772145214,674,663,633,878,784,801,650,629,651,0.403922852997,0.004476999654,0.0699493697016,0.999999996486,-3.22015478973e-06,-7.94185566514e-05,-2.66634331857e-05,1793196728006622464
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,743,711.200379102,674,663,633,878,784,801,650,629,651,0.404267778483,0.00448144708315,0.0699500488496,0.999999994902,6.27534660967e-05,-7.79311998824e-05,-1.36138989321e-05,1793196728023288832
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.613130142,743,711,674,663,633,877.613130142,784,801,650,629.386869858,651,0.404642871281,0.00448624902878,0.0699549813611,0.99999999384,8.48764886743e-05,-7.00999086396e-05,-1.41985426269e-05,1793196728039955200
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.017527548,743,711,674,663,633,877.017527548,784,801,650,629.982472452,651,0.405034240614,0.00449124225099,0.069962208743,0.999999994551,8.33402470416e-05,-5.88457951839e-05,-2.21394054507e-05,1793196728056621824
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.557688271,743,711.557688271,674,663,633,877.557688271,784,801,650,629.442311729,651,0.405469972521,0.00449332712075,0.0699628007725,0.99999999666,5.23453401713e-05,-5.79389279627e-05,-2.41425126027e-05,1793196728073288448
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.867869363,743,712,674,663,633,877.867869363,784,801,650,629.132130637,651,0.405910467798,0.00449560101117,0.0699607351794,0.999999997546,2.05955602146e-05,-6.18913979004e-05,-2.55523929846e-05,1793196728089955328
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.293946426,743,712,674,663,633,877.293946426,784,801,650,629.706053574,651,0.40636239233,0.00449880175938,0.0699504562443,0.999999996332,-1.06916940075e-05,-8.10425569679e-05,-2.55807272926e-05,1793196728106622208
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.290710247,743,712,674,663,633,877,784,801,649.709289753,629.709289753,651,0.406834873724,0.00450169394749,0.0699368328469,0.999999994369,-1.36791805511e-05,-0.000101783379014,-2.67562475164e-05,1793196728123288832
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.886636308,743,712,674,663,633,877,784,801,649.113363692,629.113363692,651,0.407328937759,0.00450426217969,0.0699196981072,0.999999991778,1.30451700341e-05,-0.000124193185799,-2.91361947899e-05,1793196728139955712
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.532972002,743,711.532972002,674,663,633,877,783.532972002,800.532972002,649,629.467027998,650.532972002,0.407897881822,0.00450051285361,0.0699214597885,0.999999992952,2.29549054839e-05,-0.000112681245018,-2.95245127207e-05,1793196728156622336
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743,711.043642404,674.043642404,663,633,877,783.043642404,800.043642404,649.043642404,629.956357596,650.043642404,0.408488319914,0.0044959701041,0.0699281926547,0.999999994893,2.78072284951e-05,-9.25529697155e-05,-2.9590787746e-05,1793196728173288704
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,711.61869934,674.61869934,663,633,877,783.61869934,800.61869934,649.61869934,629.38130066,650.61869934,0.409126285904,0.0044998376934,0.069941403849,0.999999997239,1.91762254718e-05,-6.45412336575e-05,-3.14327861676e-05,1793196728189955328
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,712,674.80130071,663,633,877,784,801,650,629.19869929,651,0.409752303263,0.00450621691481,0.0699466402729,0.999999997875,2.1128320189e-05,-5.22484575099e-05,-3.27630424348e-05,1793196728206621952
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,712,674.211573242,663,633,877,784,801,650,629.788426758,651,0.410354806398,0.00451753887601,0.0699361828308,0.999999995976,4.39073113635e-05,-7.08896449812e-05,-3.30862210254e-05,1793196728223288576
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,743,712,674,663,633,877.370596178,784,800.629403822,649.629403822,630,651,0.41100071831,0.00452438433851,0.0699327473868,0.999999994862,5.08994992649e-05,-8.04605169675e-05,-3.48099062635e-05,1793196728239955712
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,743,712,674,663,633,877.948536931,784,800.051463069,649.051463069,630,651,0.411670916946,0.00452872524775,0.0699332406756,0.999999994491,4.90591398151e-05,-8.4956644413e-05,-3.73171599037e-05,1793196728256622848
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,743,711.47426918,674,663,633,877.47426918,784,800,649,630,651,0.412428205414,0.00453511420258,0.0699643963675,0.999999997038,6.08269345692e-05,-3.00722033921e-05,-3.63273180174e-05,1793196728273289472
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743.102297195,711.102297195,674.102297195,663.102297195,633,877.102297195,784,800.102297195,649,630,651,0.413196387061,0.00454224048967,0.0699956710103,0.99999999644,7.27121814544e-05,2.3846925591e-05,-3.55554099041e-05,1793196728289955840
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,743.676306452,711.676306452,674.676306452,663.676306452,633,877.676306452,784,800.676306452,649,630,651,0.413975543891,0.00455184361358,0.0700136732848,0.999999995098,7.90052397951e-05,4.6549422128e-05,-3.73647285575e-05,1793196728306622208
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,743.742471726,711.742471726,675,663.742471726,633,877.742471726,784,801,649.257528274,630,650.742471726,0.414715647424,0.00456100160827,0.0700015651333,0.999999995357,8.6053253285e-05,1.88574491242e-05,-3.90558012025e-05,1793196728323288576
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743.151922955,711.151922955,675,663.151922955,633,877.151922955,784,801,649.848077045,630,650.151922955,0.415405249624,0.00456958398922,0.0699505199432,0.999999992013,9.40775309876e-05,-7.40017003793e-05,-4.05939650574e-05,1793196728339954944
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.431289143,743,711,675,663,633,877.431289143,784,801,649.568710857,630,650,0.416169465426,0.00457827335321,0.069915289035,0.999999984998,0.0001076645802,-0.000128724020819,-4.29209561952e-05,1793196728356621824
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.988154786,743,711.011845214,675,663.011845214,633,878,784,801,649,630,650,0.416961162256,0.0045869071462,0.06988691624,0.999999977306,0.000122711788441,-0.00016811256366,-4.54815979454e-05,1793196728373288448
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.41306009,743,711.58693991,675,663.58693991,633,878,784,801,649,630,650,0.41783073879,0.00459113653392,0.0699241948487,0.999999986588,0.000115573304705,-0.00010647190751,-4.6160731013e-05,1793196728389955072
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.165243337,743,712,675,663.834756663,633,878,784,801,649.165243337,629.834756663,650.165243337,0.418700737167,0.00459529064795,0.0699575838085,0.999999991014,0.000113956632316,-5.32962838385e-05,-4.63255283028e-05,1793196728406621952
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.751726451,743,712,675,663.248273549,633,878,784,801,649.751726451,629.248273549,650.751726451,0.41957181086,0.00459925287338,0.0699810572381,0.999999990753,0.000126416211662,-2.16998005e-05,-4.51791765843e-05,1793196728423288832
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.665755338,743,712,675,663,633,878,784,800.665755338,650,629,650.665755338,0.420459117247,0.00460269951571,0.0700025794838,0.999999990442,0.000130379041442,9.1608867559e-06,-4.50971882547e-05,1793196728439955456
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.086147717,743,712,675,663,633,878,784,800.086147717,650,629,650.086147717,0.421358339721,0.00460576767764,0.0700226693995,0.999999989967,0.000128104560514,3.94814380162e-05,-4.57965298777e-05,1793196728456621824
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712,675,663.490566551,633,878,784,800.490566551,650,629,650.490566551,0.42220694364,0.00461017528377,0.0700062043935,0.999999989679,0.000135435996609,1.11316367764e-05,-4.66381792885e-05,1793196728473288704
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,712,675,664,633,878.066842374,784,801,650,629.066842374,650.933157626,0.423040679727,0.00461289367451,0.069975706542,0.999999988129,0.000141143593091,-3.91097815301e-05,-4.78687747225e-05,1793196728489955328
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,712,675,664,633,878.643626539,784,801,650,629.643626539,650.356373461,0.423828405536,0.00460094104449,0.0698868381162,0.999999975371,0.000121669082268,-0.000178221692202,-5.18771116059e-05,1793196728506621696
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,711.775207312,675,664,633,878.775207312,784,801,650,629.775207312,650,0.424674334332,0.00458208866656,0.0698423741298,0.999999964708,9.56717861077e-05,-0.000241904239879,-5.3966246203e-05,1793196728523288320
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,711.186956012,675,664,633,878.186956012,784,801,650,629.186956012,650,0.425614369415,0.00455208035097,0.0698697059518,0.99999997999,5.91280500603e-05,-0.000183627991244,-5.29522985877e-05,1793196728539954944
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,711.396161717,675,664,633,878,784,801,649.603838283,629,650.396161717,0.42655718737,0.00454590586183,0.0699196126983,0.99999999134,5.03547608178e-05,-0.000110508615417,-5.0714126832e-05,1793196728556621824
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,711.976887776,675,664,633,878,784,801,649.023112224,629,650.976887776,0.427501301757,0.00455083510896,0.0699800366787,0.999999996902,5.45192059152e-05,-3.04741070501e-05,-4.7905611783e-05,1793196728573289216
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.552396613,743,712,675,664,633,878,784,801,649,629,651,0.428416633878,0.0045590703643,0.0700077393625,0.999999996329,7.02915535034e-05,1.16676059796e-05,-4.76006888093e-05,1793196728589955584
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.873660782,743.126339218,711.873660782,675,664,633,878,784,800.873660782,649.126339218,629.126339218,651,0.429321498182,0.00456598178351,0.0700267951036,0.999999994654,8.14500947856e-05,4.22175481577e-05,-4.77080508921e-05,1793196728606621952
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.304450462,743.695549538,711.304450462,675,664,633,878,784,800.304450462,649.695549538,629.695549538,651,0.430193850306,0.0045677722675,0.0700202939451,0.999999995303,7.4748782979e-05,3.76391391891e-05,-4.8896885874e-05,1793196728623288320
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743.721332401,711.278667599,675,664,633,878,784,800.278667599,650,630,651,0.431018409379,0.0045715625056,0.0699801174835,0.999999995434,7.60893335801e-05,-2.95081384775e-05,-4.97200655576e-05,1793196728639954944
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743.122221707,711.877778293,675,664,633,878,784,800.877778293,650,630,651,0.431788010609,0.00457765228396,0.0699012174019,0.999999980774,8.66773142026e-05,-0.000168604081703,-5.0122773197e-05,1793196728656621824
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,712,675,663.540482469,633,878,784,801,649.540482469,630,651,0.432619997303,0.00457961803468,0.0698772741594,0.999999974396,8.86637517524e-05,-0.000201525833176,-5.2280086331e-05,1793196728673288448
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.036598764,743,712,675.036598764,663.036598764,633,878,784,800.963401236,649.036598764,630,651,0.433471399459,0.00458020613662,0.0698726208191,0.999999974804,8.7822599164e-05,-0.000199255181959,-5.45649501231e-05,1793196728689955328
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.610655964,743,712,675.610655964,663.610655964,633,878,784,800.389344036,649.610655964,630,651,0.434373122503,0.00457608466178,0.0699444042052,0.99999999243,7.78310680039e-05,-7.97814639724e-05,-5.21191839148e-05,1793196728706622208
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.810444651,743,712,676,664,633,878.189555349,784.189555349,800.189555349,650,630,651,0.435251708035,0.0045703225925,0.0699983013952,0.999999996279,6.94216297724e-05,8.73286127164e-06,-5.04696298492e-05,1793196728723288832
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.221338654,743,712,676,664,633,878.778661346,784.778661346,800.778661346,650,630,651,0.436081523768,0.00456110242655,0.0700144975192,0.999999996143,6.43469762042e-05,3.1990037829e-05,-5.04983573026e-05,1793196728739955200
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,712,676,664,633,878.638176299,784.638176299,801,650,630,651,0.436874883014,0.00455080477449,0.0700086960214,0.999999997121,4.76729044218e-05,2.98826422037e-05,-5.09112791606e-05,1793196728756621824
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,712,676,664,633,878.058591125,784.058591125,801,650,630,651,0.437646301087,0.0045398586443,0.0699896553831,0.999999998304,2.40177911278e-05,1.25097262226e-05,-5.15554261417e-05,1793196728773288448
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,712,676,664,633,878,784,801,650,630,651,0.438357934136,0.0045390140215,0.0699533499597,0.999999997611,2.70620763403e-05,-3.46769123052e-05,-5.33285843995e-05,1793196728789955072
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711.906186233,676,664,632.906186233,878,784,801,650,629.906186233,651,0.439051374914,0.00454053438391,0.069914475934,0.999999993856,3.56636973952e-05,-8.96705266275e-05,-5.45463845929e-05,1793196728806621696
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711.33106472,676,664,632.33106472,878,784,801,650,629.33106472,651,0.4396859753,0.00454835991223,0.0698723851106,0.999999982958,5.73721785364e-05,-0.00016751580654,-5.22635341896e-05,1793196728823288320
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711.250438823,676.250438823,664,632.250438823,878.250438823,784,801,650,629.250438823,651,0.440360512802,0.00455327706182,0.0698590907232,0.999999978615,6.0672615804e-05,-0.000190683107972,-5.2245229422e-05,1793196728839955200
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711.840599587,676.840599587,664,632.840599587,878.840599587,784,801,650,629.840599587,651,0.441089225218,0.00455424897552,0.0698848588978,0.999999987955,3.90024167109e-05,-0.000139679359652,-5.52987964204e-05,1793196728856622080
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,712,676.579098163,664.420901837,633,878.579098163,784,801,650,630,651,0.441802989907,0.00455314939035,0.0699411561694,0.999999996238,3.86917370329e-05,-5.49512868854e-05,-5.48311206873e-05,1793196728873288448
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,712,676.002443953,664.997556047,633,878.002443953,784,801,650,630,651,0.442511223332,0.00455128325868,0.0700087505648,0.999999996628,4.62850260894e-05,4.22562882697e-05,-5.30604285974e-05,1793196728889955072
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.573198318,743,712,676,664.426801682,633,878,784,801.573198318,650,630,651,0.443095714419,0.00455084289262,0.0700111031495,0.999999996543,5.37572056708e-05,3.85036135518e-05,-5.04144712108e-05,1793196728906621696
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.848058329,743,712,676,664,633,878.151941671,784,801.848058329,650,629.848058329,651,0.443655421581,0.00455207207777,0.0700012776291,0.999999997235,5.34993394968e-05,1.66770978296e-05,-4.88779850752e-05,1793196728923288320
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.260409849,743,712,676,664,633,878.739590151,784,801.260409849,650,629.260409849,651,0.44414556896,0.00455807145396,0.0699573265446,0.999999996687,3.10763311007e-05,-5.57456072854e-05,-5.05336923396e-05,1793196728939954944
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711.677112787,676.322887213,663.677112787,633,879,784,801.322887213,650,629.322887213,651,0.444631041262,0.00456307263046,0.0699141468097,0.999999990496,2.97651621875e-05,-0.000123928283552,-5.25763882006e-05,1793196728956621568
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,711.09727853,676.90272147,663.09727853,633,879,784,801.90272147,650,629.90272147,651,0.445112793206,0.00456727945969,0.0698715809017,0.999999979657,4.52543649164e-05,-0.000188736827042,-5.49270415649e-05,1793196728973288448
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711,677,663,632.519312015,879,784,801.519312015,650,630,651,0.445577403321,0.00457198736698,0.0698551010719,0.999999975478,5.79936065166e-05,-0.000206120860633,-5.65207618636e-05,1793196728989955072
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711.057559549,677,662.942440451,632,879,784,801,650,630,651,0.446033414148,0.00457647181015,0.0698450491586,0.999999973084,6.96066306847e-05,-0.00021365174434,-5.77926075774e-05,1793196729006621952
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711.628029233,677,662.371970767,632,879,784,801,650,630,651,0.446443590094,0.00457806485972,0.0698454160808,0.999999971559,7.61239113091e-05,-0.000218573226066,-5.75559700143e-05,1793196729023288320
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,711.793246807,677,662,632,879,784,801,650,630,651,0.446833169756,0.00458002873102,0.0698421744599,0.999999968202,8.49550182274e-05,-0.000230636675149,-5.64454494706e-05,1793196729039954944
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711.199055071,677,662,632,879,784,801,650,630,651,0.447184153624,0.00458268749164,0.0698321707247,0.999999960955,9.81220452469e-05,-0.000256083585162,-5.3697343831e-05,1793196729056621568
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,711,677,661.614676451,632,879,783.614676451,801.385323549,650,630,651,0.447514544785,0.00458750291869,0.0698117087339,0.999999950291,0.000106039505843,-0.000291983927007,-5.40350128173e-05,1793196729073288192
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,711,677,661.035241259,632,879,783.035241259,801.964758741,650,630,651,0.447834562139,0.00459340479414,0.0697859782629,0.999999936746,0.000111312431591,-0.000333150320165,-5.59271797427e-05,1793196729089954816
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711,676.880052763,661,632,878.880052763,784,801.119947237,650,630,651,0.448430809602,0.00460341030073,0.0697907859053,0.999999944302,5.37112943112e-05,-0.000323481527858,-6.22087999686e-05,1793196729123288320
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711,676.295009064,661,632,878.295009064,784,801.704990936,650,630,651,0.448694374114,0.00461920103023,0.0697991426146,0.999999948185,6.00782271783e-05,-0.000309024847507,-6.72623371244e-05,1793196729139954944
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711,676,660.711657298,632,878.288342702,784,802,650,630,651,0.448940215436,0.00463389831029,0.0698047745256,0.999999948931,8.40959849608e-05,-0.000300849616581,-6.74912334148e-05,1793196729156621568
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,711,676,660.13002652,632,878.86997348,784,802,650,630,651,0.449168029581,0.00464748338617,0.0698076349047,0.999999945361,0.000126067297,-0.000299063568931,-6.28127409043e-05,1793196729173288448
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711,676.444391518,660,631.555608482,879,783.555608482,801.555608482,650,629.555608482,651,0.449363324895,0.00464546701069,0.0698034453224,0.999999941844,0.000138921222441,-0.000305808301099,-5.91150551839e-05,1793196729189955072
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711,677,659.983177203,631.016822797,878.983177203,783,801.016822797,649.983177203,629,650.983177203,0.449548199988,0.0046392165842,0.0697972634405,0.999999938584,0.000143252499822,-0.000314944175907,-5.58639810666e-05,1793196729206621440
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711,677,659.40775912,631.59224088,878.40775912,783,801.59224088,649.40775912,629,650.40775912,0.449697966108,0.00464153097653,0.0697923278921,0.999999936279,0.000142964014642,-0.000321920048811,-5.80656534162e-05,1793196729223288320
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711,676.826787122,659.173212878,631.826787122,878.173212878,783.173212878,801.826787122,649.173212878,629.173212878,650.173212878,0.449837755869,0.0046434142378,0.0697866125378,0.999999933542,0.000143050050723,-0.000329929996315,-5.9990744042e-05,1793196729239954944
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,711,676.232307677,659.767692323,631.232307677,878.767692323,783.767692323,801.232307677,649.767692323,629.767692323,650.767692323,0.449953282364,0.00464424895604,0.0697790006385,0.999999929795,0.000144046950345,-0.000340454888944,-6.12431670808e-05,1793196729256621568
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711,676.351890681,659.648109319,631,879.351890681,783.648109319,801.351890681,650,630,651,0.450050655036,0.00464498686721,0.0697712181537,0.999999925366,0.000143452348057,-0.000353375674383,-6.17704484103e-05,1793196729273288448
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+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,711,677,659,631,879,783,801,650,630,651,0.45027498382,0.00464683094791,0.0697515733868,0.999999913888,0.000141835346009,-0.000384883860824,-6.30109692e-05,1793196729323289088
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,711,677,659,631,879,783,801,650,630,651,0.450324269379,0.00464666077069,0.0697466365541,0.99999991128,0.000137836080043,-0.000392962099314,-6.34226821208e-05,1793196729339955456
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,711.253384112,677,659,631,879,783,801,650,629.746615888,651,0.450367465969,0.00464639007314,0.0697428216744,0.999999908834,0.000135194612597,-0.000400028858759,-6.34977384399e-05,1793196729356621824
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711.832782951,677,659,631,879,783,801,650,629.167217049,651,0.450402828232,0.00464599004186,0.0697404503471,0.999999906654,0.000134300146456,-0.000405794205978,-6.31396381014e-05,1793196729373288448
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+245,4.083333333,POSE1_TO_POSE2_PRESS,764.068510267,743,711.931489733,677,658.068510267,631,879,783.068510267,801,650,630,651,0.45051025964,0.00464517895585,0.0697292888092,0.999999899903,0.000128883065686,-0.000424513727367,-5.80639307895e-05,1793196729839954688
+246,4.100000000,POSE1_TO_POSE2_PRESS,764.657619388,743,711.342380612,677,658.657619388,631,879,783.657619388,801,650,630,651,0.450510358296,0.00464771281481,0.0697286523294,0.999999899654,0.000130300483009,-0.000424601366394,-5.85453918784e-05,1793196729856621568
+247,4.116666667,HOLD_POSE2,765,743,711,677,658,631,879,784,802,650,629,651,0.450508045547,0.00464638887959,0.069726405215,0.999999898758,0.000129318844067,-0.00042704723012,-5.82310348251e-05,1793196729895036928
+248,4.133333333,HOLD_POSE2,763.848646013,743,711,677,658,631,879,783.424323006,801.424323006,650,629.575676994,651,0.450507814228,0.00464756008015,0.0697266343936,0.999999898426,0.000130425071929,-0.000427519093012,-5.80124334593e-05,1793196729911703552
+249,4.150000000,HOLD_POSE2,763.151433761,743.151433761,711,677,658,631,879,783.151433761,801,650,630,651,0.450507990124,0.00464828262078,0.0697269387657,0.999999898308,0.000131314380891,-0.000427548093698,-5.78266365043e-05,1793196729928370176
+250,4.166666667,HOLD_POSE2,763.727414309,743.727414309,711,677,658,631,879,783.727414309,801,650,630,651,0.450509307654,0.00464774733691,0.0697274539443,0.999999898794,0.000131595554768,-0.000426335523758,-5.77328071499e-05,1793196729945036544
+251,4.183333333,HOLD_POSE2,764,743.689445924,711,677,658.310554076,631,879,784,801,650,630,650.689445924,0.450509802858,0.00464723860231,0.0697275209129,0.999999898907,0.000131438800354,-0.000426087232757,-5.79618020405e-05,1793196729961702912
+252,4.200000000,HOLD_POSE2,764,743.099873975,711,677,658.900126025,631,879,784,801,650,630,650.099873975,0.450509559241,0.00464675372099,0.0697271851864,0.999999898685,0.000130888588461,-0.000426705299985,-5.84808389633e-05,1793196729978369536
+253,4.216666667,HOLD_POSE2,764.480895318,743,711.480895318,677,658.519104682,631,879,783.519104682,801,650,630,650.480895318,0.450509786407,0.00464678211952,0.0697274618725,0.999999898861,0.00013116255183,-0.000426230700608,-5.83277275387e-05,1793196729995036672
+254,4.233333333,HOLD_POSE2,764.940541049,743,711.940541049,677,658,631,879,783.059458951,801.059458951,650,630,651,0.450510218609,0.00464699097625,0.0697279030055,0.999999899131,0.000131632703563,-0.00042548190041,-5.81067056313e-05,1793196730011703552
+255,4.250000000,HOLD_POSE2,764.365535454,743,711.365535454,677,658,631,879,783.634464546,801.634464546,650,630,651,0.450511596094,0.00464785684748,0.0697286870222,0.999999899522,0.000132346480066,-0.00042428785195,-5.84854683467e-05,1793196730028370176
+256,4.266666667,HOLD_POSE2,764,743,711.214155669,677,658,631,879,784,801.785844331,650,629.785844331,651,0.450512408316,0.00464751277612,0.0697289828493,0.999999899836,0.00013191216315,-0.000423692922839,-5.84113655453e-05,1793196730045037056
+257,4.283333333,HOLD_POSE2,764,743,711.802023198,677,658,631,879,784,801.197976802,650,629.197976802,651,0.450512234129,0.0046450572971,0.0697284267622,0.999999900014,0.000129474368358,-0.000424143485699,-5.75469907686e-05,1793196730061703680
+258,4.300000000,HOLD_POSE2,764.384076052,743,711.615923948,677,658,631,879,783.615923948,801,650,629.384076052,651,0.450512227005,0.00464450349041,0.0697285235769,0.99999990018,0.000127818316467,-0.000424267306229,-5.74460831229e-05,1793196730078370048
+259,4.316666667,HOLD_POSE2,764.96317641,743,711.03682359,677,658,631,879,783.03682359,801,650,629.96317641,651,0.450512304712,0.00464491530561,0.0697289519188,0.999999900341,0.000126559214039,-0.000424225215139,-5.77328451009e-05,1793196730095036672
+260,4.333333333,HOLD_POSE2,765,743,711,677,658,631,879,783.542092783,801.542092783,649.457907217,630,651,0.450511708203,0.00464532173725,0.0697283301056,0.999999900017,0.000127222048044,-0.000424748199075,-5.805129374e-05,1793196730111703296
+261,4.350000000,HOLD_POSE2,764.880187879,743,711,677.119812121,658,631,879,784,801.880187879,649.119812121,630,651,0.450511496056,0.00464560487008,0.0697279345428,0.999999899836,0.000127898268446,-0.000424948973108,-5.8201821641e-05,1793196730128370176
+262,4.366666667,HOLD_POSE2,764.306951229,743,711,677.693048771,658,631,879,784,801.306951229,649.693048771,630,651,0.450512911776,0.00464542276678,0.0697286650916,0.999999900329,0.000128131238739,-0.00042378513953,-5.77087168017e-05,1793196730145036800
+263,4.383333333,HOLD_POSE2,764,743,711,677.72686578,658,631,879,784,801.27313422,650,630,651,0.450513011183,0.0046450941247,0.0697287748697,0.99999990044,0.000127759459322,-0.000423700414672,-5.72312587063e-05,1793196730161703680
+264,4.400000000,HOLD_POSE2,764,743,711,677.138885651,658,631,879,784,801.861114349,650,630,651,0.450511593257,0.00464459656517,0.069728169076,0.99999990011,0.000126690575835,-0.000424859594676,-5.67718368764e-05,1793196730178370304
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,743,711,677,658,631,879,783,801,650,630,651,0.45051140558,0.0046470525386,0.0697269780959,0.99999989898,0.000131602240065,-0.000425942537401,-5.73974720351e-05,1793196730211026688
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,743,711,677,658,631,879,783.577739011,801,649.422260989,630,651,0.450512084102,0.00464733419239,0.0697271877633,0.99999989927,0.000130615655472,-0.000425538564643,-5.7588894143e-05,1793196730227693312
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,743,711.153351959,677,658,631,879,783.846648041,801,649.153351959,630,651,0.450512703344,0.00464718064085,0.0697275857952,0.999999899653,0.000129421427351,-0.000424993720738,-5.76655697707e-05,1793196730244359680
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,743,711.72319088,677,658,631,879,783.27680912,801,649.72319088,630,651,0.450513161586,0.00464584511984,0.0697284954044,0.999999900286,0.000127663262148,-0.000424066286286,-5.74306066896e-05,1793196730261026048
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,743,711.694880292,677,658,631,879,783,801,650,630,651,0.450513127285,0.00464520539517,0.0697286383728,0.999999900347,0.00012749346845,-0.000423986380704,-5.73323577882e-05,1793196730277692672
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,743,711.101530831,677,658,631,879,783,801,650,630,651,0.450512627706,0.00464522295101,0.0697280571381,0.999999899869,0.00012882412178,-0.000424707088941,-5.73632552437e-05,1793196730294359808
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.519281202,743,711,677,658,631,879.480718798,783.480718798,801,650,630,650.519281202,0.450512676861,0.00464511324657,0.0697285063357,0.999999900085,0.000128093215605,-0.000424445298329,-5.71636248695e-05,1793196730311026176
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711,677.060286203,658,631,879.939713797,784,801,650,630,650.060286203,0.450512356541,0.00464499554221,0.0697287412497,0.9999999002,0.000127080806085,-0.000424506385848,-5.69568957907e-05,1793196730327692800
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711,677.636509303,658,631,879.363490697,784,801,650,630,650.636509303,0.450507904737,0.00464503420879,0.0697253217956,0.999999898218,0.000127301486606,-0.000429066520859,-5.7096696875e-05,1793196730344359424
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711,677.783577787,658,631,879,784,801,650,630,651,0.450500824701,0.00464535601419,0.0697212615655,0.999999895589,0.000127501771388,-0.000435072711528,-5.72501309864e-05,1793196730361025792
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711,677.197360248,658,631,879,784,801,650,630,651,0.450489253871,0.00464616161191,0.0697161064573,0.999999891833,0.000127667206447,-0.00044354974154,-5.74268595013e-05,1793196730377692416
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.384211236,743,711.384211236,677,658,631,879,784,801,650,630,651,0.450463290078,0.00464562357016,0.0697032193538,0.999999882937,0.000126009346808,-0.00046362074019,-5.74686590111e-05,1793196730394359040
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.96342472,743,711.96342472,677,658,631,879,784,801,650,630,651,0.450430021292,0.00464440357884,0.0696864079596,0.999999870891,0.000123426093659,-0.000489576132437,-5.74419767521e-05,1793196730411025920
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.457596763,743,711.457596763,676.457596763,658,631,879,783.457596763,801,650,630,651,0.45037938672,0.0046446441988,0.0696665626517,0.99999985375,0.00012716990345,-0.00052258521133,-5.68573742121e-05,1793196730427692544
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711.120186766,676.240373532,658,631,879,783.120186766,801.240373532,650,629.879813234,651,0.450327006529,0.00464526667556,0.0696486550262,0.999999838001,0.000131040336498,-0.000551041702804,-5.63782474838e-05,1793196730444359424
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711.693524597,677.387049193,658,631,879,783.693524597,802.387049193,650,629.306475403,651,0.450272457904,0.00464695770995,0.0696388242366,0.999999832356,0.000133780265267,-0.000560540587213,-5.64385925991e-05,1793196730461026048
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711.725654931,677.725654931,658,631,879,783.725654931,802.451309862,650,629.274345069,651,0.450213847123,0.00464878996647,0.0696320087801,0.999999827592,0.000136597369191,-0.000568335086187,-5.61434250504e-05,1793196730477692672
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,711.136241131,677.136241131,658,631,879,783.136241131,801.272482262,650,629.863758869,651,0.450150571206,0.00465078440796,0.0696286562519,0.999999823896,0.000139503103961,-0.000574172200959,-5.54399726925e-05,1793196730494359296
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,711.446393048,677,658,631,879,783.446393048,801,650,629.553606952,651,0.45008010002,0.00464985102759,0.0696324756389,0.999999827158,0.000139923767428,-0.000568537907095,-5.35802966147e-05,1793196730511025664
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,712,677,658.026717547,631,879,783.973282453,800.973282453,650,629.026717547,651,0.450006423493,0.00464809471155,0.0696384758685,0.999999832378,0.000139638360943,-0.000559559805246,-5.13613291829e-05,1793196730527692032
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,712,677,658.601473829,631,879,783.398526171,800.398526171,650,629.601473829,651,0.44991136967,0.00464751334405,0.0696449825285,0.999999836219,0.000140194739841,-0.000552734234608,-4.89026533769e-05,1793196730544358912
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,711.824989504,677,658.824989504,631,879,783.175010496,800.175010496,649.824989504,630,651,0.449810707879,0.00464707923482,0.0696507791764,0.999999840137,0.000141804613484,-0.000545399355223,-4.64458242443e-05,1793196730561025536
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,711.25421095,677,658.25421095,631,879,783.74578905,800.74578905,649.25421095,630,651,0.449697364265,0.00464697813492,0.069654970205,0.999999844266,0.000145796855997,-0.00053691272795,-4.39931715073e-05,1793196730577692416
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,711,677,658.329289507,631,879,784,801,649.329289507,630,651,0.449566618092,0.00464697992707,0.0696578802375,0.999999845549,0.000150538507107,-0.000533450877294,-4.08754451508e-05,1793196730594359296
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,711,677,658.923006003,631,879,784,801,649.923006003,630,651,0.449421897254,0.00464706434386,0.0696597616013,0.999999844567,0.000155881950861,-0.000534024036048,-3.72236492329e-05,1793196730611025920
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,711,677,658.494458188,631,878.494458188,784,801,649.494458188,629.494458188,651,0.449250879283,0.0046477404035,0.0696609908958,0.999999844075,0.000161033699027,-0.000533666655756,-3.34274610757e-05,1793196730627692544
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,743,711.085586244,677,658.171172488,631,878.085586244,784,801,649.085586244,629.085586244,651,0.449071989968,0.00464788313985,0.069662729368,0.999999844171,0.000165860595956,-0.000532245907276,-2.93649696236e-05,1793196730644359168
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,743,711.660907847,677,659.321815694,631,878.660907847,784,801,649.660907847,629.660907847,651,0.448870481283,0.00464446968473,0.0696679373896,0.999999847342,0.000168992098968,-0.000525533829707,-2.39017674804e-05,1793196730661025792
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,743,711.76402533,677,659.76402533,631,878.76402533,783.76402533,801,649.76402533,629.76402533,651,0.448655090539,0.00464256994297,0.0696697595885,0.99999984688,0.000173046530559,-0.000525304703157,-1.87085323057e-05,1793196730677692416
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,743,711.189324263,677,659.189324263,631,878.189324263,783.189324263,801,649.189324263,629.189324263,651,0.448419773009,0.00464284303918,0.0696667216573,0.999999841204,0.000178425766323,-0.000534381434476,-1.3902817606e-05,1793196730694359040
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,743,711.396462585,677,659.396462585,631.396462585,878.396462585,783.396462585,801,649.396462585,629.396462585,651,0.448170989693,0.00464175850545,0.0696658046703,0.999999839524,0.000185050235718,-0.000535384797417,-8.49422743748e-06,1793196730711025664
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,743,711.987695532,677,659.987695532,631.987695532,878.987695532,783.987695532,801,649.987695532,629.987695532,651,0.447915591043,0.0046400070082,0.0696659296408,0.999999839772,0.000192286451464,-0.000532421952548,-2.78946249222e-06,1793196730727692288
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,743,711.434411158,677,660,631.434411158,879,783.434411158,801.565588842,650,629.434411158,651,0.447626413901,0.00463604429626,0.0696710058798,0.999999842276,0.000199401354657,-0.0005250421188,4.28267676575e-06,1793196730744359424
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,743,711,677,660,631,879,783,802,649.857819416,629.142180584,651,0.447325788265,0.00463033012831,0.0696744788645,0.999999844543,0.000203885137986,-0.000518882320288,1.02951126839e-05,1793196730761026048
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,743,711,677,660,631,879,783,802,649.28431616,629.71568384,651,0.446992610143,0.00461944527011,0.0696727689351,0.999999846343,0.00020039490908,-0.000516708444564,1.30046408276e-05,1793196730777692928
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764.297780389,743,711,677,660,631.297780389,878.702219611,783.297780389,801.702219611,649.297780389,630,650.702219611,0.446659360469,0.00460316043302,0.0696779340833,0.99999985494,0.000188057882932,-0.00050444424238,1.70295722887e-05,1793196730794359552
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.88832556,743,711,677,660,631.88832556,878.11167444,783.88832556,801.11167444,649.88832556,630,650.11167444,0.446326040409,0.00458156656924,0.06968985851,0.999999869515,0.000167023068308,-0.000482259667583,2.23477516369e-05,1793196730811025920
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.529914489,743,711,677,660.470085511,632,878,783.529914489,801,649.529914489,629.529914489,650,0.445972465868,0.00458437217899,0.0697079911388,0.999999884372,0.000168885999781,-0.000449656522379,2.33030197293e-05,1793196730827692544
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,743,711,677,661,632,878,783.049422061,801,649.049422061,629.049422061,650,0.445609768565,0.00459221646735,0.0697270378638,0.999999898364,0.000172208636023,-0.000416067825397,2.2452622539e-05,1793196730844358912
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,743,711,677,661,632,878,783.624772105,801,649.624772105,629.624772105,650,0.445200255135,0.00459312917105,0.0697404054159,0.999999911761,0.000134240577707,-0.000397846564672,1.32143528076e-05,1793196730861025536
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,743.204174122,711.204174122,677,661.204174122,632,878.204174122,784,801,650,629.795825878,650,0.444773475364,0.00459171508339,0.0697515935835,0.999999920436,0.000109779224582,-0.000383385710616,9.60819565374e-06,1793196730877692416
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,743,711,676,663,632.914279173,878,784,800.085720827,650,630,650,0.436016492549,0.00456859598741,0.0697749153576,0.999999928158,0.000176409373107,-0.000333398526539,3.75415844123e-05,1793196731127692544
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.442572035,743,711.442572035,675,663,633,878,784,801,649.557427965,630,651,0.430026656943,0.00454794194109,0.0697472196578,0.999999910741,0.000154065454972,-0.000390941434742,4.41203956293e-05,1793196731261025792
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,743,711.959502076,675,663,633,878,784,800.959502076,649,630,650.959502076,0.425448202506,0.00451662972695,0.0698521898276,0.999999963682,0.00011783267968,-0.000237004282978,5.07984413973e-05,1793196731361026304
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,743,712,675,663,633,877.158361777,784,801,649.158361777,630,650.158361777,0.417814656354,0.00445465748215,0.069856484379,0.999999968833,5.34009201403e-05,-0.000238434648391,5.13053748794e-05,1793196731527692288
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.590476887,743,711.590476887,675,663,633,877,784,801,649,630,650.409523113,0.417060066527,0.00444767659606,0.0698243452874,0.999999956835,4.22988614888e-05,-0.000286565772729,4.91965483746e-05,1793196731544358912
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.030246045,743,711.030246045,675,663,633,877,784,801,649,630,650.969753955,0.416299600705,0.00444182839225,0.069784959679,0.999999939591,3.13497110141e-05,-0.000343092861491,4.60618721744e-05,1793196731561025536
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,743,711.728053598,675.271946402,663,633,877,784,800,649,629.728053598,651,0.41414090239,0.00442468250075,0.069753480047,0.999999920468,8.80453871049e-06,-0.000396047241828,4.61831157708e-05,1793196731611025664
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,743,712,675,663,633,877.907513668,784,800,649,630,650.092486332,0.412872327944,0.00441213875107,0.0697795862593,0.999999936536,-1.16467163588e-05,-0.000353138598806,4.56587321312e-05,1793196731644358912
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,743.938242509,712,674.938242509,663,633,877,784,800,650,630,651,0.41171265426,0.00439398262574,0.069867417152,0.999999978924,-3.33624993613e-05,-0.00019736962433,4.56627692335e-05,1793196731677692160
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,743,711.872846909,674,663,633,877,784,801,649.872846909,630,651,0.406399800319,0.00444786779234,0.0698077627971,0.999999948341,2.11979846824e-05,-0.000317834065594,4.30020398629e-05,1793196731844359168
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,662.547300143,633,877,784,801,649.547300143,630,651,0.405966015934,0.00445122564725,0.069796865036,0.999999941277,2.30751233929e-05,-0.000339236683947,4.28073305383e-05,1793196731861025792
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.028599604,743,712,674,662,633,877.028599604,784,800.971400396,649.028599604,629.971400396,650.971400396,0.405540058922,0.00445590231457,0.0697844535779,0.999999933474,2.67477797839e-05,-0.00036129388664,4.24712965772e-05,1793196731877692160
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.602836242,743,712,674,662,633,877.602836242,784,800.397163758,649.602836242,629.397163758,650.397163758,0.405183286375,0.00446732408417,0.0697981029128,0.999999941792,4.57237366655e-05,-0.000335543067736,4.16576700909e-05,1793196731894359040
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.818135549,743,711.818135549,674,662.181864451,633,878,784,800,650,629,650.181864451,0.40484273911,0.00447405252918,0.069813815978,0.999999950656,5.74338338972e-05,-0.000306082315043,4.12556273596e-05,1793196731911025664
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.228360215,743,711.228360215,674,662.771639785,633,878,784,800,650,629,650.771639785,0.404538584212,0.00447025413155,0.069834157863,0.999999961738,5.28470481397e-05,-0.000268300410729,4.17767420636e-05,1793196731927692544
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,743.355227472,711.355227472,674,662.644772528,633,877.644772528,784,800,650,629,651,0.404229424305,0.00446361973645,0.0698423341445,0.999999965864,4.05987922794e-05,-0.000254684538885,4.19408359256e-05,1793196731944359168
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,743.93490555,711.93490555,674,662.06509445,633,877.06509445,784,800,650,629,651,0.403917101951,0.00445519341496,0.0698428235873,0.999999965992,2.35096333753e-05,-0.000256337979681,4.18793461089e-05,1793196731961025536
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,743.48823608,712,674,662,633,877.51176392,784,800.51176392,649.48823608,629.51176392,651,0.403622173928,0.0044568828011,0.0698306159736,0.999999961277,2.48281854859e-05,-0.000274160871799,4.08051941631e-05,1793196731977692160
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,743,711.912152025,674,662.087847975,633,878,784,801,649,630,651,0.403333920159,0.00445897317469,0.069817628468,0.999999955878,2.64903385953e-05,-0.000293205762341,3.96592379195e-05,1793196731994359040
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,743,711.338377807,674,662.661622193,633,878,784,801,649,630,651,0.403070413319,0.00445620338895,0.0698092114596,0.99999995176,1.71727912257e-05,-0.0003076959296,3.88246834594e-05,1793196732011025664
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,743,711.242497301,674,663,633,877.757502699,784,801,649,630,651,0.402825347414,0.00445311007169,0.0698030443434,0.999999948287,6.78879253843e-06,-0.000319276567511,3.79673762822e-05,1793196732027692288
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742.583939632,712,674,663,633,877.416060368,784,800.583939632,649.416060368,630,651,0.402409098064,0.00444939132881,0.0697986379497,0.999999945258,-1.0646279137e-05,-0.000328665215962,3.67483434232e-05,1793196732061025792
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742.004830017,712,674,663,633,877.995169983,784,800.004830017,649.995169983,630,651,0.402219583054,0.00445056262278,0.0697977364507,0.999999945267,-1.36566823798e-05,-0.000328536348462,3.66391715757e-05,1793196732077692416
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.570289394,742.570289394,712,674,662.429710606,633,878,784,800.570289394,649.429710606,630,651,0.402055673716,0.00444856475064,0.0697955037645,0.999999943554,-1.86475579267e-05,-0.000333426452029,3.70403486401e-05,1793196732094358784
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.855112857,743,712,674,662,633,877.855112857,784,800.855112857,649.144887143,630,651,0.401897870812,0.00444725492602,0.069793069909,0.999999941901,-2.13543219047e-05,-0.000338116591103,3.7673598599e-05,1793196732111025664
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.281957978,743,712,674,662,633,877.281957978,784,800.281957978,649.718042022,630,651,0.4017574812,0.00444805766885,0.0697900745172,0.999999940578,-1.72603096796e-05,-0.000342090885635,3.8980138524e-05,1793196732127692288
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742.10604557,712,674,662,633,877,784,800,649.10604557,629.10604557,651,0.401522278946,0.00445402940778,0.0697870035429,0.999999940641,9.35696214094e-06,-0.000342048943729,4.04060373569e-05,1793196732161025536
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.474801333,742.474801333,712,674,662.474801333,633,876.525198667,784,800,649,629.474801333,650.525198667,0.401428342732,0.00447230646013,0.0697881580429,0.999999938994,6.70756602275e-05,-0.000340629888797,3.85126104523e-05,1793196732177692160
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.947099141,743,712,674,663,633,876.052900859,784,800,649.052900859,629.947099141,650.052900859,0.401339723659,0.00449233625115,0.0697897039375,0.999999933954,0.000125536826074,-0.000339215375208,3.55660728516e-05,1793196732194359040
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.370449979,743,712,674,663,633,876.629550021,784,800,649.629550021,629.370449979,650.629550021,0.401268736147,0.00449827173973,0.0697903497221,0.99999993728,0.000102038793859,-0.0003380503188,2.739750606e-05,1793196732211025408
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,662.790390871,633,877,784,800.209609129,650,629.209609129,651,0.401205786776,0.00449864566859,0.0697918486021,0.99999994038,8.23128206431e-05,-0.000334561363866,2.30980231952e-05,1793196732227692032
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,662.204205614,633,877,784,800.795794386,650,629.795794386,651,0.401157278438,0.00448902790146,0.0697948801221,0.999999943832,6.93635927462e-05,-0.000326897377799,2.57495961224e-05,1793196732244358656
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,743.378983034,712,674,662.378983034,633,877,784,801.378983034,649.621016966,630,651,0.401113794254,0.00448241177239,0.0697966650121,0.999999945707,6.12397443012e-05,-0.000322571653084,2.7997716781e-05,1793196732261025536
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,743.960569682,712,674,662.960569682,633,877,784,801.960569682,649.039430318,630,651,0.401072995974,0.00447740031367,0.0697977834559,0.999999946788,5.56955350207e-05,-0.000320030556848,3.00301525346e-05,1793196732277692160
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,743.46382177,712,674,662.46382177,633,877,784,800.927643539,649.53617823,630,651,0.401040722052,0.00446851172938,0.0697972996188,0.999999946797,4.55982149593e-05,-0.000321417733521,3.18923475008e-05,1793196732294358784
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,662,633,877,784,800,650,630,651,0.401012199854,0.00446099543131,0.0697974971853,0.999999947001,3.68539486592e-05,-0.000321747321323,3.34388042435e-05,1793196732311025408
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,662,633,877,784,800,650,630,651,0.400996722576,0.00446036974947,0.0698010184436,0.999999948734,3.51249727014e-05,-0.000316481629408,3.37216688437e-05,1793196732327692288
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.716031585,742.716031585,712,674.283968415,662.283968415,633,877,784,800,650,630,651,0.400983938083,0.00446053885543,0.0698039269652,0.999999950119,3.53357175036e-05,-0.00031203517228,3.38647915401e-05,1793196732344358912
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.136589363,742.136589363,712,674.863410637,662.863410637,633,877,784,800,650,630,651,0.400973955473,0.0044615349511,0.0698061979246,0.999999951153,3.75647734598e-05,-0.000308441141785,3.38625105214e-05,1793196732361025280
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763.882734351,742.441367175,711.558632825,674.558632825,663,633,877,783.558632825,800.441367175,650,630,651,0.400965119654,0.00446057599656,0.0698066811313,0.999999951575,3.5168999289e-05,-0.000307341467801,3.3978424139e-05,1793196732377692160
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.981173509,743,711,674,662.981173509,633,877,783.018826491,801,650,630,651,0.400956796609,0.0044591054213,0.0698066043253,0.999999951791,3.15313011056e-05,-0.000307018406597,3.4122498276e-05,1793196732394358784
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.404867766,743,711,674,662.404867766,633,877,783.595132234,801,650,630,651,0.400953183815,0.00446034063277,0.0698062724142,0.999999951768,3.3357348681e-05,-0.00030691082616,3.40209660363e-05,1793196732411026432
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,743,711.171088055,674,662.171088055,633,877,784,801,650,629.828911945,651,0.400950780492,0.00446095410315,0.069806787628,0.999999952131,3.39162065442e-05,-0.000305679748436,3.38774456594e-05,1793196732427693568
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,743,711.746217466,674,662.746217466,633,877,784,801,650,629.253782534,651,0.400951233455,0.00446009927041,0.069809303411,0.999999953399,3.14824705081e-05,-0.000301795420799,3.36347661507e-05,1793196732444359680
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,662.668315513,633,877,784,800.668315513,650,629,651,0.400950882363,0.00446006129878,0.0698109169944,0.999999954105,3.19340866007e-05,-0.000299401607752,3.36036124729e-05,1793196732461026048
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,662.074684428,633,877,784,800.074684428,650,629,651,0.400949896272,0.00446066844023,0.0698118180689,0.999999954373,3.46643989776e-05,-0.000298184923271,3.3739510549e-05,1793196732477692672
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,742.50022269,711.50022269,674,662,633,877,784,800.49977731,649.50022269,629.49977731,650.50022269,0.400949996338,0.00445966917574,0.0698124601277,0.999999954758,3.24449857773e-05,-0.000297133710794,3.38141159693e-05,1793196732494359808
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,742.071999137,711,674,662.071999137,633,876.928000863,784,800.928000863,649,629.928000863,650.071999137,0.400950126751,0.00445867820821,0.0698129347565,0.999999955078,2.99258177363e-05,-0.000296318992761,3.38165390622e-05,1793196732511026688
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764,742.647851642,711,674,662.647851642,633,876.352148358,784,800.352148358,649,629.352148358,650.647851642,0.400949375635,0.00445936315855,0.0698124985645,0.999999954882,3.02939545973e-05,-0.000296992623248,3.3375556266e-05,1793196732527693056
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764.230664717,743,711,674,662.769335283,633,876.230664717,784,800,649,629,651,0.400949830605,0.00445983346611,0.0698130767236,0.999999955172,3.03416270519e-05,-0.000296035844199,3.3146010905e-05,1793196732544359424
+406,6.766666667,POSE2_TO_POSE3_RETREAT,764.824435003,743,711,674,662.175564997,633,876.824435003,784,800,649,629,651,0.400952184162,0.00445996588947,0.0698152516445,0.999999956219,2.98848339821e-05,-0.000292512522828,3.32493040262e-05,1793196732561026048
+407,6.783333333,POSE2_TO_POSE3_RETREAT,764.594043472,743,711,674,662,633,877,784,800.405956528,649,629.405956528,651,0.400952101885,0.00446059812098,0.0698156457319,0.999999956345,3.13889373565e-05,-0.000291892107303,3.35127401724e-05,1793196732577692672
+408,6.800000000,POSE2_TO_POSE3_RETREAT,764.017664081,743,711,674,662,633,877,784,800.982335919,649,629.982335919,651,0.400950997032,0.00446144017479,0.0698152922152,0.999999956084,3.37162362507e-05,-0.000292490348392,3.3843405266e-05,1793196732594359552
+409,6.816666667,POSE2_TO_POSE3_RETREAT,764,743,711.557660027,674,662.557660027,633,877,784,801,649.557660027,630,651,0.400950240343,0.0044605248011,0.0698142604659,0.999999955722,3.20033432239e-05,-0.000293963042099,3.34213797103e-05,1793196732611026176
+410,6.833333333,POSE2_TO_POSE3_RETREAT,764.136086818,743,712,673.863913182,662.863913182,633,877,784,801,650,630,651,0.400949641361,0.004459686272,0.069813573014,0.999999955484,3.07246596488e-05,-0.000294942315768,3.31249046869e-05,1793196732627692800
+411,6.850000000,POSE2_TO_POSE3_RETREAT,764.724947507,743,712,673.275052493,662.275052493,633,877,784,801,650,630,651,0.400949530461,0.00445928827233,0.0698141024146,0.999999955681,3.13156118785e-05,-0.000294187951819,3.33253222756e-05,1793196732644359680
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765,743,712,673.308974685,662,633.308974685,877,784,801,649.691025315,630,651,0.400949706886,0.00445868551962,0.0698150537357,0.99999995604,3.02384868389e-05,-0.000293063480959,3.34648784198e-05,1793196732661026560
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+414,6.900000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,662.466169133,633.533830867,877,784,801,649,630,650.533830867,0.400949700578,0.00445788485249,0.0698158918232,0.999999956339,2.72125542187e-05,-0.000292338664091,3.34589125764e-05,1793196732694359552
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765,743,711.957425015,674,662.957425015,633,877,784,801,649.042574985,629.957425015,650.042574985,0.400949194375,0.00445819858689,0.0698150987532,0.999999956028,2.74662121973e-05,-0.00029339362315,3.3314660425e-05,1793196732711025920
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765,743,711.386374722,674,662.386374722,633,877,784,801,649.613625278,629.386374722,650.613625278,0.400950341591,0.00446038497797,0.0698157739601,0.999999956301,3.08621448612e-05,-0.000292152922825,3.30496818741e-05,1793196732727692544
+417,6.950000000,POSE2_TO_POSE3_RETREAT,765,743,711.191286349,674,662,633,877,784,801,650,629,651,0.400951498816,0.00446158940327,0.069816533502,0.99999995664,3.33126580083e-05,-0.000290732274329,3.29323961447e-05,1793196732744359424
+418,6.966666667,POSE2_TO_POSE3_RETREAT,765,743,711.782778473,674,662,633,877,784,801,650,629,651,0.40095267698,0.00446073937821,0.0698174694882,0.999999957139,3.37851824879e-05,-0.000288935141362,3.31241105675e-05,1793196732761026048
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4da2899cbc7d160d30037bbaf76720e5e74fb933
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,423 @@
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+359,5.983333333,pose2_to_pose3_retreat,0.585347406313,0.010001382389,1.06001161006,0.555918639787,0.0186750436526,1.05966114579
+360,6.000000000,pose2_to_pose3_retreat,0.584866334747,0.0100012343934,1.06001168759,0.555437569002,0.0186748980554,1.05966121713
+361,6.016666667,pose2_to_pose3_retreat,0.584409170184,0.0100012073627,1.06001171157,0.554980404148,0.0186748700028,1.0596612402
+362,6.033333333,pose2_to_pose3_retreat,0.583965392799,0.0100013287134,1.06001181296,0.554536627183,0.0186749927412,1.05966134068
+363,6.050000000,pose2_to_pose3_retreat,0.583534190704,0.010001300172,1.06001172111,0.554105425348,0.0186749650303,1.05966124743
+364,6.066666667,pose2_to_pose3_retreat,0.583122495805,0.0100012779855,1.06001176468,0.553693730795,0.0186749441863,1.05966129514
+365,6.083333333,pose2_to_pose3_retreat,0.582732794829,0.0100011643104,1.0600116554,0.553304031352,0.0186748360167,1.05966119306
+366,6.100000000,pose2_to_pose3_retreat,0.582371373885,0.0100011283817,1.06001155171,0.552942610865,0.0186748017774,1.05966109267
+367,6.116666667,pose2_to_pose3_retreat,0.582034266874,0.0100012996862,1.06001167459,0.552605501581,0.0186749651264,1.05966120971
+368,6.133333333,pose2_to_pose3_retreat,0.581719303278,0.0100012236493,1.06001182987,0.552290539061,0.0186748921863,1.05966135147
+369,6.150000000,pose2_to_pose3_retreat,0.581416368965,0.0100012997001,1.06001172929,0.551987601992,0.0186749592551,1.05966125981
+370,6.166666667,pose2_to_pose3_retreat,0.581123646566,0.0100012596942,1.06001161536,0.551694880488,0.0186749224402,1.05966114998
+371,6.183333333,pose2_to_pose3_retreat,0.580838917672,0.0100012098776,1.0600115936,0.55141015363,0.018674879467,1.05966112696
+372,6.200000000,pose2_to_pose3_retreat,0.580566737852,0.0100013451424,1.06001165537,0.551137971847,0.0186750081036,1.05966118937
+373,6.216666667,pose2_to_pose3_retreat,0.580312758521,0.0100014290379,1.06001159579,0.550883992032,0.0186750899985,1.05966112125
+374,6.233333333,pose2_to_pose3_retreat,0.580077787517,0.0100013152296,1.06001157345,0.550649020963,0.0186749761911,1.05966110407
+375,6.250000000,pose2_to_pose3_retreat,0.579862031483,0.0100011871542,1.06001142819,0.55043326702,0.0186748556805,1.05966097054
+376,6.266666667,pose2_to_pose3_retreat,0.579665752582,0.0100012962669,1.06001161472,0.550236987198,0.0186749615383,1.05966115384
+377,6.283333333,pose2_to_pose3_retreat,0.579486471616,0.0100013541408,1.06001168018,0.550057705145,0.018675015636,1.05966121694
+378,6.300000000,pose2_to_pose3_retreat,0.579322335043,0.0100012428534,1.06001155693,0.549893569561,0.0186749078733,1.05966109786
+379,6.316666667,pose2_to_pose3_retreat,0.579172296806,0.0100011280008,1.0600116376,0.54974353354,0.018674800503,1.05966117754
+380,6.333333333,pose2_to_pose3_retreat,0.57903799044,0.0100011122411,1.06001170133,0.54960922744,0.0186747852286,1.05966123102
+381,6.350000000,pose2_to_pose3_retreat,0.578917191769,0.0100012056806,1.06001166432,0.549488428338,0.0186748774653,1.05966120054
+382,6.366666667,pose2_to_pose3_retreat,0.578809867016,0.0100012853949,1.06001175282,0.549381102798,0.0186749544411,1.05966128735
+383,6.383333333,pose2_to_pose3_retreat,0.578715989553,0.0100012946855,1.0600117636,0.549287225109,0.0186749631494,1.05966130411
+384,6.400000000,pose2_to_pose3_retreat,0.578634176559,0.0100012754679,1.06001165757,0.549205411664,0.018674942569,1.05966120304
+385,6.416666667,pose2_to_pose3_retreat,0.578564377604,0.0100012581645,1.06001152868,0.549135611842,0.0186749221526,1.05966106895
+386,6.433333333,pose2_to_pose3_retreat,0.578504438811,0.0100011775206,1.06001154654,0.549075673966,0.0186748444282,1.05966108197
+387,6.450000000,pose2_to_pose3_retreat,0.578453728871,0.010001294298,1.06001168173,0.549024963156,0.018674957863,1.05966120757
+388,6.466666667,pose2_to_pose3_retreat,0.578410525409,0.0100012173683,1.06001178402,0.548981760244,0.0186748827574,1.05966130882
+389,6.483333333,pose2_to_pose3_retreat,0.578374007125,0.0100011873616,1.06001181034,0.548945242334,0.0186748542104,1.05966134003
+390,6.500000000,pose2_to_pose3_retreat,0.578343888781,0.0100012730738,1.06001167482,0.548915123682,0.0186749391729,1.05966121208
+391,6.516666667,pose2_to_pose3_retreat,0.578319694633,0.0100013361485,1.06001126921,0.548890929405,0.0186750021036,1.05966081404
+392,6.533333333,pose2_to_pose3_retreat,0.578301550042,0.0100012488227,1.06001158492,0.548872785339,0.0186749163196,1.05966112303
+393,6.550000000,pose2_to_pose3_retreat,0.578287725998,0.0100013260738,1.06001151311,0.548858960747,0.0186749919639,1.05966105741
+394,6.566666667,pose2_to_pose3_retreat,0.578277666573,0.0100013685174,1.06001142517,0.548848901205,0.0186750341823,1.05966097364
+395,6.583333333,pose2_to_pose3_retreat,0.578269939672,0.0100011897389,1.06001162378,0.548841176177,0.0186748613198,1.05966116097
+396,6.600000000,pose2_to_pose3_retreat,0.578264226794,0.010001172651,1.0600117389,0.548835463397,0.0186748444111,1.05966127208
+397,6.616666667,pose2_to_pose3_retreat,0.578260375098,0.0100012031464,1.06001180192,0.548831611326,0.0186748735949,1.05966133398
+398,6.633333333,pose2_to_pose3_retreat,0.578258058663,0.0100012743472,1.06001179698,0.548829294349,0.0186749430097,1.0596613304
+399,6.650000000,pose2_to_pose3_retreat,0.578256935965,0.0100013088558,1.06001179459,0.548828171389,0.0186749766527,1.05966132867
+400,6.666666667,pose2_to_pose3_retreat,0.578256417356,0.0100013247964,1.06001179349,0.548827652659,0.0186749921935,1.05966132787
+401,6.683333333,pose2_to_pose3_retreat,0.578256310992,0.0100013280658,1.06001179326,0.548827546269,0.0186749953808,1.0596613277
+402,6.700000000,pose2_to_pose3_retreat,0.578256012145,0.0100013351898,1.06001178842,0.548827247347,0.0186750022628,1.05966132319
+403,6.716666667,pose2_to_pose3_retreat,0.578255855662,0.0100013311854,1.06001177009,0.548827090805,0.0186749980883,1.0596613056
+404,6.733333333,pose2_to_pose3_retreat,0.578255515264,0.0100013224747,1.06001173021,0.548826750279,0.0186749890075,1.05966126736
+405,6.750000000,pose2_to_pose3_retreat,0.578255201996,0.0100013144582,1.06001169352,0.548826436893,0.0186749806504,1.05966123216
+406,6.766666667,pose2_to_pose3_retreat,0.578255072514,0.0100013111448,1.06001167835,0.548826307361,0.0186749771962,1.05966121762
+407,6.783333333,pose2_to_pose3_retreat,0.578254943861,0.0100013078526,1.06001166328,0.54882617866,0.0186749737641,1.05966120316
+408,6.800000000,pose2_to_pose3_retreat,0.578254915704,0.0100013071321,1.06001165999,0.548826150493,0.0186749730129,1.0596612
+409,6.816666667,pose2_to_pose3_retreat,0.578254520881,0.0100012970286,1.06001161374,0.54882575552,0.0186749624802,1.05966115564
+410,6.833333333,pose2_to_pose3_retreat,0.578254164547,0.0100012879101,1.060011572,0.548825399052,0.0186749529742,1.0596611156
+411,6.850000000,pose2_to_pose3_retreat,0.578254036314,0.0100012846287,1.06001155698,0.548825270771,0.0186749495533,1.0596611012
+412,6.866666667,pose2_to_pose3_retreat,0.578253956006,0.0100012825736,1.06001154757,0.548825190433,0.0186749474109,1.05966109217
+413,6.883333333,pose2_to_pose3_retreat,0.578253889503,0.0100012808718,1.06001153978,0.548825123904,0.0186749456368,1.0596610847
+414,6.900000000,pose2_to_pose3_retreat,0.578253768821,0.0100012777836,1.06001152565,0.548825003177,0.0186749424174,1.05966107114
+415,6.916666667,pose2_to_pose3_retreat,0.57825351964,0.0100012624622,1.06001151944,0.548824754093,0.0186749274188,1.05966106478
+416,6.933333333,pose2_to_pose3_retreat,0.578253205471,0.0100012215669,1.06001156703,0.548824440507,0.0186748883629,1.05966110893
+417,6.950000000,pose2_to_pose3_retreat,0.578252931871,0.0100011859526,1.06001160848,0.548824167416,0.0186748543505,1.05966114737
+418,6.966666667,pose2_to_pose3_retreat,0.578252829225,0.0100011725911,1.06001162403,0.54882406496,0.0186748415901,1.0596611618
+419,6.983333333,pose2_to_pose3_retreat,0.578252627652,0.0100011463525,1.06001165457,0.548823863761,0.0186748165316,1.05966119012
+420,7.000000000,pose2_to_pose3_retreat,0.578252371116,0.0100012593457,1.06001162414,0.548823604885,0.0186749214232,1.05966115568
+421,7.016666667,pose2_to_pose3_retreat,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3e91f4cb652893e9886d12b7c6e342147d1c5a29
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a54cbc3d28f42a531d3a8888e446a58f21723c49e80a6568ca9de387716a4de8
+size 26999865
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3f9c9072ea823ad847c69743e39ad09b8d7b2c24
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_04/franka_data.csv
@@ -0,0 +1,427 @@
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+22,0.366666667,BASELINE,764,743,712,675,662,633,876.245105439,784,801,650,629.245105439,651,0.400951899753,0.00446084639096,0.0698195536707,0.999999957894,3.32214186703e-05,-0.000286395341693,3.29524236232e-05,1793196733334687744
+23,0.383333333,BASELINE,764.337681844,743,711.662318156,674.662318156,662,633,876.337681844,784,801,649.662318156,629,651,0.400951806481,0.0044600976278,0.0698199162346,0.999999957926,3.27594888272e-05,-0.000286313502929,3.31618199161e-05,1793196733351354624
+24,0.400000000,BASELINE,764.925952827,743,711.074047173,674.074047173,662,633,876.925952827,784,801,649.074047173,629,651,0.400950474696,0.00445852048966,0.0698193410408,0.999999957584,3.12544057956e-05,-0.000287649523997,3.3375012366e-05,1793196733368021760
+25,0.416666667,BASELINE,765,743,711.506854832,674,662.506854832,633,877.506854832,784,801,649,629.506854832,651,0.400952593101,0.00445916685493,0.0698201079589,0.999999958218,2.90460153369e-05,-0.000285728811492,3.28557680169e-05,1793196733384688384
+26,0.433333333,BASELINE,765,743,712,674,662.913690163,633,877.913690163,784,801,649.086309837,629.913690163,651,0.400954358756,0.00446023633544,0.0698206138279,0.999999958713,2.76321835865e-05,-0.000284193113945,3.23255014501e-05,1793196733401355264
+27,0.450000000,BASELINE,765,743,712,674,662.336429919,633,877.336429919,784,801,649.663570081,629.336429919,651,0.400951291858,0.00446189133629,0.0698185354739,0.999999957655,3.13140601886e-05,-0.000287515040194,3.23324721247e-05,1793196733418021376
+28,0.466666667,BASELINE,765,743,711.760501697,674,662,633,877,784,801,650,629,651,0.400950347667,0.00446164940243,0.0698178399621,0.999999957323,3.18830798341e-05,-0.000288595846796,3.24032727552e-05,1793196733434687744
+29,0.483333333,BASELINE,765,743,711.186434288,674,662,633,877,784,801,650,629,651,0.400952368809,0.00445875753007,0.0698190762232,0.999999958021,2.81035683795e-05,-0.000286545902856,3.25632411624e-05,1793196733451354368
+30,0.500000000,BASELINE,764.601304013,743,711.398695987,674,662.398695987,633,877,784,801,650,629,651,0.400952684198,0.00445858728759,0.0698197762142,0.999999958187,2.81932886465e-05,-0.000285924975014,3.28403658065e-05,1793196733468021248
+31,0.516666667,BASELINE,764.010853009,743,711.989146991,674,662.989146991,633,877,784,801,650,629,651,0.400952179195,0.004459726028,0.0698202182832,0.9999999581,3.01439372059e-05,-0.000285991340349,3.317383738e-05,1793196733484687872
+32,0.533333333,BASELINE,764,743,712,674,662.435263544,633,877,784,800.435263544,650,629.564736456,651,0.400952708532,0.00445844548895,0.0698202555476,0.999999958443,2.81638588279e-05,-0.000285027537115,3.28604979024e-05,1793196733501354496
+33,0.550000000,BASELINE,764.140430269,743,712,674,662,633,877,784,800.140430269,649.859569731,629.859569731,651,0.400952859855,0.00445777779592,0.0698200859175,0.999999958593,2.68597706603e-05,-0.000284660628983,3.2583820886e-05,1793196733518021632
+34,0.566666667,BASELINE,764.717313178,743,712,674,662,633,877,784,800.717313178,649.282686822,629.282686822,651,0.400951776128,0.00445915560285,0.0698192968247,0.999999958127,2.78853941685e-05,-0.000286208803899,3.24587320339e-05,1793196733534688768
+35,0.583333333,BASELINE,764.706932532,743,712,674,662,633,877,784,800.706932532,649,629,651,0.400950966935,0.00445994460908,0.0698189350305,0.999999957845,2.86358752751e-05,-0.000287125336364,3.24040252571e-05,1793196733551355136
+36,0.600000000,BASELINE,764.132262641,743,712,674,662,633,877,784,800.132262641,649,629,651,0.400950421534,0.00446016784915,0.0698189838185,0.999999957741,2.91219779008e-05,-0.000287434936941,3.24169471358e-05,1793196733568021504
+37,0.616666667,BASELINE,764,742.542794567,711.542794567,674,662,633,877.457205433,784,800.457205433,649.457205433,629,651,0.40095126241,0.00446086788174,0.0698192380532,0.999999957922,3.09874391846e-05,-0.000286626449788,3.22736784994e-05,1793196733584687872
+38,0.633333333,BASELINE,764,742.049630696,711.049630696,674,662.049630696,633,877.950369304,784,801,650,629.049630696,651,0.400952333819,0.00446153857725,0.0698194794827,0.999999958134,3.29111913942e-05,-0.000285690692888,3.21032022889e-05,1793196733601354496
+39,0.650000000,BASELINE,764,742.626473992,711.626473992,674,662.626473992,633,877.373526008,784,801,650,629.626473992,651,0.4009514516,0.00446038344593,0.0698189324338,0.999999957829,3.10736137273e-05,-0.00028695378562,3.21397343853e-05,1793196733618021120
+40,0.666666667,BASELINE,764,743,712,674.202260096,662.797739904,633,877,784,800.797739904,649.797739904,629.797739904,651,0.400951342034,0.00445978459269,0.0698189006966,0.999999957792,2.9885674112e-05,-0.000287192901311,3.22866267595e-05,1793196733634687744
+41,0.683333333,BASELINE,764,743,712,674.776103936,662.223896064,633,877,784,800.223896064,649.223896064,629.223896064,651,0.400952651956,0.00446020771024,0.0698198156685,0.999999958251,2.98912223273e-05,-0.000285550809352,3.26362683949e-05,1793196733651354624
+42,0.700000000,BASELINE,764,743,712,674.640261469,662.359738531,633.359738531,877.359738531,784,800.359738531,649.359738531,629.359738531,651,0.400951682338,0.00445934329241,0.0698194928998,0.999999958007,2.97745555942e-05,-0.00028637621145,3.29876561738e-05,1793196733668021504
+43,0.716666667,BASELINE,764,743,712,674.050362788,662.949637212,633.949637212,877.949637212,784,800.949637212,649.949637212,629.949637212,651,0.400949254274,0.00445765511144,0.0698183782264,0.99999995731,2.95796959276e-05,-0.000288780312454,3.33401611189e-05,1793196733684688128
+44,0.733333333,BASELINE,764,743,712,674,663,633.469888102,878,784,800.469888102,650,629.469888102,651,0.400950540177,0.00445901824651,0.0698191891739,0.999999957702,3.12313224505e-05,-0.000287316524249,3.27189210091e-05,1793196733701354496
+45,0.750000000,BASELINE,764.109229149,743,712,674,663,633,878,784,800,650,629.109229149,651,0.400951600875,0.00446069634735,0.0698197870349,0.999999958044,3.27273135263e-05,-0.000286025261721,3.20900697824e-05,1793196733718021120
+46,0.766666667,BASELINE,764.686299954,743,712,674,663,633,878,784,800,650,629.686299954,651,0.400950212122,0.00446250354848,0.0698187023451,0.999999957765,3.28184616182e-05,-0.000287019354981,3.18179289424e-05,1793196733734687744
+47,0.783333333,BASELINE,764.737272334,743,712,674,663,633,878,784,800.262727666,650,630,651,0.400950373544,0.00446174385891,0.0698187363355,0.999999957898,3.22796878521e-05,-0.000286594438784,3.20248458484e-05,1793196733751354368
+48,0.800000000,BASELINE,764.161610531,743,712,674,663,633,878,784,800.838389469,650,630,651,0.400952381376,0.00445792675375,0.0698201027825,0.999999958518,3.09906160603e-05,-0.000284479344804,3.28023669644e-05,1793196733768021248
+49,0.816666667,BASELINE,764.423371632,743,712,673.576628368,663,633,877.576628368,784,801,650,630,651,0.400953495273,0.00445872941085,0.0698210760663,0.999999958877,3.22148694416e-05,-0.000283089162161,3.26943030314e-05,1793196733784687872
+50,0.833333333,BASELINE,765,743,712,673.011804092,662.988195908,633,877,784,801,650,630,651,0.400954208192,0.00446126035513,0.069821848529,0.999999959112,3.43086089986e-05,-0.000282060938013,3.22494075306e-05,1793196733801354240
+51,0.850000000,BASELINE,765,743,712,673.591218253,662.408781747,633,877,784,801,650,630,651,0.40095241765,0.00446019080194,0.0698203434845,0.999999958434,3.10406356117e-05,-0.000284832193787,3.22289067562e-05,1793196733818020864
+52,0.866666667,BASELINE,764.830366256,743,712,674,662.169633744,633,877.169633744,784,801,649.830366256,629.830366256,651,0.40095156206,0.00445949473023,0.0698194992682,0.999999958117,2.87587072028e-05,-0.000286182494432,3.22388409189e-05,1793196733834687488
+53,0.883333333,BASELINE,764.254343303,743,712,674,662.745656697,633,877.745656697,784,801,649.254343303,629.254343303,651,0.400952946324,0.00445969340301,0.0698202381889,0.999999958697,2.8839033285e-05,-0.000284128632406,3.23216876407e-05,1793196733851354112
+54,0.900000000,BASELINE,764,743,712,673.679624878,663,633,878,783.679624878,801,649.320375122,629.320375122,651,0.400952662845,0.0044598357946,0.0698204772827,0.99999995861,2.85615567376e-05,-0.000284462596308,3.23302619362e-05,1793196733868020992
+55,0.916666667,BASELINE,764,743,712,673.105937935,663,633,878,783.105937935,801,649.894062065,629.894062065,651,0.400951060727,0.00445993368617,0.0698203211771,0.999999957993,2.8001175463e-05,-0.000286684548759,3.22801110577e-05,1793196733884687872
+56,0.933333333,BASELINE,764.484928157,743,712,673.484928157,663,633.484928157,878,783.484928157,800.515071843,650,630,651,0.400951553638,0.00445940761574,0.0698202792199,0.99999995799,2.86954558292e-05,-0.000286621631722,3.23273041072e-05,1793196733901354240
+57,0.950000000,BASELINE,765,743,712,674,662.922993746,633.922993746,877.922993746,784,800.154012508,650,630,651,0.40095248129,0.00445888700832,0.0698203264322,0.99999995816,2.98115338159e-05,-0.000285904775823,3.240309321e-05,1793196733918020864
+58,0.966666667,BASELINE,765,743,712,674,662.348231324,633.348231324,877.348231324,784,801.303537351,650,630,651,0.400953151996,0.00445931516887,0.0698207829127,0.99999995855,3.18172692583e-05,-0.000284305921568,3.25212149774e-05,1793196733934687232
+59,0.983333333,BASELINE,764.773040557,743,712,674,662.226959443,633,877,784,801.546081115,649.773040557,630,651,0.400953149925,0.00445925941079,0.0698207642689,0.999999958645,3.18760703899e-05,-0.00028395430301,3.26166310523e-05,1793196733951354112
+60,1.000000000,BASELINE,764.197191235,743,712,674,662.802808765,633,877,784,800.39438247,649.197191235,630,651,0.40095211364,0.00445845975636,0.0698200152476,0.999999958286,2.89419772867e-05,-0.000285519977918,3.26771431723e-05,1793196733968020992
+61,1.016666667,BASELINE,764,743,712,674,663,633,877,784,800.388220782,649,630,651,0.400951625732,0.00445823660063,0.0698198667784,0.999999958322,2.79410835835e-05,-0.000285508435997,3.2547317739e-05,1793196733984687616
+62,1.033333333,BASELINE,764,743,712,674,663,633,877,784,800.978612664,649,630,651,0.400951423401,0.00445831366425,0.0698200310548,0.999999958567,2.79469291798e-05,-0.000284675537484,3.2318371507e-05,1793196734001354240
+63,1.050000000,BASELINE,764,743,712,674,662.44204464,633,877,784,800.44204464,649,629.44204464,651,0.400952794611,0.00445869865196,0.0698206850229,0.999999958852,2.98547898957e-05,-0.000283466857874,3.24346933835e-05,1793196734018020864
+64,1.066666667,BASELINE,764.135804691,743,712,674,662.271609383,633,877,784,800,649,629.135804691,651,0.400953567117,0.00445913182731,0.0698210495813,0.999999958994,3.09127311289e-05,-0.000282848748713,3.24642121516e-05,1793196734034688000
+65,1.083333333,BASELINE,764.710172553,743,712,674,663.420345105,633,877,784,800,649,629.710172553,651,0.400952215182,0.00445968324145,0.0698204200892,0.999999958682,2.89950978854e-05,-0.000284183421749,3.21715021056e-05,1793196734051355904
+66,1.100000000,BASELINE,764.708742649,743,712,674.291257351,663.708742649,633,877,784.291257351,800,649,629.708742649,651,0.400951402247,0.00445925696616,0.0698201860046,0.999999958383,2.83233205062e-05,-0.000285288385479,3.22946496831e-05,1793196734068022528
+67,1.116666667,BASELINE,764.120816143,743,712,674.879183857,663.120816143,633,877,784.879183857,800,649,629.120816143,651,0.400951138325,0.00445783483512,0.0698203546744,0.999999958099,2.89205481499e-05,-0.00028615937163,3.28413818837e-05,1793196734084688128
+68,1.133333333,BASELINE,764,743,711.539930493,674.539930493,662.539930493,633,877,784.539930493,800,649.460069507,629,650.539930493,0.400950950237,0.00445895109053,0.0698199049416,0.999999957926,2.99767859374e-05,-0.000286676443909,3.26426281882e-05,1793196734101355008
+69,1.150000000,BASELINE,764,742.960986964,711,674,662,632.960986964,876.960986964,784,800,649.960986964,629.039013036,650.039013036,0.400950830402,0.00446061015217,0.0698193716865,0.999999957808,3.10474375495e-05,-0.000287014132253,3.22889435062e-05,1793196734118021888
+70,1.166666667,BASELINE,764,742.383713903,711,674,662,632.383713903,876.383713903,784,800,649.383713903,629.616286097,650.616286097,0.400951381636,0.00446069999327,0.0698198928623,0.999999958065,3.06789686658e-05,-0.000286139820941,3.24579672027e-05,1793196734134688256
+71,1.183333333,BASELINE,764.19323859,742.19323859,711.19323859,674,662,632.19323859,876.19323859,784,800,649.19323859,629.80676141,651,0.400951509624,0.00446049595581,0.0698199340324,0.999999958139,3.0364933093e-05,-0.000285914423499,3.24558611713e-05,1793196734151354624
+72,1.200000000,BASELINE,764.769555692,742.769555692,711.769555692,674,662,632.769555692,876.769555692,784,800,649.769555692,629.230444308,651,0.400950798563,0.00445970932997,0.0698190236333,0.999999957852,3.01588067066e-05,-0.000286975440584,3.21145055339e-05,1793196734168021248
+73,1.216666667,BASELINE,765,743,711.647091941,674,662.352908059,633,877,784,800,650,629,651,0.40095028762,0.004460056844,0.0698187537722,0.99999995768,3.08217434049e-05,-0.000287515406303,3.20219990486e-05,1793196734184687872
+74,1.233333333,BASELINE,765,743,711.059052232,674,662.940947768,633,877,784,800,650,629,651,0.400949910009,0.00446116000015,0.0698189106816,0.999999957583,3.20637097877e-05,-0.00028770821166,3.2095293025e-05,1793196734201354496
+75,1.250000000,BASELINE,764.481311192,742.481311192,711.518688808,674,662.481311192,633,877.518688808,784,800,650,629.518688808,651,0.400951088821,0.00446123905686,0.0698196998824,0.999999958153,3.12230843571e-05,-0.000285823839453,3.19945267888e-05,1793196734218021376
+76,1.266666667,BASELINE,764,742.09560877,712,673.90439123,662.09560877,633,878,784,800.09560877,650,630,651,0.400952189675,0.00446112060547,0.0698204054976,0.999999958666,3.05453368661e-05,-0.000284105630781,3.19107693899e-05,1793196734234688000
+77,1.283333333,BASELINE,764,742.674188598,712,673.325811402,662.674188598,633,878,784,800.674188598,650,630,651,0.400952019034,0.00446058194085,0.0698203323185,0.999999958539,3.18647795695e-05,-0.000284398156466,3.20110880478e-05,1793196734251354880
+78,1.300000000,BASELINE,763.748991308,743,712,673.251008692,662.748991308,633,878,784,801,650,630,650.748991308,0.400951413011,0.00446025260864,0.0698199352009,0.999999958263,3.24478009422e-05,-0.000285286711312,3.21476438034e-05,1793196734268021504
+79,1.316666667,BASELINE,763.174439508,743,712,673.825560492,662.174439508,633,878,784,801,650,630,650.174439508,0.400950245795,0.00446019310006,0.0698191205358,0.999999957794,3.20815959326e-05,-0.00028694353088,3.23309081459e-05,1793196734284688128
+80,1.333333333,BASELINE,763.411542606,743,712,674,662.411542606,633,878,784,801,650,629.588457394,650.411542606,0.400950110024,0.00446004154563,0.0698187371928,0.999999957791,3.22880596716e-05,-0.000286920264609,3.24263543923e-05,1793196734301354496
+81,1.350000000,BASELINE,764.002451682,743,712,674,663,633,877.997548318,784,800.997548318,650,629,651,0.400950430555,0.00445984561256,0.0698185489419,0.999999957993,3.2736181053e-05,-0.000286159726024,3.24857922138e-05,1793196734318021120
+82,1.366666667,BASELINE,764.580120027,743,712,674,663,633,877.419879973,784,800.419879973,650,629,651,0.400952303562,0.00445865281591,0.0698200137799,0.999999958557,3.13044131854e-05,-0.000284274293489,3.30797406548e-05,1793196734334688000
+83,1.383333333,BASELINE,764.842790265,743,712,674,663,633,877,784,800,649.842790265,629.157209735,651,0.400953046461,0.00445805405669,0.0698208678375,0.999999958795,3.03337595389e-05,-0.000283515229852,3.33058682113e-05,1793196734351354624
+84,1.400000000,BASELINE,764.267240205,743,712,674,663,633,877,784,800,649.267240205,629.732759795,651,0.400950782105,0.00445903605055,0.0698200965887,0.999999958175,3.05901458366e-05,-0.000285753470854,3.25532123081e-05,1793196734368021248
+85,1.416666667,BASELINE,764.314854743,743,712,674.314854743,663,633,877,784,800,649.314854743,630,651,0.4009500104,0.00445898268408,0.0698195620074,0.999999957936,3.03551854627e-05,-0.000286622812581,3.24549393554e-05,1793196734384687872
+86,1.433333333,BASELINE,764.902622703,743,712,674.902622703,663,633,877,784,800,649.902622703,630,651,0.400950532512,0.00445803187667,0.0698192325673,0.999999958032,2.96943302618e-05,-0.000286305604771,3.29238796183e-05,1793196734401355008
+87,1.450000000,BASELINE,765,743,712,674.516491421,663,633,877,784,800.483508579,649.516491421,629.516491421,651,0.400951423521,0.00445871599684,0.0698200685745,0.999999958352,3.01508493474e-05,-0.000285143683728,3.28531284464e-05,1793196734418021632
+88,1.466666667,BASELINE,764.93730691,743,712,674,663,633,877,784,801,649,629.06269309,651,0.400952052133,0.00445964788719,0.0698208797299,0.999999958579,3.08820011877e-05,-0.000284288656667,3.26837701987e-05,1793196734434688256
+89,1.483333333,BASELINE,764.360865821,743,712,674,663,633,877,784,801,649,629.639134179,651,0.400949930213,0.00445994978259,0.0698195907956,0.999999957678,3.20454600637e-05,-0.00028732305205,3.25845574842e-05,1793196734451354624
+90,1.500000000,BASELINE,764,742.784898807,712,674,662.784898807,633,877,784,801,649.215101193,630,651,0.400949359067,0.00445962879836,0.0698191206103,0.999999957448,3.1328231912e-05,-0.000288211369592,3.2494762675e-05,1793196734468021248
+91,1.516666667,BASELINE,764,742.209725438,712,674,662.209725438,633,877,784,801,649.790274562,630,651,0.400951383866,0.00445826513453,0.0698200209835,0.99999995834,2.74627966852e-05,-0.000285507224555,3.24207331329e-05,1793196734484687872
+92,1.533333333,BASELINE,764,742.373447247,712,673.626552753,662.373447247,633,877,784,801,649.626552753,630,651,0.400951382331,0.00445866935554,0.0698200845808,0.999999958459,2.88246232848e-05,-0.000284950989907,3.24519423395e-05,1793196734501354752
+93,1.550000000,BASELINE,764,742.961210682,712,673.038789318,662.961210682,633,877,784,801,649.038789318,630,651,0.400950217913,0.00446008814097,0.0698196679641,0.999999958128,3.31863024936e-05,-0.000285627410946,3.25435465954e-05,1793196734518021376
+94,1.566666667,BASELINE,764,743,711.456676538,673.543323462,663,633,877,784,801,649.543323462,629.456676538,651,0.400952003793,0.00446087090109,0.0698204104628,0.999999958643,3.30901106026e-05,-0.000283866901544,3.22341729937e-05,1793196734534688256
+95,1.583333333,BASELINE,764,743,711.123707427,674,663,633,877,784,801,650,629,651,0.400953254312,0.00446126286472,0.0698209089028,0.999999958998,3.26567912885e-05,-0.000282689644124,3.19911739685e-05,1793196734551355136
+96,1.600000000,BASELINE,764,743,711.699235586,674,663,633,877,784,801,650,629,651,0.400951788144,0.0044603916461,0.0698202168312,0.999999958563,3.21425948095e-05,-0.000284271505381,3.20940756312e-05,1793196734568021760
+97,1.616666667,BASELINE,764,743,711.724993745,674,663,633,877,784,800.724993745,650,629.275006255,650.724993745,0.400951261749,0.00445987421779,0.0698198428902,0.999999958353,3.12471030709e-05,-0.000285105716934,3.2115688699e-05,1793196734584688128
+98,1.633333333,BASELINE,764,743,711.148957652,674,663,633,877,784,800.148957652,650,629.851042348,650.148957652,0.400951764055,0.00445974405869,0.0698198171844,0.999999958391,2.99342344911e-05,-0.000285121529298,3.20483209022e-05,1793196734601354496
+99,1.650000000,BASELINE,764.438960011,743,711.438960011,673.561039989,663,633,877,784,800.438960011,649.561039989,630,650.438960011,0.400951259355,0.0044598007372,0.0698195104622,0.99999995825,2.94055814613e-05,-0.000285687377708,3.18997821691e-05,1793196734618020864
+100,1.666666667,BASELINE,764.969829935,743,711.969829935,673.030170065,662.969829935,633,877,783.969829935,800.969829935,649.030170065,630,651,0.400950454131,0.00445994721211,0.069819129183,0.999999958059,2.92252858303e-05,-0.000286389670599,3.17485938241e-05,1793196734634687488
+101,1.683333333,BASELINE,764.394022944,743,711.394022944,673.605977056,662.394022944,633,877,783.394022944,800.394022944,649.605977056,630,651,0.400950565878,0.00446053914149,0.0698191721259,0.9999999581,3.03984350931e-05,-0.000286090057896,3.20615018476e-05,1793196734651354112
+102,1.700000000,BASELINE,764,743,711.181388742,674,662,633.181388742,877,783.181388742,800,649.818611258,630,651,0.400951127987,0.0044606296965,0.069819738702,0.999999958349,3.10887793664e-05,-0.000285112435732,3.23513850319e-05,1793196734668020992
+103,1.716666667,BASELINE,764,743,711.755943513,674,662,633.755943513,877,783.755943513,800,649.244056487,630,651,0.40095266627,0.00445963350612,0.0698214402698,0.999999959047,3.0732627884e-05,-0.000282665205931,3.25913610835e-05,1793196734684687872
+104,1.733333333,BASELINE,764.340234723,742.659765277,712,674,662.340234723,633.659765277,877,784,800,649,630,651,0.400952341345,0.00445935136677,0.0698213405722,0.999999959036,3.03255918814e-05,-0.000282765894889,3.24440319997e-05,1793196734701354752
+105,1.750000000,BASELINE,764.931715869,742.068284131,712,674,662.931715869,633.068284131,877,784,800,649,630,651,0.400950640532,0.00445959651849,0.0698199107298,0.9999999585,2.98809801539e-05,-0.00028474809488,3.20106973605e-05,1793196734718021376
+106,1.766666667,BASELINE,765,742.51218505,712,674,663,633,877,784,800,649,630,651,0.400950990376,0.0044592588486,0.0698202153768,0.999999958571,2.95101517439e-05,-0.000284549993681,3.19257939926e-05,1793196734734688000
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,711,673,662,633,878,784,801,650,629,651,0.400952437652,0.00445844108345,0.0698204928832,0.999999958881,2.99696577594e-05,-0.000283385253798,3.21188425026e-05,1793196734777772032
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,743,711,673.575243387,662,633,877.424756613,783.424756613,800.424756613,649.424756613,629,650.424756613,0.400951362267,0.00445893254942,0.0698201835927,0.999999958654,2.9230269201e-05,-0.000284294277724,3.18542762113e-05,1793196734794438656
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.155030954,743,711,674,662.155030954,633,877,783.155030954,800.155030954,649,629.155030954,650.155030954,0.40095097562,0.00445933507953,0.0698200346876,0.999999958549,2.89386933243e-05,-0.00028471145357,3.16800387354e-05,1793196734811105536
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.74764484,743,711,674,662.74764484,633,877,783.74764484,800.74764484,649,629.74764484,650.74764484,0.400952532969,0.00445948658363,0.0698203384786,0.999999958794,2.99110918662e-05,-0.000283740362829,3.17607589786e-05,1793196734827772160
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.668556939,743,711.331443061,674,662.668556939,633.331443061,877,783.668556939,801,649,629.668556939,651,0.400952992268,0.00445905771939,0.0698204981096,0.999999958895,2.96948519197e-05,-0.000283394619335,3.18633083511e-05,1793196734844438528
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.09129695,743,711.90870305,674,662.09129695,633.90870305,877,783.09129695,801,649,629.09129695,651,0.40095263719,0.00445819842114,0.0698205508234,0.99999995889,2.85970503526e-05,-0.0002835126688,3.1982047436e-05,1793196734861104640
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,743,712,674,662,634,877.965464013,783.482732006,801,649.482732006,629,651,0.400952724211,0.0044587678359,0.0698205834133,0.999999958757,3.03199224839e-05,-0.000283794876168,3.20608376011e-05,1793196734877771264
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,743,712,674,662.057687661,633.942312339,878.884624678,784,800.942312339,650,629,651,0.400953538482,0.00445946204492,0.0698209580223,0.999999958757,3.21059730383e-05,-0.000283588565075,3.21508514021e-05,1793196734894437632
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,743,712,674,662.64677124,633.35322876,877.70645752,784,800.35322876,650,629,651,0.400960286795,0.00445883332639,0.0698245180022,0.999999960228,2.95926347286e-05,-0.000278598128997,3.24133871678e-05,1793196734911104256
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.232434754,743,712,674,663,633,877,784,800,650,629,651,0.400973828823,0.00445829638728,0.0698310016067,0.999999963071,2.82715233289e-05,-0.000268330119719,3.25309819317e-05,1793196734927771136
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.812976145,743,712,674,663,633,877,784,800,650,629,651,0.400997545476,0.00445789690196,0.0698418637863,0.999999967772,2.87359545138e-05,-0.000250158136816,3.24315053206e-05,1793196734944437760
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.610491802,743,711.610491802,674,663,633,877,784,800,649.610491802,629,651,0.401039200813,0.004458515757,0.0698590987147,0.999999974533,2.99127264113e-05,-0.00022133391124,3.24188968384e-05,1793196734961104896
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.035865182,743,711.035865182,674,663,633,877,784,800,649.035865182,629,651,0.401089381725,0.00445961859041,0.0698793623691,0.999999981412,3.14280467519e-05,-0.000187447078369,3.24475734347e-05,1793196734977772032
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,743,711.535924861,674,663,633,877,784,800.535924861,649,629,651,0.401148484571,0.00445834473179,0.0698922934412,0.999999984038,2.76579254188e-05,-0.000173562636844,3.21656444209e-05,1793196734994438400
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,743,711.888001008,673.888001008,663,633,877,783.888001008,801,649,629,651,0.401210963146,0.00445743609289,0.0699030952605,0.999999986128,2.43747458753e-05,-0.000161721078016,3.15683437191e-05,1793196735011104768
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,743,711.292621881,673.292621881,663,633,877,783.292621881,801,649,629,651,0.401285447791,0.0044587865655,0.0699068140982,0.999999987557,2.47117350315e-05,-0.000152949566557,2.96991600866e-05,1793196735027771392
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.294601195,743,711.294601195,673.294601195,662.705398805,633,877.294601195,783.294601195,800.705398805,649.294601195,629.294601195,651,0.401366981531,0.00445991162009,0.0699071890477,0.999999987775,2.41986712999e-05,-0.000152019343219,2.74545280391e-05,1793196735044438016
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.873941224,743,711.873941224,673.873941224,662.126058776,633,877.873941224,783.873941224,800.126058776,649.873941224,629.873941224,651,0.401455328381,0.00446081880292,0.0699043320522,0.999999986842,2.28640118709e-05,-0.000158667905824,2.48470165715e-05,1793196735061104640
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.550733233,743,712,674,662.449266767,633,877.550733233,783.550733233,800,650,629.550733233,651,0.401564649697,0.00446021674577,0.0699027946602,0.99999998637,1.80121316061e-05,-0.000162671543023,2.17671155098e-05,1793196735077771264
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,743,712,674.024021204,662.975978796,633,877,783.048042408,800,649.975978796,629,651,0.401681121112,0.0044593442886,0.0699018177407,0.999999986029,1.23587141064e-05,-0.00016566906331,1.85100324324e-05,1793196735094437888
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,743,712,674.611569113,662.388430887,633,877,784.223138225,800,649.388430887,629,651,0.401828489792,0.00446197490088,0.069905379939,0.999999986667,1.08485250545e-05,-0.000162319466494,1.41782859621e-05,1793196735111105280
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,743,712,674.802577646,662.197422354,633,877.197422354,784.802577646,800,649.197422354,629.197422354,650.802577646,0.401991180241,0.00446370783497,0.0699090833769,0.999999987639,8.08655311507e-06,-0.000156728082633,9.59087884975e-06,1793196735127772672
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,743,712,674.220030373,662.779969627,633,877.779969627,784.220030373,800,649.779969627,629.779969627,650.220030373,0.402183759867,0.00446368960823,0.0699130623397,0.999999989216,2.88264520355e-06,-0.000146763496039,4.50473802267e-06,1793196735144439040
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,743,712,673.642853407,663,633,877.642853407,784,800.357146593,649.642853407,630,650.357146593,0.402392629108,0.00446469928951,0.069916263161,0.999999990332,-3.19819306298e-06,-0.000139010733674,-1.12960108444e-06,1793196735161105408
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,743,712,673.068935904,663,633,877.068935904,784,800.931064096,649.068935904,630,650.931064096,0.402611385385,0.00446633286181,0.069918991688,0.999999991135,-9.81128663542e-06,-0.000132600441916,-7.09667083146e-06,1793196735177771520
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,743,712,674.01357179,662.493214105,633,877,784,800.493214105,649.506785895,630,651,0.40286690278,0.00446679220767,0.0699233785903,0.999999992078,-1.67456114773e-05,-0.00012406250264,-1.31090821866e-05,1793196735194438144
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,743,712,674.91495214,662.08504786,633,877,784,800.08504786,649.91495214,630,651,0.403133235852,0.00446735426278,0.0699284983408,0.999999993027,-2.33105646547e-05,-0.000114172107928,-1.91445195152e-05,1793196735211104512
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,743,712,674.323018523,662.676981477,633,877,784,800.676981477,649.323018523,630,651,0.403434121302,0.00446948382889,0.069936636601,0.999999994507,-2.74127062408e-05,-9.79521437598e-05,-2.52803038894e-05,1793196735227771136
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743,711.738226007,674.261773993,663,633,877,784,801,649,629.738226007,651,0.40375689079,0.00447157347285,0.0699439518205,0.999999995475,-2.88355069231e-05,-8.52548805866e-05,-3.08157484347e-05,1793196735244438016
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,743,711.162011353,674.837988647,663,633,877,784,801,649,629.162011353,651,0.404105947179,0.00447361516253,0.0699502784101,0.999999996051,-2.70399062105e-05,-7.67890564226e-05,-3.56300695996e-05,1793196735261104640
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,743,711,674.585939503,662.585939503,633,877,784,801,649,629,651,0.40447387968,0.00448002680579,0.0699550667783,0.999999996703,2.54369208886e-05,-7.20985011668e-05,-2.73620039674e-05,1793196735277771264
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,743,711,674.009923522,662.009923522,633,877,784,801,649,629,651,0.404849195369,0.00448814771119,0.0699592534869,0.999999992754,9.77371857288e-05,-6.88846031905e-05,-1.3976897709e-05,1793196735294438144
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.564330878,743,711.564330878,674,662.564330878,633,877,784,801,649,629,651,0.405274136145,0.00449083359044,0.069963916929,0.999999993538,9.67641356559e-05,-5.61793982127e-05,-2.00995091892e-05,1793196735311104768
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.856458121,743,711.856458121,674.143541879,663,633,877,783.856458121,801,649.143541879,629,651,0.405703780552,0.00449399186005,0.0699660464656,0.999999995715,7.43931906795e-05,-4.90660636167e-05,-2.50492441875e-05,1793196735327771392
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.261564649,743,711.261564649,674.738435351,663,633,877,783.261564649,801,649.738435351,629,651,0.406145479556,0.00449893509103,0.0699601821377,0.999999997815,-1.12221954561e-05,-6.00589181218e-05,-2.52357178558e-05,1793196735344438272
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,743,711.32252549,675,663,633,877.32252549,783.32252549,801,650,629,651,0.4066122211,0.00450525357876,0.069944858119,0.999999995731,-2.71533220772e-05,-8.42195907602e-05,-2.66206189883e-05,1793196735361104896
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,743,711.898138265,675,663,633,877.898138265,783.898138265,801,650,629,651,0.40709861369,0.00451265123752,0.0699221110356,0.999999992467,1.15971116655e-05,-0.00011871311414,-2.89459319185e-05,1793196735377771520
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,743,712,674.526953597,663,633,878,784,801,650,629,651,0.407644373993,0.00451469894608,0.0699183035263,0.999999991912,3.35968115424e-05,-0.000118798285986,-3.05793165666e-05,1793196735394437888
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743,712,674,663,633,878,784,800.951170195,650,629,651,0.408206624403,0.00451526114416,0.0699199408282,0.999999992236,5.0149074155e-05,-0.000109499940481,-3.19749384373e-05,1793196735411104768
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,712,674,663,633,878,784,800.364067858,650,629,651,0.408809941848,0.00451212815553,0.0699367088216,0.999999995334,4.63538018255e-05,-7.83163134966e-05,-3.23895796151e-05,1793196735427771648
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,712,674.22146762,663,633,878,784,800,650,629.22146762,651,0.409422603964,0.00451068509938,0.0699461282636,0.999999996922,4.06528757862e-05,-5.85887219225e-05,-3.2732391453e-05,1793196735444438528
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,712,674.804445418,663,633,878,784,800,650,629.804445418,651,0.410050519713,0.00451200058573,0.0699435523793,0.999999997293,3.18412776247e-05,-5.75612629127e-05,-3.29579534911e-05,1793196735461105152
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.617775979,711.617775979,674.617775979,663,633,878,784,800,649.617775979,630,651,0.410705225911,0.00451854716473,0.0699398294702,0.999999996416,4.19721823833e-05,-6.52442186329e-05,-3.39162978484e-05,1793196735477771776
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.042621725,711.042621725,674.042621725,663,633,878,784,800,649.042621725,630,651,0.411373454757,0.0045277341741,0.0699355275925,0.999999994488,6.1664447542e-05,-7.73238167988e-05,-3.52445191588e-05,1793196735494438144
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.530125632,711.530125632,674,663,633,878,784,800.530125632,649,629.469874368,651,0.412099552616,0.00453547581868,0.0699558625661,0.999999996208,6.93659830088e-05,-3.9556950618e-05,-3.47627207183e-05,1793196735511104768
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,712,674.105849989,663,633,878,784,800.894150011,649.105849989,629,651,0.41283364738,0.0045429923354,0.0699788186226,0.999999996537,7.56456080944e-05,7.66875780447e-07,-3.46752048859e-05,1793196735527771136
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,743,712,674.69607872,663,633,878,784,800.30392128,649.69607872,629,651,0.413583141855,0.00455000801187,0.0700047456975,0.999999995532,7.98100661775e-05,3.45352308899e-05,-3.70548829303e-05,1793196735544438016
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,743,712,675,663,633,878.279406623,784,800,649.720593377,629.279406623,651,0.414321395304,0.00455748760923,0.0700054606438,0.999999995108,8.69501714024e-05,2.71590789352e-05,-3.85558909113e-05,1793196735561104896
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,712,675,663,633,878.855409226,784,800,649.144590774,629.855409226,651,0.415047716263,0.00456545966919,0.0699794123909,0.999999994221,9.72489887908e-05,-2.38928245905e-05,-3.91241724751e-05,1793196735577771520
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743.434244657,711.565755343,675,663,633,878.565755343,784,800,649.434244657,629.565755343,651,0.415812124524,0.00457381740343,0.0699333370046,0.999999988877,0.000105314373167,-9.70287615103e-05,-4.17199244053e-05,1793196735594438144
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743.986117066,711,674.986117066,663.013882934,633,878.013882934,784,800.013882934,649.986117066,629,651,0.416591146961,0.0045822263011,0.0698824564313,0.999999977435,0.000112413223225,-0.000174565694819,-4.49546861312e-05,1793196735611104768
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743.412388987,711,674.412388987,663.587611013,633,878.587611013,784,800.587611013,649.412388987,629,651,0.417444732055,0.00458748582627,0.0699084797139,0.999999984193,0.000110721691989,-0.00013109918127,-4.65557935514e-05,1793196735627771136
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.167232981,743,711,674.167232981,664,633.167232981,878.832767019,784,800.832767019,649.167232981,629.167232981,651,0.418299739551,0.00459270988999,0.0699362262789,0.999999988748,0.000113044460545,-8.66044458246e-05,-4.71727376534e-05,1793196735644437760
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.761919926,743,711,674.761919926,664,633.761919926,878.238080074,784,800.238080074,649.761919926,629.761919926,651,0.419158382712,0.00459784331255,0.0699683776187,0.999999990305,0.000125627934938,-3.94815384515e-05,-4.52741222955e-05,1793196735661104384
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.654553371,743,711.345446629,675,663.654553371,633.654553371,878.345446629,784,800.345446629,650,630,651,0.420040800827,0.00460241212359,0.069993944556,0.999999990323,0.000131660299845,-1.45192293526e-07,-4.49394032892e-05,1793196735677771008
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.078477562,743,711.921522438,675,663.078477562,633.078477562,878.921522438,784,800.921522438,650,630,651,0.420939091689,0.00460660398504,0.0700151155731,0.999999989493,0.000133318972687,3.39926405703e-05,-4.56487823657e-05,1793196735694437888
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712,675,663.494490982,633,878.505509018,784,801,650,630,651,0.421824209517,0.00461018438143,0.0700113441619,0.99999998915,0.000137834547792,2.38943470066e-05,-4.61652345244e-05,1793196735711104512
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.069446394,743,712,675,664,633,878.069446394,784,801,649.930553606,630,650.930553606,0.422693984775,0.00461245902415,0.0699950080449,0.999999988912,0.000141153362846,-6.62370192111e-06,-4.69803289637e-05,1793196735727771136
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.663098178,743,712,675,664,633,878.663098178,784,801,649.336901822,630,650.336901822,0.423463630659,0.00460560531567,0.0699135223991,0.999999980412,0.000132037559036,-0.000138615336513,-5.02793516647e-05,1793196735744437504
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,711.749487852,675,664,633,878.749487852,784,801,649,630,650.250512148,0.424288027288,0.00458829840546,0.0698608079946,0.999999969265,0.000110431756019,-0.000215713369546,-5.23625196553e-05,1793196735761104384
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,711.170258929,675,664,633,878.170258929,784,801,649,630,650.829741071,0.425184266798,0.00455727502276,0.0698458465967,0.999999971608,7.24368395845e-05,-0.000220781193497,-5.28502699714e-05,1793196735777771008
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.594991306,743.405008694,711.405008694,675.405008694,664,633.405008694,878.405008694,784,800.594991306,649.405008694,630,651,0.426121923283,0.00454675990286,0.0698885157631,0.999999985084,5.44940950402e-05,-0.000155908109421,-5.05477316817e-05,1793196735794437632
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.021372852,743.978627148,711.978627148,675.978627148,664,633.978627148,878.978627148,784,800.021372852,649.978627148,630,651,0.427076822075,0.00454478260956,0.0699551771946,0.999999995967,4.48993012499e-05,-6.19178226795e-05,-4.7083563886e-05,1793196735811104256
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743.433996889,712,675.433996889,664,633.433996889,878.433996889,784,800,650,630,651,0.428011216545,0.00455515980967,0.0699926790989,0.999999996831,6.34046182511e-05,-1.16843414946e-05,-4.67024389799e-05,1793196735827770880
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.151883695,743,712,675,664,633,878.151883695,784,800.151883695,649.848116305,630,650.848116305,0.428940082566,0.00456354583728,0.0700219564228,0.999999995499,7.68216499584e-05,3.03620036332e-05,-4.66770264064e-05,1793196735844437504
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.732046243,743,712,675,664,633,878.732046243,784,800.732046243,649.267953757,630,650.267953757,0.429855597162,0.00456496894202,0.0700312244146,0.999999994766,7.28242516326e-05,5.40976073938e-05,-4.7318191549e-05,1793196735861104384
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743,712,675.310703113,664,633,878.689296887,784,801,649,630,650.310703113,0.430696895095,0.00456992488756,0.0700006468574,0.999999995941,7.60894905038e-05,3.89098943748e-06,-4.80977137864e-05,1793196735877771776
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743,712,675.888067703,664,633,878.111932297,784,801,649,630,650.888067703,0.431474496404,0.00457791289968,0.0699358717894,0.999999989112,8.55878996412e-05,-0.000109776668044,-4.89959807414e-05,1793196735894439424
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.538144836,743,712,675.538144836,663.538144836,633,878.461855164,784,801,649,630,651,0.432281930815,0.00458112437143,0.069890858203,0.99999997794,8.99463141656e-05,-0.000182792468259,-5.11434036125e-05,1793196735911105280
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,712,675,663.035856423,633,878.964143577,784,801.035856423,649,630,650.964143577,0.433103973002,0.00458290378609,0.069857150002,0.999999966755,9.25282074973e-05,-0.000234693540655,-5.33587653182e-05,1793196735927771392
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,712,675,663.626474693,633,878.373525307,784,801.626474693,649,630,650.373525307,0.434041018641,0.00458029940127,0.069924827127,0.999999988707,8.67491840114e-05,-0.000111170808798,-5.19773753167e-05,1793196735944438016
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,711.787066602,675,664,633,878.212933398,784,801.787066602,649.212933398,629.787066602,650,0.434944931938,0.00457741863223,0.0699782836574,0.999999995084,8.33060414831e-05,-1.78008374368e-05,-5.07448231847e-05,1793196735961104640
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,711.207764657,675,664,633,878.792235343,784,801.207764657,649.792235343,629.207764657,650,0.435791838605,0.00457406232213,0.0700072725548,0.999999994963,8.38819654627e-05,2.36889715818e-05,-4.97683590646e-05,1793196735977771008
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,711,675.369119876,663.630880124,633,879,784,801,649.630880124,629.369119876,650.369119876,0.436600203087,0.00456320726176,0.0700098997559,0.999999996201,6.36471332948e-05,3.15537751934e-05,-5.05059726125e-05,1793196735994438144
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,711,675.944652551,663.055347449,633,879,784,801,649.055347449,629.944652551,650.944652551,0.437387014627,0.00454815888085,0.0699977854257,0.99999999792,3.17748718527e-05,2.06153853992e-05,-5.22021029164e-05,1793196736011105024
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,711.530716244,676,663.530716244,633,878.469283756,784,801,649.530716244,630,651,0.438131601265,0.00453972543401,0.0699654413809,0.999999998062,2.50005449441e-05,-1.76105903852e-05,-5.42336654665e-05,1793196736027771648
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711.883717273,676,664,633,878,784,801,650.116282727,629.883717273,650.883717273,0.438854675788,0.00453517583934,0.0699279374235,0.999999995761,2.75421969358e-05,-6.82902393096e-05,-5.52821522138e-05,1793196736044438272
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711.304589824,676,664,633,878,784,801,650.695410176,629.304589824,650.304589824,0.43951000727,0.00454328382973,0.0698784626723,0.999999984714,5.65354780431e-05,-0.000156983272934,-5.22756059181e-05,1793196736061104896
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711.274438494,676,664,633,878,784,801,650.725561506,629.274438494,650,0.440196276328,0.00454846775012,0.069857305458,0.999999978436,5.88278306054e-05,-0.000192238896301,-5.20679709477e-05,1793196736077771264
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711.853356791,676,664,633,878,784,801,650.146643209,629.853356791,650,0.440916869487,0.00455040751772,0.0698675655528,0.999999983846,3.1496445776e-05,-0.000168207598163,-5.49656296312e-05,1793196736094437632
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,712,676,664,633,878.429355946,784,801,650,630,650.429355946,0.441647687716,0.00454776653533,0.0699228673525,0.99999999444,3.16956229588e-05,-8.45592588285e-05,-5.44484436294e-05,1793196736111104512
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,712,676,664,633,878.99554978,784,801,650,630,651,0.442381148424,0.00454362208512,0.0699930313209,0.999999997583,4.12673039617e-05,1.86398178463e-05,-5.27677387077e-05,1793196736127771136
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,712,676,664,633,878.409297187,784,801,650,630,651,0.443006583618,0.00454607810434,0.0700086003213,0.999999996636,5.51728217086e-05,3.37871716954e-05,-5.04228272444e-05,1793196736144438272
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,712,676,664,632.826016152,878,784,801,649.826016152,630,650.826016152,0.443601334503,0.0045494623804,0.0700063119585,0.999999997023,5.50021391305e-05,2.25957223365e-05,-4.91661728642e-05,1793196736161104896
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,712,676,664,632.249608201,878,784,801,649.249608201,630,650.249608201,0.444125112802,0.00455499371217,0.0699627195731,0.999999997255,2.22732513677e-05,-4.9517294368e-05,-5.04266531212e-05,1793196736177771520
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711.670721292,676.329278708,663.670721292,632.329278708,878.329278708,784,801,649.329278708,630,650.329278708,0.444631836645,0.00456054340718,0.0699190159906,0.999999991562,1.8350931008e-05,-0.000117286303148,-5.27562976912e-05,1793196736194438144
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,711.089940999,676.910059001,663.089940999,632.910059001,878.910059001,784,801,649.910059001,630,650.910059001,0.445125534341,0.00456610712762,0.0698752274786,0.99999998126,3.64309381459e-05,-0.000181737373915,-5.59025650296e-05,1793196736211104512
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711.485870508,677,663,633,879,784,801,649.514129492,630,651,0.445604416693,0.00456955521458,0.0698569373404,0.999999976362,5.13829727557e-05,-0.000203462600396,-5.69156091614e-05,1793196736227771136
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,712,677,663,632.937690031,879,784,801.062309969,649.062309969,630,651,0.446077351119,0.00457272508729,0.0698449012193,0.999999972835,6.52212651676e-05,-0.0002162550147,-5.75397287754e-05,1793196736244437760
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,712,677,663,632.348235373,879,784,801.651764627,649.651764627,630,651,0.446522932788,0.00457682093427,0.0698462464707,0.999999971397,7.44862729827e-05,-0.000219709554965,-5.81804773287e-05,1793196736261104384
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,712,677,662.764225934,632,879,784,802,650,630,651,0.446939040282,0.00458050949607,0.0698414310004,0.99999996714,8.47393889488e-05,-0.000235025352883,-5.74582883092e-05,1793196736277771008
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,712,677,662.188077517,632,879,784,802,650,630,651,0.447312597455,0.0045836100818,0.0698277216269,0.999999958083,9.64189826972e-05,-0.000267464610682,-5.47684994513e-05,1793196736294437888
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,712,677,661.611529138,632,878.611529138,784,802,649.611529138,630,651,0.447662179872,0.00459249526566,0.0698081753784,0.999999947494,0.000107692772432,-0.000300340954888,-5.66461518304e-05,1793196736311104768
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+203,3.383333333,POSE1_TO_POSE2_PRESS,764.711178904,743,711.288821096,677.422357808,660.288821096,632,878.288821096,784,801.711178904,650,630,651,0.44894064251,0.00463330021369,0.0698013001928,0.999999947632,8.26153851189e-05,-0.000305029195643,-6.9768649144e-05,1793196736377771264
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+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711,677,659,631.382378946,878.617621054,784,801,649.382378946,630,650.617621054,0.450016892403,0.00463701588555,0.0697815335777,0.999999931869,0.000134661667154,-0.000338911281604,-5.7154944806e-05,1793196736461104640
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711,677,659,631,879,784,801,649,630,651,0.450164438859,0.00463624037368,0.0697695147296,0.999999925763,0.000134500539519,-0.000356371572232,-5.81560289386e-05,1793196736477771264
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+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711.359492187,677,659,631,879,784,801,649.359492187,630,651,0.450402262763,0.0046385515354,0.0697475212748,0.999999911238,0.000135373581497,-0.000394456321545,-6.00129306796e-05,1793196736511104256
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,711.933904306,677,659,631,879,784,801,649.933904306,630,651,0.450500865846,0.00464073859807,0.0697394107038,0.99999990447,0.000137930191246,-0.000410323436705,-6.05813522131e-05,1793196736527770880
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,711.480246139,677,658.480246139,631,878.480246139,783.480246139,801,650,630,651,0.450585135934,0.00464178715839,0.0697364601805,0.999999902194,0.000139309686104,-0.000415303113786,-6.10527847395e-05,1793196736544437760
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742.894242369,711,677,658,631,878,783,801,649.894242369,630,650.894242369,0.450665097113,0.00464251903991,0.0697340093684,0.999999900756,0.000140075877611,-0.00041843456712,-6.14735192147e-05,1793196736561104640
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742.314216133,711,677,658,631,878,783,801,649.314216133,630,650.314216133,0.450734092818,0.00464249465405,0.0697307906197,0.999999900422,0.000138778108665,-0.000419626279819,-6.17234545592e-05,1793196736577771520
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742.264654447,711.264654447,677,658.264654447,631,878,783,801.264654447,649.264654447,630,650.264654447,0.450791480943,0.00464273911965,0.0697269285301,0.999999898739,0.000137382926464,-0.000424037726222,-6.19665293679e-05,1793196736594438400
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+221,3.683333333,POSE1_TO_POSE2_PRESS,764.832653536,743,711,677,658,631,878.167346464,784,801.832653536,650,630,651,0.450936731741,0.00464662625539,0.0697100904249,0.999999888792,0.00013330878264,-0.000448117509409,-6.19321968924e-05,1793196736677771264
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+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743.772746644,711,677,658,631,878.227253356,783,801,650,629,650.772746644,0.450971743805,0.00464805586604,0.0697043860131,0.99999988441,0.000131921862036,-0.000458383672683,-6.05075824125e-05,1793196736794437888
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+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711,677.602719363,658,631,879,783,801.602719363,650,630,650.397280637,0.450977667071,0.00464707567336,0.0697038700634,0.999999885245,0.000127551404737,-0.000457912848393,-5.96291599554e-05,1793196736977771008
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,711,677.228246435,658,631,878.228246435,783,801.228246435,650,630,650,0.450976571174,0.00464945796257,0.0697028483189,0.999999884143,0.00012772852464,-0.000460229562909,-5.9900964372e-05,1793196737011104768
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+256,4.266666667,HOLD_POSE2,764.921706104,742.078293896,711,677.078293896,658,631,878.156587792,783,801,650,630,651,0.450979441805,0.00464514131067,0.069703386849,0.999999885352,0.000123419143669,-0.000458983059706,-5.8298336565e-05,1793196737278313984
+257,4.283333333,HOLD_POSE2,764.342101682,742.657898318,711,677.657898318,658,631,879.315796636,783,801,650,630,651,0.450980424365,0.00464656475727,0.0697032239912,0.999999885047,0.000125998230724,-0.000458936711027,-5.83789413494e-05,1793196737294980608
+258,4.300000000,HOLD_POSE2,764,743,711,677.763865635,657.763865635,631,879.763865635,783.236134365,801.236134365,650,630,650.763865635,0.450980520896,0.00464670235266,0.069703049326,0.999999884972,0.000125981416275,-0.000459092528889,-5.84713575466e-05,1793196737311647488
+259,4.316666667,HOLD_POSE2,764,743,711,677.187600661,657.187600661,631,879.187600661,783.812399339,801.812399339,650,630,650.187600661,0.45097934118,0.0046449877933,0.0697028576533,0.999999885226,0.000122225435721,-0.000459539549726,-5.85807870291e-05,1793196737328314880
+260,4.333333333,HOLD_POSE2,764,743,711.388543263,677,657.388543263,631,878.611456737,783.611456737,801.611456737,650,630,650.388543263,0.450979107973,0.00464433640348,0.0697027598749,0.999999885166,0.000121552456065,-0.000459833843803,-5.87056921531e-05,1793196737344981504
+261,4.350000000,HOLD_POSE2,764,743,711.964628809,677,657.964628809,631,878.035371191,783.035371191,801.035371191,650,630,650.964628809,0.450979331628,0.00464419818478,0.0697027074174,0.999999884957,0.00012236758071,-0.000460054419682,-5.88380670786e-05,1793196737361647360
+262,4.366666667,HOLD_POSE2,764,743,711.448616638,677.551383362,658,631,878,783,801,650,629.448616638,651,0.450980440309,0.0046440588464,0.0697034428175,0.999999885292,0.000122386952874,-0.000459405194088,-5.81666023007e-05,1793196737378313728
+263,4.383333333,HOLD_POSE2,764.136778413,743,711,677.863221587,657.863221587,631,878.136778413,783,801,650,629,651,0.450981285525,0.00464395429761,0.0697040544244,0.999999885632,0.000122182681856,-0.000458765322591,-5.78033554896e-05,1793196737394980352
+264,4.400000000,HOLD_POSE2,764.715525515,743,711,677.284474485,657.284474485,631,878.715525515,783,801,650,629,651,0.450981092339,0.00464396240021,0.0697040994874,0.999999885873,0.000121423961173,-0.000458339531754,-5.86059579908e-05,1793196737411646976
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,677,657,631,879,784,802,650,630,651,0.450980284801,0.00464737756719,0.0697021113883,0.99999988424,0.000124519449228,-0.000461004142102,-5.90738866165e-05,1793196737448727040
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,677,657.571434101,631,879,783.428565899,802,650,630,651,0.450979617574,0.00464671869463,0.0697024225912,0.999999884326,0.00012418484579,-0.000460988375574,-5.84469906008e-05,1793196737465394688
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711,677,658,631,879,783.148844381,801.851155619,649.851155619,630,651,0.450979255711,0.00464617504129,0.069702656217,0.999999884389,0.000123980263659,-0.000460951016127,-5.80963766349e-05,1793196737482062080
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,677,658,631,879,783.744181718,801.255818282,649.255818282,630,651,0.450979809856,0.00464597701436,0.0697026571329,0.999999884385,0.000124165710262,-0.000460848883753,-5.85745340766e-05,1793196737498728192
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,677,658,631,879,783.670241961,801,649.329758039,630,651,0.450981127173,0.00464656385479,0.0697032445691,0.999999884758,0.000125111593836,-0.000459763909629,-5.87227801834e-05,1793196737515394304
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,677,658,631,879,783.092020333,801,649.907979667,630,651,0.450983019519,0.00464774207114,0.0697042739324,0.99999988541,0.000126630445687,-0.00045793839135,-5.86224471667e-05,1793196737532060416
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,677,657.517089177,631,879,783,801.482910823,650,630,651,0.450981626641,0.00464656274876,0.0697038095364,0.999999885323,0.000123706177189,-0.000458960998619,-5.8355121466e-05,1793196737548727040
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.058639325,743,711,677,657,631,878.941360675,783,801.941360675,650,630,650.941360675,0.450979836765,0.00464489847935,0.0697031333814,0.999999885103,0.000120224430546,-0.000460397156214,-5.80854041605e-05,1793196737565393664
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.6472014,743,711,677,657,631,878.3527986,783,801.3527986,650,630,650.3527986,0.450980078189,0.00464288402521,0.0697030984504,0.999999885075,0.000119304162774,-0.000460699200186,-5.80796940326e-05,1793196737582060288
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.767702414,743,711,677,657.232297586,631,878.232297586,783.232297586,801.232297586,650,629.767702414,650.232297586,0.450978889964,0.00464211742558,0.0697024053088,0.99999988468,0.000118378122263,-0.000461776904622,-5.82167773513e-05,1793196737598727424
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.187792668,743,711,677,657.812207332,631,878.812207332,783.812207332,801.812207332,650,629.187792668,650.812207332,0.450975562398,0.00464321812664,0.069700727215,0.999999883733,0.000117443443455,-0.000464015314205,-5.85675380463e-05,1793196737615394560
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.391276442,743,711,677,657.608723558,631,878.608723558,784,801.608723558,650,629.391276442,650.608723558,0.450966110065,0.00464352779653,0.0696957264685,0.999999880155,0.000119005885328,-0.000471278910605,-5.85174420545e-05,1793196737632061184
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.969943006,743,711,677,657.030056994,631,878.030056994,784,801.030056994,650,629.969943006,650.030056994,0.450953724457,0.00464345862585,0.069689134437,0.999999875233,0.000121764248199,-0.000480949169746,-5.82753677959e-05,1793196737648727552
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.458378738,743,711.541621262,676.458378738,657,631,878.541621262,783.458378738,801,650,630,650.541621262,0.450918433893,0.00464586962895,0.0696716752819,0.999999861664,0.000123201685223,-0.000507956787318,-5.89424302912e-05,1793196737665393920
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,712,676.23394789,657,631,878.883026055,783,801,650,630,651,0.450879202073,0.00464807801002,0.0696534652644,0.99999984649,0.000124986881712,-0.00053653576571,-5.93944027326e-05,1793196737682060544
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,712,677.417594379,657,631,878.29120281,783,801,650,630,651,0.450829065163,0.00464891225039,0.0696346240834,0.999999828913,0.00012847757273,-0.000567637653343,-5.87710307144e-05,1793196737698727168
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711.705802146,677.705802146,657.294197854,631,878,783,801,650,629.705802146,651,0.450774083593,0.00464936009272,0.0696194723328,0.999999816067,0.000128743440151,-0.000589805513469,-5.8481833022e-05,1793196737715394048
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,711.126622895,677.126622895,657.873377105,631,878,783,801,650,629.126622895,651,0.450714409136,0.00464943364181,0.0696078944335,0.999999808367,0.000125885509211,-0.000603319224482,-5.85163409099e-05,1793196737732060672
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,711.450091351,677,658,631,878.450091351,783,801,650,629.450091351,651,0.450650775507,0.00464882119472,0.0696045411232,0.999999805201,0.00012823442924,-0.00060817888231,-5.7205274739e-05,1793196737748727296
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,711.973409368,677,658,631,878.973409368,783,801,650,630,651,0.450585616132,0.00464810389822,0.069603761836,0.999999803577,0.000132039896064,-0.000610187350819,-5.55148741504e-05,1793196737765394176
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,711.386913767,677,658,631,878.386913767,783,801,650,630,651,0.45051165531,0.00464922038305,0.0696087273082,0.999999807437,0.000135838988038,-0.000603145102458,-5.37644651985e-05,1793196737782061056
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.197259373,743,711,677.197259373,658,631,878.197259373,783,801,650,629.802740627,651,0.450430897665,0.00464941866985,0.0696146451698,0.999999812129,0.000138466111551,-0.000594892341788,-5.17030155641e-05,1793196737798727680
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.776930071,743,711,677.776930071,658,631,878.776930071,783,801,650,629.223069929,651,0.450336963558,0.00464783691779,0.0696224093538,0.999999818463,0.000138821230984,-0.000584292856368,-4.90385758778e-05,1793196737815394048
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.644752351,743,711,677.644752351,658,631,878.644752351,783.355247649,801,650,629.355247649,651,0.450224005378,0.00464754576237,0.0696268664374,0.999999820663,0.000142080036497,-0.000579971890677,-4.60458313137e-05,1793196737832060416
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.067281156,743,711,677.067281156,658,631,878.067281156,783.932718844,801,650,629.932718844,651,0.450099146765,0.00464806193363,0.0696292547803,0.999999820299,0.000147155229633,-0.000579578423349,-4.28477168717e-05,1793196737848727040
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,711.506990697,677.506990697,658,631,878.506990697,783.493009303,801.506990697,650,629.493009303,650.493009303,0.449961207733,0.00464622182289,0.0696323582401,0.999999823019,0.000148048379674,-0.0005748703113,-3.96006983818e-05,1793196737865393920
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.083138215,743,711.916861785,677.916861785,658.083138215,631,878.916861785,783,801.916861785,650,629.083138215,650,0.449818983395,0.0046444335976,0.0696360635628,0.99999982655,0.000148954810025,-0.000568677593326,-3.63084806175e-05,1793196737882060800
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.67329783,743,711.32670217,677.32670217,658.67329783,631,878.32670217,783,801.32670217,650,629.67329783,650,0.449661144737,0.00464485681897,0.0696428642414,0.999999832642,0.00015330560814,-0.000556900971424,-3.27799427838e-05,1793196737898727680
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.741140196,743,711,677,658.741140196,631,878,783,801,650,629.741140196,650.258859804,0.44948565593,0.00464491833732,0.0696500529279,0.999999837497,0.000158073727452,-0.00054698573274,-2.87285730919e-05,1793196737915394304
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.161279593,743,711,677,658.161279593,631,878,783,801,650,629.161279593,650.838720407,0.449288279949,0.00464453132342,0.0696577227659,0.999999840903,0.000163359348409,-0.000539378715298,-2.4028862535e-05,1793196737932060928
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,743,711,677,658.415013486,631,878.415013486,783,801,650,629.415013486,651,0.449065805082,0.00464428797465,0.069664842033,0.999999843777,0.000169493785807,-0.000532324811165,-1.86348475482e-05,1793196737948727552
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,743,711,677,658.989931982,631,878.989931982,783,801,650,629.989931982,651,0.448833659599,0.00464409998017,0.0696717491647,0.999999846369,0.000175955272688,-0.000525484022145,-1.29733166463e-05,1793196737965394176
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,743,711,677,659,631,879,783.563473869,801,649.436526131,630,651,0.448569553488,0.00464210079669,0.069670293328,0.999999842943,0.000183252393711,-0.000529610746967,-6.74191734548e-06,1793196737982060800
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,743,711,677,659,631.141511274,879,783.858488726,801,649,630,650.858488726,0.448299292564,0.00464028878976,0.0696691246584,0.99999984032,0.000190876688378,-0.000531908267256,-5.9164152353e-07,1793196737998727424
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,743,711,677,660,632,879,784,801,650,630,650.636729781,0.44629020957,0.00459236775752,0.0696874560325,0.99999986781,0.000172936391709,-0.000483677560622,2.29892651848e-05,1793196738098727936
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,662.062765781,632.937234219,877,784,800.937234219,650,630,650.062765781,0.412964866579,0.00441095198888,0.0697709064882,0.999999930542,-1.48719922261e-05,-0.00036964454751,4.53562056709e-05,1793196738915393792
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,662,633,877,784,800.128570202,649.128570202,630,651,0.401077763802,0.00448409916786,0.0697962888436,0.999999944875,6.24319678753e-05,-0.000325005977054,2.69078053255e-05,1793196739548727296
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,743,711.135105342,674,662,633,877,784,800.135105342,649.135105342,630,651,0.401000268906,0.00446542354714,0.0698007661139,0.999999948859,3.85830853901e-05,-0.000315852884833,3.21081012611e-05,1793196739598727168
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,743,711.439026283,674,662.439026283,633,877,784,800,649.439026283,630,651,0.400987134747,0.00446453444458,0.0698031025516,0.999999950032,3.81522037711e-05,-0.000312132414665,3.24742858026e-05,1793196739615393792
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,743,711.670809731,674,662.670809731,633.670809731,877,784,801,649.329190269,630,651,0.400948904062,0.0044598560228,0.0698131255258,0.999999954901,3.00932299417e-05,-0.000296963396596,3.32346881327e-05,1793196739765393920
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+411,6.850000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,662,633,877,784,800.26056446,649.73943554,629.73943554,651,0.400950369472,0.00446021139819,0.0698163848666,0.999999955965,3.1230792557e-05,-0.000293267537301,3.29866817703e-05,1793196739882060288
+412,6.866666667,POSE2_TO_POSE3_RETREAT,764.317017335,743,711.317017335,674.317017335,662.317017335,633,877.317017335,784,800.317017335,650,629.682982665,651,0.400950806879,0.00445912222311,0.0698168788829,0.999999956288,2.99044765228e-05,-0.000292299813714,3.30104813117e-05,1793196739898726912
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+414,6.900000000,POSE2_TO_POSE3_RETREAT,764.531915371,743,711.531915371,674.531915371,662.531915371,633.468084629,877.531915371,784,801,649.531915371,629,650.531915371,0.400952583518,0.00445838519818,0.0698183326639,0.99999995717,3.01971038157e-05,-0.000289241244373,3.29735493745e-05,1793196739932060160
+415,6.916666667,POSE2_TO_POSE3_RETREAT,764,743,711.044120394,674,662.044120394,633.955879606,877,784,801,649,629.044120394,650.044120394,0.400953034771,0.00445941116322,0.0698191580898,0.999999957345,3.22469779303e-05,-0.000288421172396,3.29119954181e-05,1793196739948727040
+416,6.933333333,POSE2_TO_POSE3_RETREAT,764,743,711.63464008,674,662.63464008,633.36535992,877,784,801,649,629.63464008,650.63464008,0.400953160523,0.00446027979092,0.0698195160461,0.99999995745,3.22074447316e-05,-0.00028806120846,3.29185228458e-05,1793196739965393664
+417,6.950000000,POSE2_TO_POSE3_RETREAT,764,742.78028172,712,674,662.78028172,633,877,784,801,649,630,651,0.400952601947,0.0044598366599,0.0698193221089,0.999999957357,3.14426728241e-05,-0.000288451331882,3.30736901623e-05,1793196739982060288
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+419,6.983333333,POSE2_TO_POSE3_RETREAT,764.371630194,742.371630194,712,674,662,633,877,784,801,649.371630194,630,651,0.400950215344,0.00445807540537,0.0698177342534,0.999999956837,2.97522552027e-05,-0.000290408151905,3.32311294994e-05,1793196740015393536
+420,7.000000000,POSE2_TO_POSE3_RETREAT,764.946972736,742.946972736,712,674,662,633,877,784,801,649.946972736,630,651,0.400950019291,0.004460739767,0.069817559893,0.99999995691,3.12054202106e-05,-0.000290068276486,3.26439724406e-05,1793196740032060160
+421,7.016666667,POSE2_TO_POSE3_RETREAT,764.464512015,743,712,674,662,633,877,784,801,650,629.464512015,651,0.400950458871,0.00446085791192,0.0698177589498,0.999999956857,3.23830208604e-05,-0.000290092968194,3.29068324447e-05,1793196740048728064
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0acf0c0f259afae17737b2ce0f6e63a379594a68
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_04/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
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+2,0.033333333,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
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+372,6.200000000,pose2_to_pose3_retreat,0.581211984237,0.0100013327193,1.06001156296,0.551783218885,0.0186749981152,1.05966110223
+373,6.216666667,pose2_to_pose3_retreat,0.58092431243,0.0100012075406,1.06001163558,0.551495548778,0.0186748787328,1.05966117563
+374,6.233333333,pose2_to_pose3_retreat,0.580649517778,0.010001236009,1.06001155961,0.551220753597,0.0186749052118,1.05966109448
+375,6.250000000,pose2_to_pose3_retreat,0.580388562972,0.0100012792685,1.0600116124,0.550959797727,0.0186749452492,1.05966115684
+376,6.266666667,pose2_to_pose3_retreat,0.580147936515,0.0100013392749,1.0600117443,0.550719169447,0.0186749987642,1.05966128154
+377,6.283333333,pose2_to_pose3_retreat,0.579925871881,0.0100013408091,1.06001185624,0.55049710446,0.0186749989472,1.05966138961
+378,6.300000000,pose2_to_pose3_retreat,0.579721807023,0.0100013224278,1.06001186547,0.550293041082,0.018674985548,1.05966139792
+379,6.316666667,pose2_to_pose3_retreat,0.579535690079,0.0100013065663,1.06001173703,0.550106925891,0.0186749756583,1.05966127023
+380,6.333333333,pose2_to_pose3_retreat,0.579369051799,0.0100012660123,1.06001155532,0.549940287669,0.0186749355501,1.05966109463
+381,6.350000000,pose2_to_pose3_retreat,0.579216427069,0.0100012590837,1.06001177126,0.549787661909,0.0186749249656,1.05966130635
+382,6.366666667,pose2_to_pose3_retreat,0.579077659183,0.0100014160489,1.06001179155,0.549648891738,0.0186750742032,1.05966132737
+383,6.383333333,pose2_to_pose3_retreat,0.578954340322,0.0100013965388,1.06001187831,0.549525573168,0.018675055582,1.05966141185
+384,6.400000000,pose2_to_pose3_retreat,0.578843722193,0.0100013453409,1.06001173285,0.549414956625,0.0186750098711,1.05966126897
+385,6.416666667,pose2_to_pose3_retreat,0.578744721386,0.0100013548736,1.06001157338,0.549315956101,0.0186750204511,1.05966111396
+386,6.433333333,pose2_to_pose3_retreat,0.578658021971,0.0100013830767,1.06001165749,0.549229255459,0.0186750442611,1.05966119561
+387,6.450000000,pose2_to_pose3_retreat,0.57858420549,0.0100012733103,1.0600117001,0.549155440736,0.0186749401327,1.05966122527
+388,6.466666667,pose2_to_pose3_retreat,0.57852023159,0.0100011828537,1.06001177306,0.54909146691,0.0186748502774,1.05966130671
+389,6.483333333,pose2_to_pose3_retreat,0.578465606639,0.0100012722475,1.06001160417,0.549036841544,0.0186749385096,1.05966114388
+390,6.500000000,pose2_to_pose3_retreat,0.578420645965,0.0100013121887,1.06001160624,0.548991881499,0.0186749804609,1.05966114277
+391,6.516666667,pose2_to_pose3_retreat,0.578382961839,0.0100012716001,1.060011623,0.548954197953,0.018674941534,1.05966115195
+392,6.533333333,pose2_to_pose3_retreat,0.578351773224,0.0100011975518,1.06001150764,0.548923008784,0.0186748654095,1.05966103178
+393,6.550000000,pose2_to_pose3_retreat,0.578326804318,0.0100012312847,1.06001165442,0.548898039093,0.018674896771,1.05966118575
+394,6.566666667,pose2_to_pose3_retreat,0.578307845255,0.01000127495,1.06001180911,0.548879080936,0.0186749438008,1.05966134758
+395,6.583333333,pose2_to_pose3_retreat,0.578293271518,0.010001342557,1.06001175497,0.548864506423,0.0186750089835,1.05966129866
+396,6.600000000,pose2_to_pose3_retreat,0.578282276448,0.0100014272059,1.06001151701,0.54885350887,0.0186750853403,1.05966106403
+397,6.616666667,pose2_to_pose3_retreat,0.578274155411,0.0100013127403,1.06001155675,0.548845389099,0.0186749746639,1.05966109111
+398,6.633333333,pose2_to_pose3_retreat,0.578267763756,0.01000124594,1.06001163869,0.548838998087,0.0186749097297,1.05966116532
+399,6.650000000,pose2_to_pose3_retreat,0.578262970047,0.0100012561798,1.06001177591,0.548834203902,0.0186749183451,1.05966130234
+400,6.666666667,pose2_to_pose3_retreat,0.578259672439,0.0100013207287,1.06001181531,0.548830905901,0.018674981622,1.0596613433
+401,6.683333333,pose2_to_pose3_retreat,0.578257741666,0.0100013854364,1.06001181264,0.548828974867,0.0186750455126,1.05966134234
+402,6.700000000,pose2_to_pose3_retreat,0.578256698099,0.0100014204104,1.0600118112,0.548827931158,0.018675080045,1.05966134183
+403,6.716666667,pose2_to_pose3_retreat,0.578256241793,0.0100014008764,1.06001179253,0.548827475008,0.0186750610685,1.05966132386
+404,6.733333333,pose2_to_pose3_retreat,0.578256181453,0.0100013968394,1.06001178931,0.548827414699,0.0186750571365,1.05966132075
+405,6.750000000,pose2_to_pose3_retreat,0.578256074052,0.0100013896537,1.06001178358,0.548827307351,0.0186750501379,1.0596613152
+406,6.766666667,pose2_to_pose3_retreat,0.578255747821,0.0100013678272,1.06001176616,0.54882698128,0.0186750288793,1.05966129835
+407,6.783333333,pose2_to_pose3_retreat,0.578255347036,0.0100013410125,1.06001174476,0.548826580692,0.0186750027625,1.05966127765
+408,6.800000000,pose2_to_pose3_retreat,0.578254974346,0.0100013160777,1.06001172486,0.548826208186,0.0186749784765,1.05966125841
+409,6.816666667,pose2_to_pose3_retreat,0.578254726838,0.0100012995181,1.06001171165,0.548825960799,0.0186749623479,1.05966124563
+410,6.833333333,pose2_to_pose3_retreat,0.578254636002,0.0100012934407,1.0600117068,0.548825870009,0.0186749564287,1.05966124094
+411,6.850000000,pose2_to_pose3_retreat,0.578254612671,0.0100012918797,1.06001170555,0.548825846689,0.0186749549083,1.05966123973
+412,6.866666667,pose2_to_pose3_retreat,0.578254441466,0.0100012804252,1.06001169641,0.548825675568,0.0186749437519,1.05966123089
+413,6.883333333,pose2_to_pose3_retreat,0.57825409862,0.0100012574871,1.06001167811,0.548825332891,0.0186749214107,1.05966121318
+414,6.900000000,pose2_to_pose3_retreat,0.578253684869,0.0100012353706,1.06001164283,0.548824919562,0.0186749008034,1.05966117985
+415,6.916666667,pose2_to_pose3_retreat,0.578253437112,0.0100012274462,1.0600116091,0.548824672266,0.0186748945367,1.05966114844
+416,6.933333333,pose2_to_pose3_retreat,0.57825329297,0.0100012228359,1.06001158948,0.548824528392,0.0186748908908,1.05966113018
+417,6.950000000,pose2_to_pose3_retreat,0.578252966112,0.0100012123815,1.06001154499,0.548824202143,0.0186748826234,1.05966108875
+418,6.966666667,pose2_to_pose3_retreat,0.578252549913,0.0100011990695,1.06001148833,0.548823786718,0.0186748720961,1.05966103599
+419,6.983333333,pose2_to_pose3_retreat,0.578252298676,0.0100013067536,1.06001160065,0.548823532975,0.0186749709189,1.05966113931
+420,7.000000000,pose2_to_pose3_retreat,0.578252149855,0.0100013770387,1.06001167541,0.548823382505,0.0186750353629,1.05966120811
+421,7.016666667,pose2_to_pose3_retreat,0.578252123623,0.0100013862331,1.06001167296,0.548823355973,0.0186750434879,1.05966120436
+422,7.033333333,pose2_to_pose3_retreat,0.578252159349,0.0100013431729,1.06001152693,0.548823392022,0.018675001504,1.05966105777
+423,7.050000000,pose2_to_pose3_retreat,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+424,7.066666667,pose2_to_pose3_retreat,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+425,7.083333333,pose2_to_pose3_retreat,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b32c097bb5e9e0edaabd7b6e6905b909cda3fbf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c420dde1661f17d2bc174255f7efa6861695021ed94d7d42c1c516174657a010
+size 27129046
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..545264fe294758504daad6aa434235faabb2a254
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_05/franka_data.csv
@@ -0,0 +1,429 @@
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+27,0.450000000,BASELINE,765,743,712,673.657433563,662.671283219,633,878,784,800.328716781,650,629.328716781,651,0.400951541494,0.0044598060999,0.069820552596,0.999999958299,2.89519075799e-05,-0.000285502666423,3.24200119342e-05,1793196740684546560
+28,0.466666667,BASELINE,765,743,712,673.516740445,662.741629778,633,878,784,800.258370222,650,629,651,0.400951136258,0.00446001753451,0.0698202707587,0.999999958151,3.01831773513e-05,-0.000285890029567,3.24640253169e-05,1793196740701213440
+29,0.483333333,BASELINE,765,743,712,674.679128396,662.160435802,633,878,784,800.839564198,650,629,651,0.400951117422,0.00446061461645,0.0698200968341,0.999999958007,3.42030198449e-05,-0.000285935103354,3.25224532841e-05,1793196740717879808
+30,0.500000000,BASELINE,764.585367556,743,712,674.585367556,662.414632444,633,877.585367556,784,800.585367556,649.585367556,629,650.585367556,0.400950631543,0.00445990956527,0.0698199354627,0.999999957913,3.21473656488e-05,-0.000286518545344,3.23653901495e-05,1793196740734546176
+31,0.516666667,BASELINE,764.012635074,743,712,674.012635074,662.987364926,633,877.012635074,784,800.012635074,649.012635074,629,650.012635074,0.40094996758,0.00445870800856,0.069819778878,0.999999957825,2.77751144059e-05,-0.000287307268017,3.2126159899e-05,1793196740751212800
+32,0.533333333,BASELINE,764.563708894,743,712,674,663,633,877,784,800.563708894,649.563708894,629,650.563708894,0.400950709266,0.00445994383841,0.0698198150487,0.99999995787,3.03853412882e-05,-0.000286879785009,3.21938047727e-05,1793196740767879680
+33,0.550000000,BASELINE,765,743,712,674,663,633,877,784,800.856389247,650,629,651,0.40095140153,0.00446100113411,0.0698199799771,0.999999957963,3.27733501339e-05,-0.000286288820633,3.22294584589e-05,1793196740784546304
+34,0.566666667,BASELINE,765,743,712,674,663,633,877,784,800.26566409,650,629,651,0.400951841202,0.00446133139865,0.0698205322385,0.999999958215,3.39791042436e-05,-0.000285274295929,3.21439585123e-05,1793196740801212928
+35,0.583333333,BASELINE,765,743,712,674,663,633,877,784,800.317913686,650,629.317913686,651,0.400952577773,0.00446158307839,0.0698212805289,0.999999958472,3.4320235391e-05,-0.000284334740891,3.21192006775e-05,1793196740817879552
+36,0.600000000,BASELINE,765,743,712,674,663,633,877,784,800.895650154,650,629.895650154,651,0.400953556993,0.00446177053279,0.0698221890289,0.999999958733,3.39547322799e-05,-0.000283456456547,3.2144085819e-05,1793196740834545920
+37,0.616666667,BASELINE,764.529771666,743.470228334,712,673.529771666,662.529771666,633.470228334,877.470228334,784,801,650,629.529771666,651,0.40095326358,0.00446249661611,0.0698220161171,0.99999995882,3.39508471462e-05,-0.000283185523547,3.18385109794e-05,1793196740851213312
+38,0.633333333,BASELINE,764,743.954659074,712,673.045340926,662.045340926,633.954659074,877.954659074,784,801,650,629.045340926,651,0.400952686793,0.00446320530191,0.0698216120816,0.999999958845,3.38771953771e-05,-0.000283143228681,3.15080942436e-05,1793196740867880448
+39,0.650000000,BASELINE,764,743.364766322,712,673.635233678,662.635233678,633.364766322,877.364766322,784,801,650,629.635233678,651,0.400952075844,0.00446227905827,0.0698212951775,0.999999958588,3.20082764449e-05,-0.000284238993725,3.17541920694e-05,1793196740884547072
+40,0.666666667,BASELINE,764.221142361,743,712,674,663,633,877,784,801,650,629.778857639,651,0.400951093681,0.00446132391073,0.0698205877856,0.999999958203,3.10662290815e-05,-0.00028566899909,3.19624786041e-05,1793196740901213440
+41,0.683333333,BASELINE,764.800595729,743,712,674,663,633,877,784,801,650,629.199404271,651,0.40094951005,0.00446032193102,0.0698192476969,0.999999957616,3.16259668573e-05,-0.000287640564979,3.21095005079e-05,1793196740917879808
+42,0.700000000,BASELINE,764.621483149,743,712,674,663,633,877,784,801,650,629.378516851,651,0.400950001647,0.00445978675848,0.0698198397659,0.999999957859,3.16549098886e-05,-0.000286780970056,3.21831410599e-05,1793196740934546176
+43,0.716666667,BASELINE,764.044365985,743,712,674,663,633,877,784,801,650,629.955634015,651,0.400951582077,0.00445949651047,0.0698214455999,0.999999958536,3.14053553871e-05,-0.000284435920927,3.22182798617e-05,1793196740951212800
+44,0.733333333,BASELINE,764.526556634,743,712,674,663,633,877,784,801,650,630,651,0.400952374598,0.00445962379542,0.0698222143228,0.999999958764,3.1916730056e-05,-0.00028358478837,3.21479389057e-05,1793196740967879168
+45,0.750000000,BASELINE,764.898976982,743,712,674,663,633.101023018,877,784,801,650,630,651,0.400952841703,0.00445973286147,0.0698226390327,0.999999958892,3.21230885504e-05,-0.000283116358714,3.20816499471e-05,1793196740984545792
+46,0.766666667,BASELINE,764.304688823,743,712,674,663,633.695311177,877,784,801,650,630,651,0.400952040273,0.00445958319399,0.0698217244137,0.999999958717,3.05307373169e-05,-0.000283909100687,3.20780355921e-05,1793196741001212672
+47,0.783333333,BASELINE,764.281856408,743,712,674,663,633.718143592,877,784,801,650,629.718143592,651,0.400951475357,0.00445956302927,0.0698211225939,0.999999958528,3.04774790892e-05,-0.000284578060497,3.20872262289e-05,1793196741017879808
+48,0.800000000,BASELINE,764.860255339,743,712,674,663,633.139744661,877,784,801,650,629.139744661,651,0.400951159279,0.00445967911503,0.0698208498715,0.999999958325,3.20435080428e-05,-0.000285116788578,3.21098890605e-05,1793196741034547456
+49,0.816666667,BASELINE,764.563594096,743,712,674,662.563594096,633,877,784,801,650,629.436405904,651,0.400951471807,0.00445927939229,0.0698212141624,0.999999958472,3.22817982531e-05,-0.000284555828417,3.2285339394e-05,1793196741051213824
+50,0.833333333,BASELINE,764.012056284,743,712,674,662.012056284,633,877,784,800.987943716,650,630,650.987943716,0.400951951261,0.00445874041359,0.0698217603865,0.999999958715,3.21047530976e-05,-0.000283693992466,3.25041283804e-05,1793196741067879936
+51,0.850000000,BASELINE,764.59799432,743,712,674,662.59799432,633,877,784,800.40200568,650,630,650.40200568,0.400950844011,0.00445939468414,0.0698213068284,0.999999958286,3.22918559649e-05,-0.000285186381451,3.24689348268e-05,1793196741084546816
+52,0.866666667,BASELINE,764.816634429,743,712,674,663,633,877,784,800.183365571,649.816634429,630,650.183365571,0.400950026182,0.00446033012528,0.0698208883912,0.999999958042,3.21239713974e-05,-0.00028607496543,3.23336013539e-05,1793196741101213696
+53,0.883333333,BASELINE,764.232501988,743,712,674,663,633,877,784,800.767498012,649.232501988,630,650.767498012,0.400949840918,0.00446188009751,0.0698205467149,0.999999958206,3.1180220322e-05,-0.000285643862961,3.19794003939e-05,1793196741117880320
+54,0.900000000,BASELINE,764.345202054,743,712,674,662.654797946,633,877,784,801,649.345202054,630,651,0.400949897719,0.00446218464625,0.0698206458788,0.999999958315,3.14396133404e-05,-0.000285241951488,3.192410571e-05,1793196741134546688
+55,0.916666667,BASELINE,764.918655544,743,712,674,662.081344456,633,877,784,801,649.918655544,630,651,0.400950114577,0.00446166570706,0.0698210365312,0.999999958386,3.2494538646e-05,-0.000284859341444,3.20664511928e-05,1793196741151213312
+56,0.933333333,BASELINE,764.504919994,743,711.504919994,674,662.495080006,633,877,784,801,650,630,651,0.400951725216,0.00446061697672,0.0698221390472,0.999999958799,3.15697554866e-05,-0.000283507877487,3.20841275564e-05,1793196741167879680
+57,0.950000000,BASELINE,764,743,711.073844556,674,663,633,877,784,801,650,630,651,0.400953210637,0.00445981608196,0.0698230743343,0.999999959158,3.06743738452e-05,-0.00028234130342,3.20469805022e-05,1793196741184546560
+58,0.966666667,BASELINE,764,743,711.665576188,674,663,633,877,784,801,650,630,651,0.400952202109,0.00446136747873,0.0698220115702,0.999999958761,3.22802010386e-05,-0.000283594560671,3.17698702408e-05,1793196741201213184
+59,0.983333333,BASELINE,764.250283754,743,711.749716246,674,663,633,877,784,801,650,629.749716246,651,0.400951246889,0.00446196145603,0.0698212131711,0.999999958402,3.29677196043e-05,-0.000284782674628,3.17462589095e-05,1793196741217879808
+60,1.000000000,BASELINE,764.825862199,743,711.174137801,674,663,633,877,784,801,650,629.174137801,651,0.400950360952,0.00446131107202,0.0698207583679,0.999999958094,3.24617093874e-05,-0.000285886121785,3.20521210056e-05,1793196741234546432
+61,1.016666667,BASELINE,764.599621585,743,711.400378415,674,663,633,877,784,800.599621585,650,629.400378415,651,0.400951088422,0.00446089717642,0.0698211945292,0.999999958456,3.25117622962e-05,-0.000284606335365,3.20828569755e-05,1793196741251213056
+62,1.033333333,BASELINE,764.025566179,743,711.974433821,674,663,633,877,784,800.025566179,650,629.974433821,651,0.400952515759,0.0044605858653,0.0698220171748,0.999999959106,3.28030254678e-05,-0.000282292744801,3.19942481371e-05,1793196741267879424
+63,1.050000000,BASELINE,764,743,712,674,663.565584432,633.565584432,877,784,800.565584432,650,630,651,0.40095198254,0.00446008961393,0.0698218755916,0.999999959015,3.22049130274e-05,-0.000282707139103,3.17595849812e-05,1793196741284546048
+64,1.066666667,BASELINE,764,743,712,674,663.845893473,633.845893473,877,784,801,649.845893473,630,651,0.400951655637,0.00445982541878,0.0698218816599,0.999999958932,3.22888469534e-05,-0.000282996261076,3.17237244621e-05,1793196741301212672
+65,1.083333333,BASELINE,764,743,712,674,663.266817294,633.266817294,877,784,801,649.266817294,630,651,0.400952149689,0.0044602249222,0.0698224188381,0.999999958961,3.43679356539e-05,-0.000282589275389,3.22548628561e-05,1793196741317879296
+66,1.100000000,BASELINE,764,743,712,674,663,633,877,784,801,649,630,651,0.400952174922,0.00446081186238,0.0698224872823,0.999999958821,3.50678299006e-05,-0.000282981188831,3.24158186502e-05,1793196741334545664
+67,1.116666667,BASELINE,764,743,712,674,663,633,877,784,801,649,630,651,0.400951799562,0.00446155896248,0.0698221552051,0.999999958538,3.4589237511e-05,-0.000284055741246,3.22604628146e-05,1793196741351212288
+68,1.133333333,BASELINE,764,743,711.538882803,674,663,633,877.461117197,784,800.538882803,649,629.538882803,651,0.400950902436,0.00446057347572,0.0698211458423,0.99999995831,3.22871807878e-05,-0.000285146410804,3.20933205149e-05,1793196741367879168
+69,1.150000000,BASELINE,764.03653655,743,711,674,662.96346345,633,877.96346345,784,800.03653655,649.03653655,629.03653655,651,0.400949949314,0.00445915412388,0.0698201020048,0.999999958117,2.95514501226e-05,-0.000286132298745,3.19501521517e-05,1793196741384545792
+70,1.166666667,BASELINE,764.624555008,743,711,674,662.375444992,633,877.375444992,784,800.624555008,649.624555008,629.624555008,651,0.400950088931,0.00445762117155,0.0698210533699,0.999999958367,2.70425410507e-05,-0.000285476751948,3.22126231832e-05,1793196741401212416
+71,1.183333333,BASELINE,764.789831556,743,711,673.789831556,662.210168444,633,877,784,801,650,630,651,0.400950589675,0.00445742402379,0.0698217697835,0.99999995855,2.70253901352e-05,-0.000284821747953,3.23520657663e-05,1793196741417879040
+72,1.200000000,BASELINE,764.208465751,743,711,673.208465751,662.791534249,633,877,784,801,650,630,651,0.40095172824,0.00445958616018,0.0698220712284,0.99999995861,3.14091566511e-05,-0.00028416770254,3.22742168016e-05,1793196741434545664
+73,1.216666667,BASELINE,764.36855519,743,711.36855519,673.36855519,663,633,877,784,801,649.63144481,630,651,0.400952791186,0.00446025950377,0.0698228593248,0.999999958974,3.17126502755e-05,-0.000282870332327,3.20972571642e-05,1793196741451212544
+74,1.233333333,BASELINE,764.943147146,743,711.943147146,673.943147146,663,633,877,784,801,649.056852854,630,651,0.400953811858,0.00446010055381,0.0698239194786,0.99999995951,2.97351114934e-05,-0.000281213318426,3.18648907888e-05,1793196741467879168
+75,1.250000000,BASELINE,764.478336348,743,712,673.478336348,663,633,877,784,800.478336348,649.521663652,629.478336348,651,0.400952305131,0.00445941713795,0.0698222006856,0.999999958798,3.02646875379e-05,-0.000283664913644,3.19659330698e-05,1793196741484546816
+76,1.266666667,BASELINE,764,743,712,673.102419618,662.897580382,633,877,784,800.102419618,650,629,650.897580382,0.400950718774,0.00445890655826,0.069820576824,0.999999958096,3.09151531857e-05,-0.000286043672041,3.21066722298e-05,1793196741501213952
+77,1.283333333,BASELINE,764,743,712,673.691773767,662.308226233,633,877,784,800.691773767,650,629,650.308226233,0.400950073311,0.00445949150315,0.0698208551004,0.999999958126,3.08314759621e-05,-0.000285931160102,3.22620799701e-05,1793196741517879808
+78,1.300000000,BASELINE,764,743,711.726246787,674,662.273753213,633.273753213,877,784,801,650,629,650.273753213,0.400950139333,0.0044593311632,0.0698210148438,0.999999958202,3.01957323825e-05,-0.00028572400037,3.23525742591e-05,1793196741534546432
+79,1.316666667,BASELINE,764,743,711.152352939,674,662.847647061,633.847647061,877,784,801,650,629,650.847647061,0.400950985423,0.00445835369941,0.0698210446286,0.999999958327,2.89547080742e-05,-0.000285413069626,3.23718979964e-05,1793196741551213312
+80,1.333333333,BASELINE,764,743,711,674,663,633.576796236,877.423203764,784,801,650,629.423203764,651,0.400951967027,0.00445930814037,0.0698217024939,0.999999958649,2.93845974425e-05,-0.000284263703932,3.21273680396e-05,1793196741567879936
+81,1.350000000,BASELINE,764,743,711,674,663,633.000638498,877.999361502,784,801,650,629.999361502,651,0.400952997609,0.00446096080875,0.0698225873595,0.999999959041,3.04183870281e-05,-0.000282811311703,3.17874762877e-05,1793196741584546560
+82,1.366666667,BASELINE,764,743,711.57820263,674.57820263,662.42179737,633,877.42179737,784.57820263,801,650,630,651,0.400953751023,0.00446061439079,0.0698229056259,0.999999959432,3.20031442154e-05,-0.000281243157034,3.18473613984e-05,1793196741601212928
+83,1.383333333,BASELINE,764,743,711.83999183,674.83999183,662,633,877,784.83999183,800.83999183,650,630,651,0.400953773676,0.00446016888725,0.0698228906789,0.999999959555,3.29988870915e-05,-0.000280676192198,3.19709200738e-05,1793196741617879552
+84,1.400000000,BASELINE,764,743,711.250232315,674.250232315,662,633,877,784.250232315,800.250232315,650,630,651,0.40095183447,0.00445946321543,0.0698219824732,0.999999958967,3.2411008791e-05,-0.000282798576388,3.22643025598e-05,1793196741634546176
+85,1.416666667,BASELINE,764,743,711,674,662.330709632,633,877,784,800.330709632,650,630,651,0.400951474458,0.00445891770309,0.0698216270332,0.999999958879,3.13667021456e-05,-0.000283237622459,3.21608614696e-05,1793196741651213056
+86,1.433333333,BASELINE,764,743,711,674,662.905152978,633,877,784,800.905152978,650,630,651,0.400952278317,0.00445849022867,0.0698216789829,0.999999959161,2.99860068594e-05,-0.000282436044574,3.17649605289e-05,1793196741667879424
+87,1.450000000,BASELINE,764,743,711.479341121,674,663,633,877,784,800.520658879,650,629.520658879,651,0.400951676518,0.0044598753599,0.0698218742478,0.999999958786,3.20907849554e-05,-0.00028350866555,3.1963635834e-05,1793196741684546048
+88,1.466666667,BASELINE,764,743,712,674.055102486,663,633,877,784,800.055102486,649.944897514,629.055102486,651,0.400950789078,0.00446141973362,0.0698219495662,0.9999999583,3.44406084896e-05,-0.000284913117729,3.22271857653e-05,1793196741701212928
+89,1.483333333,BASELINE,764,743,712,674.646671835,663,633,877,784,800.646671835,649.353328165,629.646671835,651,0.400949827149,0.00446102448095,0.0698205811707,0.999999958081,3.24652371736e-05,-0.000285939641873,3.19775487957e-05,1793196741717879552
+90,1.500000000,BASELINE,764.23366341,743,712,674.76633659,662.76633659,633,877,784,801,649,630,651,0.400949799424,0.00446069911558,0.0698202407312,0.999999958188,3.13491368954e-05,-0.000285704400745,3.18360287488e-05,1793196741734546432
+91,1.516666667,BASELINE,764.81386578,743,712,674.18613422,662.18613422,633,877,784,801,649,630,651,0.400951157186,0.00446047739791,0.0698214248216,0.999999958782,3.15073950285e-05,-0.000283597874572,3.18548535804e-05,1793196741751212800
+92,1.533333333,BASELINE,765,743,712,674,662,633,876.611027459,784,800.611027459,649.388972541,630,650.611027459,0.4009522218,0.00446005523533,0.069821862444,0.999999959098,3.05513971748e-05,-0.000282578176908,3.19287895206e-05,1793196741767879424
+93,1.550000000,BASELINE,765,743,712,674,662,633,876.038327508,784,800.038327508,649.961672492,630,650.038327508,0.400953147949,0.00445953839453,0.0698219474797,0.999999959282,2.90690913209e-05,-0.000282071831971,3.20287566604e-05,1793196741784546048
+94,1.566666667,BASELINE,765,743,712,674,662.537890365,633,876,784,800,650,630,650.537890365,0.400952756143,0.00446106994488,0.0698221242851,0.999999959091,3.19638292411e-05,-0.000282442491176,3.19804901702e-05,1793196741801212672
+95,1.583333333,BASELINE,765,743,712,674,663,633,876.117592217,784,800.117592217,650,629.882407783,651,0.400952568536,0.00446223121581,0.0698223614448,0.999999959011,3.40707896235e-05,-0.000282491433243,3.18826436492e-05,1793196741817879296
+96,1.600000000,BASELINE,765,743,712,674,663,633,876.710352775,784,800.710352775,650,629.289647225,651,0.400953588036,0.00446130258239,0.0698228158884,0.99999995952,3.17259124595e-05,-0.00028098619866,3.16274151744e-05,1793196741834546176
+97,1.616666667,BASELINE,764.705546564,743,711.705546564,674,662.705546564,633,877,784,800.705546564,650,629,651,0.400953466632,0.00446061585495,0.0698226143612,0.999999959468,3.12537393717e-05,-0.00028122128541,3.16645021931e-05,1793196741851213056
+98,1.633333333,BASELINE,764.129721111,743,711.129721111,674,662.129721111,633,877,784,800.129721111,650,629,651,0.400952255009,0.0044601602866,0.0698217860054,0.99999995888,3.25710735551e-05,-0.000283119377888,3.19809182826e-05,1793196741867879680
+99,1.650000000,BASELINE,764,743,711,674,662,633,877.455875377,784,800.455875377,650,629,650.544124623,0.400953250567,0.00445994167607,0.0698226367351,0.999999959177,3.17186033373e-05,-0.0002821747559,3.18892150877e-05,1793196741884546560
+100,1.666666667,BASELINE,764,743,711.043607535,673.956392465,662.043607535,633,877.956392465,784,800.956392465,650,629.043607535,650.043607535,0.400954736373,0.00445967636699,0.0698238373963,0.999999959694,3.02140501767e-05,-0.000280525416993,3.17019472362e-05,1793196741901213184
+101,1.683333333,BASELINE,764,743,711.622675465,673.377324535,662.622675465,633,877.377324535,784,800.377324535,650,629.622675465,650.622675465,0.400954361042,0.00445799156359,0.0698233395685,0.999999959785,2.84500010291e-05,-0.000280372971467,3.17984601027e-05,1793196741917879808
+102,1.700000000,BASELINE,764,743,711.799077304,673,662.799077304,633,877,784,800.200922696,649.799077304,630,651,0.400953798463,0.00445743103199,0.0698230329693,0.999999959783,2.780595429e-05,-0.000280444867187,3.17903950483e-05,1793196741934546176
+103,1.716666667,BASELINE,764,743,711.222365108,673,662.222365108,633,877,784,800.777634892,649.222365108,630,651,0.400952885672,0.00445897324731,0.0698230840287,0.999999959611,2.92566693381e-05,-0.000280936352584,3.15867359291e-05,1793196741951212800
+104,1.733333333,BASELINE,764,743,711,673.353587327,662.353587327,633,877.353587327,784,801,649.353587327,629.646412673,651,0.400952289546,0.00445970562013,0.0698222786583,0.999999959139,3.01802389116e-05,-0.000282495950412,3.17338753701e-05,1793196741967879680
+105,1.750000000,BASELINE,764,743,711,673.929063043,662.929063043,633,877.929063043,784,801,649.929063043,629.070936957,651,0.400951892138,0.00445992978868,0.0698209358483,0.999999958477,3.07730064429e-05,-0.000284725826116,3.21011531313e-05,1793196741984546304
+106,1.766666667,BASELINE,764,743,711.502829578,674,663,633,877.497170422,784,801,650,629.502829578,651,0.400952435914,0.00445974732761,0.0698222850239,0.999999958872,3.02115952767e-05,-0.000283381095434,3.22394534553e-05,1793196742001212928
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,712,674,663,634,878,783,801,650,629,651,0.40095054731,0.00446021590631,0.069820927631,0.999999958298,3.18143533286e-05,-0.00028522410661,3.22372074965e-05,1793196742043673856
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,743,712,674,663,633.424700043,877.424700043,784.150599914,801,650,629.575299957,651,0.400951021512,0.00445937266682,0.0698215646369,0.9999999587,3.13037414902e-05,-0.000283873671233,3.21736183351e-05,1793196742060340992
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,743,712,674.150852477,663,633,877,784.849147523,801,649.849147523,630,651,0.400951523669,0.00445911022258,0.0698220068313,0.999999958998,3.1285222799e-05,-0.000282837508982,3.20512717553e-05,1793196742077007872
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,743,712,674.727117371,663,633,877,784.272882629,801,649.272882629,630,651,0.400952104664,0.00446048565322,0.0698218996467,0.999999959006,3.26544341685e-05,-0.000282687614211,3.17632259572e-05,1793196742093674496
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,712,674.689372355,663,633,877,784,801,649.310627645,630,650.689372355,0.40095254294,0.00446090523126,0.0698218640339,0.99999995905,3.294942619e-05,-0.000282496272061,3.17908918627e-05,1793196742110341120
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,712,674.09934513,663,633,877,784,801,649.90065487,630,650.09934513,0.400952852845,0.00446046505053,0.0698218927975,0.999999959126,3.22781923631e-05,-0.000282267649338,3.21025303125e-05,1793196742127008000
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,743,712,674,663,633,877,784,800.518434952,649.518434952,629.518434952,650.481565048,0.400953287661,0.00446147791034,0.0698224659954,0.999999959114,3.35186625376e-05,-0.000282182824086,3.1965488929e-05,1793196742143674880
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,743,712,674,662.939620897,633,877,784,800.060379103,649.060379103,629,651,0.400953823014,0.00446238621764,0.0698231087163,0.9999999591,3.4673413473e-05,-0.000282113648334,3.17853302484e-05,1793196742160341248
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,743,712,674,662.362946729,633,877,784,800.637053271,649.637053271,629,651,0.4009550018,0.00445988494378,0.0698234033735,0.99999995924,3.1785567109e-05,-0.00028192934156,3.20132535094e-05,1793196742177007616
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,743,711.786966835,674,662.213033165,633,877,784,801,650,629.213033165,651,0.400962840021,0.00445859803763,0.0698271047809,0.999999960903,3.04663325569e-05,-0.000276096428152,3.22053392056e-05,1793196742193673984
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,743,711.212165997,674,662.787834003,633,877,784,801,650,629.787834003,651,0.400981987132,0.00445937334105,0.0698365914475,0.999999964996,3.181087623e-05,-0.000260671190092,3.23365664042e-05,1793196742210340608
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.372403419,743,711.372403419,674,663,633.372403419,877,784,800.627596581,649.627596581,630,651,0.401013781018,0.00445975836906,0.0698503487631,0.999999970905,3.06974473425e-05,-0.000237078723343,3.22686517228e-05,1793196742227006976
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.962688172,743,711.962688172,674,663,633.962688172,877,784,800.037311828,649.037311828,630,651,0.401052974129,0.00445991505949,0.0698666046998,0.99999997731,2.81459373973e-05,-0.00020870787058,3.20842254877e-05,1793196742243673856
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,743,711.457513533,674.542486467,663,633.457513533,877,784,800.542486467,649.542486467,629.457513533,651,0.401110161193,0.00446025860261,0.0698836907627,0.999999982326,2.90896047287e-05,-0.000183059765769,3.14793798943e-05,1793196742260340480
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.879660824,743,711.120339176,674.879660824,663,633,877,784,801,650,629.120339176,651,0.401169812783,0.00446037929139,0.0698984017908,0.999999985952,2.93720363032e-05,-0.00016212408145,3.08003175161e-05,1793196742277007360
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.306466777,743,711.693533223,674.306466777,663,633,877,784,801,650,629.693533223,651,0.401234169785,0.00445961389965,0.0699039644169,0.999999986688,2.62786453533e-05,-0.000158230598424,2.99487181486e-05,1793196742293674240
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,743,712,674,662.726447222,633,877,784,801,649.726447222,629.726447222,651,0.4013070697,0.00445886517617,0.0699064996766,0.999999987147,2.38220932672e-05,-0.000155976452787,2.84604462145e-05,1793196742310341120
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,743,712,674,662.138585264,633,877,784,801,649.138585264,629.138585264,651,0.401389785326,0.00445813560439,0.0699055565248,0.999999987305,2.20972623228e-05,-0.000155605888287,2.624064445e-05,1793196742327007232
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,743,712,674,662.443794735,633,877,784,801,649.443794735,629,651,0.401489530059,0.00445851699352,0.0699048186945,0.999999987039,1.87536643278e-05,-0.000158171440418,2.34793986424e-05,1793196742343673856
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,743,711.975750364,674,662.975750364,633,877,784,800.975750364,649.975750364,629,651,0.401595769647,0.0044592886722,0.0699041650003,0.999999986627,1.49541318095e-05,-0.000161562824814,2.0511824546e-05,1793196742360340736
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,743,711.400613728,674,662.400613728,633,877,784,800.400613728,649.400613728,629,651,0.401730224302,0.00446114167672,0.0699039838755,0.99999998648,1.2140423642e-05,-0.000163140203166,1.66511675045e-05,1793196742377007104
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,743,711.174849252,674,662.174849252,633,877,784,800.174849252,649.174849252,629.174849252,651,0.401875892095,0.00446244226567,0.0699050858127,0.999999986774,8.59896528522e-06,-0.00016193260662,1.25114327126e-05,1793196742393673728
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,743,711.75106127,674,662.75106127,633,877,784,800.75106127,649.75106127,629.75106127,651,0.402047299395,0.00446247479605,0.0699091329917,0.999999988055,3.38697211677e-06,-0.000154332158751,7.73108136698e-06,1793196742410340352
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,743,712,674,662.66517873,633,877.33482127,784,801,649.66517873,630,651,0.402240957849,0.00446239130699,0.0699137023454,0.999999989456,-2.82157209003e-06,-0.00014516471187,2.70632700995e-06,1793196742427007488
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,743,712,674,662.075677334,633,877.924322666,784,801,649.075677334,630,651,0.402451541552,0.00446221956832,0.0699186688891,0.999999990863,-9.7881384119e-06,-0.000134805334209,-2.50433178086e-06,1793196742443674624
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,743,712,673.493756287,662.506243713,633,877.493756287,784,801,649,629.493756287,651,0.402690736769,0.00446536852862,0.0699214161194,0.999999991631,-1.2587190912e-05,-0.000128457513814,-8.81494910523e-06,1793196742460340992
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,743,712,673.086263238,663,633,877,784,800.913736762,649.086263238,629.086263238,651,0.402939911316,0.00446865920744,0.0699241867846,0.999999992294,-1.57413615102e-05,-0.000122193489196,-1.52641510448e-05,1793196742477007360
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,743,712,673.661829915,663,633,877,784,800.338170085,649.661829915,629.661829915,651,0.403221788269,0.00446997957312,0.0699289444327,0.999999993079,-2.43914550287e-05,-0.000113053442051,-2.15805116862e-05,1793196742493673984
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743,712,674,663,633,877,784,800.236660897,649.763339103,630,651,0.4035240456,0.00447110550538,0.0699368513142,0.999999994269,-3.07520384559e-05,-9.86838833453e-05,-2.78935793986e-05,1793196742510340608
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,743,712,674,663,633,877,784,800.810443851,649.189556149,630,651,0.40385533464,0.00447195446829,0.0699492442597,0.999999995888,-3.38512276917e-05,-7.68649166904e-05,-3.42019559692e-05,1793196742527006976
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.397913227,743,712,674,663,633,877.397913227,784,801,649.397913227,629.602086773,651,0.404210294902,0.00447839488496,0.0699534790984,0.999999996912,2.9861174004e-05,-6.87591237684e-05,-2.35813378314e-05,1793196742543673856
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.992134706,743,712,674,663,633,877.992134706,784,801,649.992134706,629.007865294,651,0.404576933217,0.00448759381384,0.0699536891806,0.999999989711,0.000126534698013,-6.7418648048e-05,-4.60889503444e-06,1793196742560340480
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.433136284,743,712,674.566863716,663,633,878,784,801,650,629,651,0.404981302184,0.00448929000188,0.0699597391936,0.999999991443,0.000115577241494,-5.97938923942e-05,-1.34320099586e-05,1793196742577007360
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,743,711.855389448,674.855389448,663,633,877.855389448,784,800.855389448,649.855389448,629,651,0.405391143937,0.00449102104475,0.0699647174822,0.999999993929,9.40728472826e-05,-5.34727218105e-05,-2.08248959098e-05,1793196742593674240
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,743,711.2675927,674.2675927,663,633,877.2675927,784,800.2675927,649.2675927,629,651,0.405816206919,0.00449316733867,0.0699661711936,0.999999997424,4.46700140523e-05,-5.14049759744e-05,-2.26919200172e-05,1793196742610340864
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.315805243,743.315805243,711.315805243,674,662.684194757,633,877.315805243,784.315805243,800,649,629.315805243,651,0.406261822195,0.00449800956795,0.0699573494279,0.999999997454,4.61978169925e-06,-6.69614984088e-05,-2.42131152207e-05,1793196742627007232
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.895527196,743.895527196,711.895527196,674,662.104472804,633,877.895527196,784.895527196,800,649,629.895527196,651,0.406724612958,0.00450510477587,0.0699399405025,0.999999994567,-2.76145388207e-05,-9.72465248996e-05,-2.54453033102e-05,1793196742643673600
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.52570204,743.52570204,711.52570204,674,662.948595919,633,878,784.52570204,800.47429796,649,629.52570204,651,0.407231462047,0.00450949074476,0.0699259334389,0.999999993169,-8.3917692923e-06,-0.000113209283816,-2.78361788598e-05,1793196742660340224
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+146,2.433333333,POSE1_TO_POSE2_PRESS,764.624761997,743,711.624761997,674,663.375238003,633,878.624761997,784,801,649.624761997,629,651,0.40837486969,0.00451730724006,0.0699280956594,0.999999993936,4.39885894608e-05,-9.54212017928e-05,-3.29796228446e-05,1793196742693673984
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.796724642,743,712,674,663,633,878.593449285,784,801,650,629,651,0.408989749163,0.00452183951178,0.0699394671869,0.999999995395,5.42458870125e-05,-7.10103153178e-05,-3.50093997438e-05,1793196742710340864
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.206693866,743,712,674,663,633,877.413387733,784,801,650,629,651,0.409599383416,0.0045273723905,0.0699477014467,0.99999999718,4.10705810937e-05,-5.14642019224e-05,-3.61250680899e-05,1793196742727007488
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.376401312,743,712,674,663,633,877.376401312,784,800.623598688,649.623598688,629,650.623598688,0.410226482397,0.00453327394418,0.0699447610312,0.999999996609,4.92659188752e-05,-5.4730962293e-05,-3.6860384066e-05,1793196742743673856
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.955756822,743,712,674,663,633,877.955756822,784,800.044243178,649.044243178,629,650.044243178,0.410862998274,0.00453937428586,0.0699357952717,0.999999994451,6.89842293019e-05,-7.02983406436e-05,-3.73906154e-05,1793196742760339968
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.466232049,743,712,674,663,633,878,784,800.533767951,649.533767951,629,650.533767951,0.411576270441,0.00454318602639,0.0699430393892,0.999999994825,7.18516798086e-05,-6.09287570693e-05,-3.83981673104e-05,1793196742777006848
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.111076862,743,712,674.111076862,663,633,878,784,800.888923138,650,629,650.888923138,0.412303946379,0.00454685353205,0.0699563921301,0.999999995612,7.43937532768e-05,-4.15682518902e-05,-3.88939102111e-05,1793196742793673728
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.685917826,743,712,674.685917826,663,633,878,784,800.314082174,650,629,650.314082174,0.413065263699,0.00455070886512,0.0699896536702,0.99999999594,8.13942954566e-05,1.08976648378e-05,-3.70879936728e-05,1793196742810340352
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.733008229,743,712,675,663,633,878,783.733008229,800,649.733008229,629,650,0.413813430728,0.00455607806712,0.0700082135586,0.999999994592,8.879056797e-05,3.93487612833e-05,-3.72028785501e-05,1793196742827006720
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.144426623,743,712,675,663,633,878,783.144426623,800,649.144426623,629,650,0.41454575842,0.0045632707148,0.0700090654086,0.999999993787,9.66634962107e-05,3.88741713122e-05,-3.96313559805e-05,1793196742843673600
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.437008801,743.437008801,712,674.562991199,663,633,878,783.437008801,800,649,629,650,0.415266908897,0.00457009464391,0.0699633937033,0.999999993474,9.70676798486e-05,-4.39568431425e-05,-4.12040399688e-05,1793196742860340480
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.983988713,743.983988713,712,674.016011287,663,633,877.983988713,783.983988713,800,649.016011287,629,650.016011287,0.415988174846,0.00457674333115,0.0699042191307,0.999999983215,9.55177066938e-05,-0.000150463167247,-4.25071645597e-05,1793196742877007360
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.40879875,743.40879875,712,674.59120125,663,633,877.40879875,783.40879875,800,649.59120125,629,650.59120125,0.416840406905,0.00458145916104,0.0699018055919,0.999999981885,0.000110538080161,-0.000148542244765,-4.41148581806e-05,1793196742893673984
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,712,675,663.165831434,633,877.165831434,783.165831434,800,650,629,651,0.417695446423,0.00458516070341,0.0699110588276,0.999999983563,0.000118988843522,-0.000129284768671,-4.47368321823e-05,1793196742910340608
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,712,675,663.739086288,633,877.739086288,783.739086288,800,650,629,651,0.418557383398,0.00458637029042,0.0699489756108,0.999999990611,0.000111299040927,-6.74339325757e-05,-4.29370380165e-05,1793196742927006976
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743,711.676417328,674.676417328,663.676417328,633,878,784,800,649.676417328,629,651,0.419424253605,0.0045887507355,0.0699782941424,0.999999992423,0.000113137834877,-2.4472325526e-05,-4.18905610011e-05,1793196742943673344
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,711.082530377,674.082530377,663.082530377,633,878,784,800,649.082530377,629,651,0.420295244735,0.00459210925499,0.0700004301361,0.99999999158,0.000122936327618,2.71019038879e-06,-4.14733664523e-05,1793196742960339968
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,711.498329048,674.498329048,663.498329048,633,878.498329048,784,800,649.498329048,629,651,0.421193275225,0.00459588472409,0.0700140597458,0.999999991141,0.000123881528334,2.44215061467e-05,-4.21404861629e-05,1793196742977006848
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.076347611,743,712,675,664,633,878.923652389,784,800.076347611,650,629.076347611,651,0.422085992085,0.0045998492674,0.0700173402952,0.99999999086,0.00012440242164,3.07925311534e-05,-4.30879324104e-05,1793196742993673728
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.649561194,743,712,675,664,633,878.350438806,784,800.649561194,650,629.649561194,651,0.422915726954,0.00460460635062,0.0699622044097,0.999999988739,0.000131460995972,-5.69235338968e-05,-4.47208187272e-05,1793196743010340608
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,712,675,664,633,878.22910178,784,800.77089822,650,629.77089822,650.77089822,0.423739408389,0.00459811779135,0.0699035032415,0.999999980371,0.000123526105939,-0.000147574404904,-4.71318266309e-05,1793196743027007488
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,712,675,664,633,878.818595231,784,800.181404769,650,629.181404769,650.181404769,0.424553567514,0.00457393912187,0.0698391936484,0.999999964993,9.20055442365e-05,-0.000242841925739,-5.07668696551e-05,1793196743043674112
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.598773707,743,712,675,664,633,878.598773707,784,800,650,629.401226293,650,0.42547001151,0.00455198243576,0.069857997559,0.999999975182,6.06698562847e-05,-0.00020830727495,-5.06191324028e-05,1793196743060340480
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.01919317,743,712,675,664,633,878.01919317,784,800,650,629.98080683,650,0.426431923417,0.00453101347342,0.0699137473229,0.999999991641,2.94163505641e-05,-0.000116072589642,-4.87898625065e-05,1793196743077006848
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,712,675,663.442972841,633,878,784,800.557027159,650,630,650.557027159,0.427374349634,0.00454570350483,0.0699622737043,0.99999999581,5.42675092301e-05,-5.67099369052e-05,-4.7105187504e-05,1793196743093673472
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,712,675.132958854,663.132958854,633,878,784,801,649.867041146,630,651,0.428319760656,0.00455774333317,0.0700049037808,0.999999996195,7.42894922971e-05,-1.15888348932e-06,-4.57100098973e-05,1793196743110340096
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,712,675.708313074,663.708313074,633,878,784,801,649.291686926,630,651,0.429277323579,0.00455690142088,0.0700287381937,0.999999995361,7.18496324249e-05,4.54558826522e-05,-4.52616025196e-05,1793196743127006976
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,712,675.709209105,664,633,878.290790895,784,801,649.290790895,630,651,0.430170183353,0.00455851424431,0.0700243217696,0.99999999571,6.93907719362e-05,4.09830554418e-05,-4.56627994152e-05,1793196743143673856
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,712,675.119406325,664,633,878.880593675,784,801,649.880593675,630,651,0.430996510688,0.00456265120169,0.0699908558237,0.999999996531,6.69123737627e-05,-1.60216724218e-05,-4.69376198569e-05,1793196743160340736
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743.462039752,712,675,664,633,878.537960248,784,801,650,629.537960248,651,0.431776194224,0.00456661677652,0.0699237576676,0.999999987406,7.83636402474e-05,-0.000129639078068,-4.73307176774e-05,1793196743177007360
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743.958933115,712,675.041066885,664,633,878,784,801,649.958933115,629.041066885,651,0.432555310739,0.00457004832691,0.0698564134177,0.999999965224,9.16393176389e-05,-0.000242668423139,-4.76116512592e-05,1793196743193674240
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743.383777769,712,675.616222231,664,633,878,784,801,649.383777769,629.616222231,651,0.433481037297,0.00456710049321,0.0698968986593,0.999999982381,8.2656089085e-05,-0.000161154421862,-4.93446890199e-05,1793196743210341120
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,712,676,664.195385581,633,878,784.195385581,801.195385581,649.195385581,629.804614419,651,0.434392569991,0.00456352596891,0.0699403585515,0.9999999927,7.35891243396e-05,-8.17206916351e-05,-5.00550669277e-05,1793196743227007744
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,712,676,664.78258646,633,878,784.78258646,801.78258646,649.78258646,629.21741354,651,0.435275639272,0.00455869471383,0.0699897836485,0.999999996722,6.43542387339e-05,-6.45860706867e-06,-4.87146607288e-05,1793196743243674112
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,712,676,664.63518858,633,878,784.63518858,801.63518858,650,629,650.63518858,0.436124761833,0.00455161989172,0.070009526699,0.999999997196,5.08016970145e-05,2.55976854016e-05,-4.87065906761e-05,1793196743260340480
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,712,676,664.055889207,633,878,784.055889207,801.055889207,650,629,650.055889207,0.436953925639,0.00454322598263,0.0700118184251,0.999999997653,3.47106246344e-05,3.22514738466e-05,-4.94818571739e-05,1793196743277007104
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743.522466687,712,676,664,633,878.522466687,784,801,650,629.522466687,650,0.437721036129,0.00453845049958,0.069984236947,0.999999998224,2.90975775683e-05,6.09408504539e-06,-5.1649581469e-05,1793196743293673984
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743.900597571,712,676,664,633,879,784,801,650,630,650,0.438467967266,0.00453518664197,0.0699507117797,0.999999997633,2.93486819627e-05,-3.24000151452e-05,-5.31398999461e-05,1793196743310340864
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743.329917298,712,676,664,633,879,784,801,650,630,650,0.439150640394,0.00453725773535,0.0699041302663,0.999999990998,5.20978633352e-05,-0.000112773130887,-5.07136298472e-05,1793196743327007488
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743.250341611,712,676,664,633,878.749658389,784,801,650,630,650.250341611,0.439843870862,0.0045407688325,0.0698701757718,0.99999998294,5.33724397791e-05,-0.000169528544693,-5.03139385085e-05,1793196743343674112
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743.84372607,712,676,664,633,878.15627393,784,801,650,630,650.84372607,0.440551567989,0.00454625316513,0.0698535240717,0.999999979491,2.5220386117e-05,-0.000193920640509,-5.26912664481e-05,1793196743360340480
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743.573461019,712,676.426538981,664,633,878,784,801.426538981,650,630,651,0.441306045623,0.0045460470236,0.0698966692947,0.999999990137,2.61892259779e-05,-0.000127129494505,-5.36483133279e-05,1793196743377006848
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,712,676.994455546,664,633,878.011088908,784,801.994455546,650,630,651,0.442076221085,0.00454381539721,0.0699609083998,0.999999997434,3.75650452397e-05,-2.82667458589e-05,-5.40617816859e-05,1793196743393673728
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,712,676.41833055,664,633,879.1633389,784,801.41833055,650,630,651,0.44274070716,0.00454250480368,0.0699958727515,0.999999997401,4.8508491542e-05,1.62740567403e-05,-5.07905356795e-05,1793196743410340352
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,712,676,664,633,879.680370435,784,801,649.840185217,629.840185217,651,0.443377459887,0.00454284807737,0.0700123076946,0.999999996738,5.55441240072e-05,3.30223561635e-05,-4.84514579981e-05,1793196743427006976
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,712,676,664,633,878.513367239,784,801,649.25668362,629.25668362,651,0.443940688557,0.00454757593723,0.069979619116,0.999999997171,5.22197086097e-05,-2.39103607125e-05,-4.85836619528e-05,1793196743443673856
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,712,676.325949311,663.674050689,633,878.325949311,784,801,649.325949311,629.325949311,651,0.444481030371,0.00455193080251,0.0699395618732,0.999999994068,4.05102845855e-05,-8.77069520893e-05,-5.03077173223e-05,1793196743460340736
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,712,676.907899952,663.092100048,633,878.907899952,784,801,649.907899952,629.907899952,651,0.44500339676,0.00455599271671,0.0698937172668,0.999999986026,2.22152557965e-05,-0.000156894442492,-5.32820163027e-05,1793196743477007360
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,712,677,663,632.51392134,878.51392134,784,801,650,630,651,0.445506345797,0.00456265914818,0.0698666865862,0.999999979471,3.75219066908e-05,-0.000191347451266,-5.51022725328e-05,1793196743493673728
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,712,677,662.936525266,632,878,784,801.063474734,650,630,651,0.446001464381,0.00456946137825,0.0698454514637,0.999999973137,5.77633471864e-05,-0.000217211328883,-5.66361049602e-05,1793196743510340096
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,712,677,662.35972315,632,878,784,801.64027685,650,630,651,0.446462781538,0.00457340162848,0.0698424788841,0.999999970473,6.68212464084e-05,-0.00022642811358,-5.7608331313e-05,1793196743527006720
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.220881059,743,711.779118941,677,662,632,878.220881059,783.779118941,802,650,630,651,0.446905261046,0.00458174284397,0.0698363553075,0.99999996544,8.2676958148e-05,-0.000242629328686,-5.8451028635e-05,1793196743543673600
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.807785686,743,711.192214314,677,662,632,878.807785686,783.192214314,802,650,630,651,0.447316524508,0.00459737692979,0.0698250101917,0.999999955668,0.00010979737222,-0.00027040449181,-5.90790823376e-05,1793196743560340224
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.610684341,743,711.389315659,677,662,632,879,783.389315659,802,650,630,650.610684341,0.447695981097,0.00461117715927,0.0698053361948,0.999999943727,0.000125697066998,-0.000304823258624,-6.18759520431e-05,1793196743577006848
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.031771775,743,711.968228225,677,662,632,879,783.968228225,802,650,630,650.031771775,0.448059947762,0.00462408430127,0.0697816060278,0.999999929928,0.00013613226859,-0.000342477465742,-6.57290361531e-05,1793196743593673984
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,743,712,677.543741858,661.456258142,632,878.456258142,784,802,650,630,650.543741858,0.448414413811,0.00461833408265,0.0697833776241,0.999999932304,0.000127596122609,-0.000338691721643,-6.63287385663e-05,1793196743610340864
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711.881095992,677.881095992,660.881095992,631.881095992,878.118904008,784,802,650,630,651,0.448761829724,0.00461383133768,0.0697885857568,0.999999936137,0.000122207836242,-0.000329285361279,-6.60493997292e-05,1793196743627007744
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711.306524265,677.306524265,660.306524265,631.306524265,878.693475735,784,802,650,630,651,0.449084342183,0.00461826107467,0.0698012885141,0.999999941852,0.000133104622918,-0.000307561245622,-6.31253555185e-05,1793196743643674112
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711.27632253,677,660,631.27632253,878.72367747,784,802,650,630,651,0.44938380026,0.00462176097867,0.069807376527,0.999999946633,0.000119798243981,-0.000297806622698,-6.07807724658e-05,1793196743660340480
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,711.868632201,677,660,631.868632201,878.131367799,784,802,650,630,651,0.449656894604,0.00462419757691,0.0698059002836,0.999999949624,7.88144646108e-05,-0.000301739649817,-5.90988292315e-05,1793196743677006848
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,712,677,659.549262091,631.549262091,878,784,801.549262091,650,630,651,0.449887712262,0.00462377969386,0.0697971424639,0.999999945765,7.59818783268e-05,-0.000315120351675,-5.82768049586e-05,1793196743693673728
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,712,677,659,631,878.029777747,783.970222253,801.059555494,650,630,651,0.450103808842,0.00462283129586,0.069785804913,0.999999939634,8.46040721058e-05,-0.000332037486434,-5.76645254594e-05,1793196743710340352
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,712,677,659,631,878.605923241,783.394076759,802.211846483,650,630,651,0.450270873961,0.00462707558729,0.0697652108462,0.999999926604,0.000103900191439,-0.000364437902959,-5.64039868634e-05,1793196743727007232
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,712,677,659,631,879,783,802.629423811,650,630,651,0.45042967456,0.00463033249096,0.0697470350565,0.999999914166,0.000117783326497,-0.000393287980226,-5.58511297256e-05,1793196743743673856
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,712,677,659,631,879,783,801.456758045,650,630,651,0.450570587083,0.00463145225344,0.0697340934828,0.999999905305,0.000119950384688,-0.000414453561156,-5.68300062713e-05,1793196743760340480
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711.64650109,677,658.64650109,631,879,783.35349891,801,650,629.64650109,651,0.450705701535,0.00463443630267,0.0697259743508,0.999999899512,0.000123953839761,-0.000426908591664,-5.79687438033e-05,1793196743777007104
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,711.067465414,677,658.067465414,631,879,783.932534586,801,650,629.067465414,651,0.450837116759,0.00463860979048,0.0697209319962,0.999999895816,0.000129128939444,-0.000433806183236,-5.9209474766e-05,1793196743793673472
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,711,677,658,631,879,784,801,650,629.507931142,651,0.450940926774,0.00463848019703,0.0697158973299,0.999999892929,0.000128394330441,-0.000440521015147,-5.99851303713e-05,1793196743810340096
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.083195574,743,711.083195574,677.083195574,658,631,879,783.916804426,801,650,630,651,0.451038089383,0.00463767515638,0.0697109729236,0.999999890159,0.000126938686043,-0.000447088782772,-6.06718023211e-05,1793196743827006976
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.660525984,743,711.660525984,677.660525984,658,631,879,783.339474016,801,650,630,651,0.451117392999,0.0046362288891,0.0697066973749,0.99999988764,0.000125829497481,-0.000452926227606,-6.11942494756e-05,1793196743843673600
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.757406819,743,712,677.757406819,658,631,879,783,801,650,629.757406819,651,0.451188676093,0.00463671906566,0.0697044733736,0.999999885823,0.000127371066908,-0.000456451354376,-6.15018596394e-05,1793196743860340480
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.168579208,743,712,677.168579208,658,631,879,783,801,650,629.168579208,651,0.451248512112,0.00463997297841,0.0697051773871,0.999999885028,0.000132695857652,-0.000456676288609,-6.1502849602e-05,1793196743877007104
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743.413575994,711.586424006,677,658,631,879,783.413575994,801.413575994,650,629.413575994,651,0.451295738024,0.00464161725061,0.0697030088366,0.999999883179,0.000134296054854,-0.000460185770231,-6.19270405867e-05,1793196743893673728
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743.993054601,711.006945399,677,658,631,879,783.993054601,801.993054601,650,629.993054601,651,0.451337905493,0.00464261582866,0.0696996879806,0.999999880895,0.000134402161823,-0.000465012821043,-6.25209951839e-05,1793196743910340608
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743.430011981,711.569988019,677.569988019,658,631,878.430011981,783.430011981,801.430011981,649.430011981,630,651,0.451366635612,0.00464280373543,0.0696973614756,0.999999879412,0.000134714064723,-0.000468132024445,-6.22976477679e-05,1793196743927006976
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,711.853640554,677.853640554,658,631,878.146359446,783.146359446,801.146359446,649.146359446,630,651,0.451393082685,0.00464288672021,0.0696957469167,0.999999878465,0.000134754244598,-0.000470159278799,-6.2139784461e-05,1793196743943673600
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711.278824036,677.278824036,658,631,878.721175964,783.721175964,801.721175964,649.721175964,630,651,0.45141332349,0.00464269134224,0.0696961812191,0.999999879084,0.000133991665848,-0.000469050578082,-6.22026459192e-05,1793196743960340224
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711,677,658,631,879,783.696325943,802,650,630,651,0.451428844825,0.00464376717283,0.069696381763,0.999999878899,0.000136236467995,-0.000468783369908,-6.23184939918e-05,1793196743977006848
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711,677,658,631,879,783.106591762,802,650,630,651,0.451439920437,0.00464604047837,0.0696963621071,0.999999877938,0.000141314214563,-0.000469308845251,-6.24842553154e-05,1793196743993673728
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,711.474675848,677,658,630.525324152,879,783,802,649.525324152,630,651,0.451444990686,0.00464860257905,0.0696952336077,0.999999876777,0.000143464960361,-0.000471081914468,-6.28146879388e-05,1793196744010340352
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,711.946370567,677,658,630.053629433,878.946370567,783,802,649.053629433,629.946370567,651,0.451448528171,0.00465096544529,0.069693908653,0.999999875607,0.000144830733105,-0.00047310103112,-6.31281266908e-05,1793196744027007232
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711.371750446,677,658,630.628249554,878.371750446,783,802,649.628249554,629.371750446,651,0.451450046485,0.00465077385852,0.0696930517467,0.999999874796,0.000144844104381,-0.000474836491284,-6.29235426072e-05,1793196744043674112
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.207659253,743.207659253,711.207659253,677,657.792340747,631,878,783,802,650,629.207659253,651,0.451451530841,0.00465003625729,0.0696923261678,0.999999874264,0.000143592252412,-0.000476357299534,-6.27415010491e-05,1793196744060340736
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.795845621,743.795845621,711.795845621,677,657.204154379,631,878,783,802,650,629.795845621,651,0.451452952969,0.00464829810681,0.0696918412415,0.999999874242,0.000140021930419,-0.000477484766792,-6.26007677617e-05,1793196744077007360
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+232,3.866666667,POSE1_TO_POSE2_PRESS,764.533981139,743,711.533981139,678,657.533981139,631,878.533981139,783.466018861,802,650,629.533981139,651,0.451453617283,0.00464919715897,0.0696904081785,0.999999873316,0.000141259341826,-0.000479152923893,-6.18543780311e-05,1793196744127006720
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.890175104,743,711.890175104,677.890175104,657.890175104,631,879,783,802,650,629.890175104,651,0.451454780922,0.00465004055485,0.069690273931,0.999999873601,0.000142502213777,-0.000478237649785,-6.14867888815e-05,1793196744143673600
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.320195988,743,711.320195988,677.320195988,657.320195988,631,879,783,802,650,629.320195988,651,0.451455196614,0.00464935223205,0.0696900117237,0.99999987357,0.000141793894033,-0.000478489300545,-6.16629488807e-05,1793196744160340224
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,711,677,657.260778527,631,878.739221473,783,802,650,629.260778527,651,0.451455463822,0.00464916423382,0.0696895507557,0.999999873467,0.000140985928857,-0.000478906440975,-6.19508782744e-05,1793196744177006848
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711,677,657.855848081,631,878.144151919,783,802,650,629.855848081,651,0.451455540689,0.0046496175997,0.0696888349968,0.99999987327,0.000140050228477,-0.000479535722036,-6.23820844641e-05,1793196744193673472
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711.439104262,677,657.560895738,631.439104262,878.439104262,783,801.560895738,650,629.560895738,651,0.451455868685,0.00464869896518,0.0696888441575,0.999999873193,0.000139091031911,-0.000480036021584,-6.19177822159e-05,1793196744210340096
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711.981499299,677.018500701,657,631.981499299,879,783.018500701,801,650,629.018500701,650.981499299,0.451456327614,0.00464736452534,0.069689109788,0.999999873186,0.000138143838351,-0.000480416802475,-6.1189860911e-05,1793196744227006464
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711.404612157,677.595387843,657,631.404612157,879,783.595387843,801,650,629.595387843,650.404612157,0.451458315253,0.00464671833875,0.0696901216204,0.999999874188,0.000137785624823,-0.00047843479021,-6.11459261305e-05,1793196744243673088
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,711,678,657,631,879,783.828323676,801.171676324,650,630,650.171676324,0.451458989695,0.0046466068788,0.0696902860884,0.999999874449,0.000137769456829,-0.000477893450553,-6.11460020885e-05,1793196744260339968
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,711,678,657,631,879,783.253441266,801.746558734,650,630,650.746558734,0.45145657991,0.00464775129989,0.0696884604014,0.999999872972,0.000138556631079,-0.000480735734025,-6.12494434823e-05,1793196744277006592
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,743,711,677.670090503,657,631,879,783,801.670090503,650,630,651,0.451456426049,0.00464824201061,0.0696885345108,0.999999872922,0.000138794231021,-0.000480752970951,-6.13970941488e-05,1793196744293673472
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,711,677.080062866,657,631,879,783,801.080062866,650,630,651,0.451458050878,0.00464821730137,0.0696901065205,0.999999873998,0.000138598517405,-0.000478542791265,-6.1579601745e-05,1793196744310340352
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,743,711,677,657,631,878.499710699,783.500289301,801.500289301,650,630,651,0.451457538953,0.00464900134622,0.0696894022866,0.999999873267,0.00013973302492,-0.000479735465467,-6.16037436373e-05,1793196744327006976
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,743,711,677.078598177,657,631,878.078598177,783.921401823,801.921401823,650,629.921401823,651,0.451456947255,0.00464970010721,0.0696885370452,0.99999987246,0.000140717507694,-0.000481136286489,-6.15377948294e-05,1793196744343673344
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+247,4.116666667,POSE1_TO_POSE2_PRESS,764.233818678,743,711,677.766181322,657,631,878.766181322,783,801,650,629.233818678,650.766181322,0.451458453913,0.00464911298373,0.069689249984,0.999999873365,0.000138628911719,-0.00047994461314,-6.08768292203e-05,1793196744377006592
+248,4.133333333,POSE1_TO_POSE2_PRESS,764.821960373,743,711,677.178039627,657,631,878.178039627,783,801,650,629.821960373,650.178039627,0.451458119618,0.00465022297934,0.0696895322672,0.999999873525,0.000138542685409,-0.000479601987617,-6.11405694733e-05,1793196744393673216
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+250,4.166666667,POSE1_TO_POSE2_PRESS,765,743,711.982617224,677.982617224,657.982617224,631,879.965234449,783,801.982617224,650,629.017382776,650.982617224,0.451458944238,0.00464791979423,0.0696894768365,0.999999873578,0.000136571863235,-0.00048012339069,-6.06073545115e-05,1793196744427006464
+251,4.183333333,HOLD_POSE2,764,743,712,677,657,631,879,784,802,650,630,651,0.451458676527,0.00465161863247,0.0696885915267,0.999999872356,0.000141106420086,-0.000481219976602,-6.16818748879e-05,1793196744456680960
+252,4.200000000,HOLD_POSE2,764,743,712,677.590622142,657,631,879,783.409377858,802,650,629.409377858,651,0.451457618016,0.00465134643183,0.0696883147018,0.99999987216,0.000141473812913,-0.000481597141116,-6.10627677209e-05,1793196744473347328
+253,4.216666667,HOLD_POSE2,764,743,711.821971346,677.821971346,657,631,878.821971346,783,801.821971346,650,629,651,0.451457195433,0.0046504145378,0.0696881888413,0.999999872259,0.000140544071748,-0.000481723559816,-6.05946592266e-05,1793196744490013440
+254,4.233333333,HOLD_POSE2,764,743,711.241827888,677.241827888,657,631,878.241827888,783,801.241827888,650,629,651,0.451458209224,0.00464799258879,0.0696884039652,0.999999873014,0.000136684483301,-0.000481283616917,-6.04676125693e-05,1793196744506679552
+255,4.250000000,HOLD_POSE2,764,743,711,677,657,631,878,783,801,650,629,650.662395316,0.451458807919,0.00464738527563,0.0696885515006,0.999999873318,0.000135264487021,-0.000481053767531,-6.04550320104e-05,1793196744523349248
+256,4.266666667,HOLD_POSE2,764,743,711,677,657,631,878,783,801,650,629,650.083470921,0.451459109904,0.0046480750637,0.0696886507237,0.999999873308,0.000135588310611,-0.000480974092943,-6.0524271787e-05,1793196744540021248
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+262,4.366666667,HOLD_POSE2,764.396872612,743,711,677.396872612,657,631,879,783.396872612,801,650,629.603127388,651.396872612,0.45145970438,0.00464896545461,0.0696883239871,0.999999872816,0.000138601114348,-0.000481083648407,-6.09556045063e-05,1793196744640013056
+263,4.383333333,HOLD_POSE2,764.973477645,743,711,677.973477645,657,631,879,783.973477645,801,650,629.026522355,651.973477645,0.451460145844,0.00464897785526,0.0696883711997,0.99999987306,0.00013776312922,-0.000480767035285,-6.13494774395e-05,1793196744656679680
+264,4.400000000,HOLD_POSE2,764.452444711,743,711.547555289,678,657,631,879,783.452444711,801,649.452444711,629.547555289,651.452444711,0.451460485628,0.00464902780348,0.0696888612938,0.999999873624,0.000135984986082,-0.000480130495725,-6.11078142128e-05,1793196744673346048
+265,4.416666667,HOLD_POSE2,764.12502164,743,711.87497836,677.87497836,657,631,879,783,801.12502164,649.12502164,629.87497836,651,0.45146076682,0.00464914583004,0.0696892687384,0.99999987402,0.000134836364517,-0.00047965913412,-6.08810730218e-05,1793196744690012160
+266,4.433333333,HOLD_POSE2,764.715559697,743,711.284440303,677.284440303,657,631,879,783,801.715559697,649.715559697,629.284440303,651,0.451460848106,0.00464951060453,0.0696892889289,0.999999873742,0.000136200543013,-0.000479860246239,-6.08239907463e-05,1793196744706679040
+267,4.450000000,HOLD_POSE2,764.698827393,743,711,677,657.301172607,631,879,783,801.698827393,650,629,650.698827393,0.451459876918,0.00464891771402,0.0696886088352,0.99999987303,0.0001369734443,-0.000481140733572,-6.0678055073e-05,1793196744723345920
+268,4.466666667,HOLD_POSE2,764.117791195,743,711,677,657.882208805,631,879,783,801.117791195,650,629,650.117791195,0.451457927723,0.00464743491662,0.0696872780048,0.999999871912,0.000137196903227,-0.000483424226535,-6.0449552694e-05,1793196744740012544
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,743,711,677,656,631,879,784,801,650,630,651,0.451460478254,0.00464879620513,0.0696885207126,0.999999873182,0.000136881968999,-0.000480893620677,-6.03425239349e-05,1793196744772472064
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.422817201,743,711,677,656.577182799,631,879,783.422817201,801,650,630,650.422817201,0.451461228757,0.00464889358786,0.0696889292224,0.999999873572,0.000136975817074,-0.000480071222331,-6.02071348728e-05,1793196744789138432
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.15861688,743,711,677,657,631,879,783,801.15861688,650,630,650.15861688,0.451461332718,0.00464867802259,0.0696888925798,0.999999873593,0.000137071500225,-0.000480008294195,-6.01505522156e-05,1793196744805804800
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.75169563,743,711,677,657,631,879,783,801.75169563,650,630,650.75169563,0.451459665761,0.0046476052726,0.0696876366361,0.999999872599,0.000137172209786,-0.000482025603785,-6.03098253555e-05,1793196744822471680
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,743,711,677,657,631,879,783,801.665224193,650,629.665224193,651,0.451459290651,0.00464735738089,0.069687267031,0.999999872562,0.000136558405848,-0.000482243985342,-6.05728236302e-05,1793196744839138816
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,743,711,677,657,631,879,783,801.08934496,650,629.08934496,651,0.451459845922,0.00464770354698,0.0696875357614,0.999999873214,0.000135430013788,-0.00048116679015,-6.09105240833e-05,1793196744855806208
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,743,711,677,657,631,879,783,801.485210916,650,629.485210916,651,0.451460074396,0.00464933011001,0.0696879211248,0.999999873096,0.000137370273292,-0.000480883624216,-6.07351577858e-05,1793196744872472320
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.938767161,743,711,677.061232839,656.938767161,631,879,783,802,650,630,651,0.451460082597,0.00465086471334,0.0696881892315,0.999999872863,0.000139422215777,-0.000480813058885,-6.04573964684e-05,1793196744889138176
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.347964457,743,711,677.652035543,656.347964457,631,879,783,802,650,630,651,0.451458704791,0.00464957052584,0.0696872580165,0.999999872897,0.000137566520811,-0.000481320112682,-6.01089101394e-05,1793196744905805312
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,711,678,656.237832614,631,878.762167386,783,801.762167386,650,630,651,0.451453097416,0.00464891892,0.0696843231379,0.999999871061,0.000136514475294,-0.000485413430677,-6.01215535984e-05,1793196744922472448
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711,678,656.816457029,631,878.183542971,783,801.183542971,650,630,651,0.451441429467,0.00464918807347,0.0696785171978,0.999999866492,0.000136613984124,-0.000494645528431,-6.06516621587e-05,1793196744939138816
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711,677.620739347,657,631,878,783,801,649.620739347,630,651,0.451416162334,0.00464932132384,0.0696668626682,0.999999856835,0.000136936101996,-0.000513695078893,-6.07937147743e-05,1793196744955805184
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711,677.06528554,657,631,878,783,801,649.06528554,630,651,0.451384577427,0.00464939143771,0.0696524910585,0.999999844372,0.000137361637319,-0.000537305524806,-6.07554882256e-05,1793196744972471808
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,711,677,656.476255994,631,878,783.523744006,801,649.523744006,630,650.476255994,0.451336394078,0.00465082102046,0.0696323671117,0.999999826292,0.000138789553457,-0.000569577552319,-6.11181752393e-05,1793196744989138432
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.11753207,743,711,677,656.11753207,631,878.11753207,783.88246793,801.11753207,650,630,650.11753207,0.451284390667,0.00465187135441,0.0696130109907,0.999999808865,0.000139943298366,-0.0005991081651,-6.12842766943e-05,1793196745005805056
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.712484345,743,711,677,656.712484345,631,878.712484345,783.287515655,801.712484345,650,630,650.712484345,0.451225850136,0.00465064565959,0.0695998859542,0.99999980068,0.000139441037506,-0.000612816928139,-6.04349359934e-05,1793196745022471680
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.701683106,743,711,677.298316894,657,630.701683106,879,783.298316894,802,650,630,651,0.451164379715,0.00465015531227,0.0695926251371,0.999999794648,0.000141788534339,-0.000622172480035,-5.91704060325e-05,1793196745039138560
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.124379387,743,711,677.875620613,657,630.124379387,879,783.875620613,802,650,630,651,0.451100169256,0.00465035266416,0.0695908485558,0.999999790719,0.000146801132877,-0.00062745689547,-5.75175899272e-05,1793196745055805696
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,711,677.09839424,657,630.45080288,879,783.54919712,802,650,630,651,0.451025100523,0.00465138229401,0.0695918608101,0.999999790965,0.00014848953842,-0.000626790063726,-5.61634033878e-05,1793196745072472576
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,711,676.052093918,657.026046959,631,879,783,801.973953041,650,630,651,0.450946364294,0.0046525254456,0.069593695558,0.999999792425,0.000149289944695,-0.000624383231395,-5.48399238175e-05,1793196745089139456
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,711,677.230445621,657.61522281,631,879,783,801.38477719,650,630,651,0.450852804219,0.00465118160133,0.0695967548567,0.999999795274,0.000150628052801,-0.000619691093405,-5.24073307893e-05,1793196745105805824
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,711,677.799017537,657.799017537,631,879,783,801.200982463,649.799017537,630,650.799017537,0.450748989585,0.00464987812257,0.0695990584088,0.999999796995,0.000152378631878,-0.000616704774693,-4.96669126155e-05,1793196745122472192
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,743,711,677.219688891,657.219688891,631,879,783,801.780311109,649.219688891,630,650.219688891,0.450625870924,0.00464865063135,0.0695999392803,0.999999796627,0.00015490568063,-0.000616929633293,-4.63470189399e-05,1793196745139138560
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+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,743,711,677,657.933461001,631,879,783,801.066538999,649.933461001,629.066538999,650.933461001,0.450351762963,0.00464928440312,0.069608492184,0.999999800182,0.00016407731938,-0.000609201494593,-3.98413245342e-05,1793196745172471552
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,743,711,677.506807745,658,631,878.493192255,783,801,650,629,651,0.450195022329,0.00464885109843,0.0696157410651,0.999999805647,0.000167438256371,-0.000599454731031,-3.63940055959e-05,1793196745189138432
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,743,711,677.919249748,658,631,878,783,800.919249748,650,629,651,0.450033497424,0.0046484338432,0.0696235195859,0.999999811498,0.000171225137498,-0.000588740380615,-3.27230950436e-05,1793196745205805568
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,743,711,677.339540156,658,631,878,783,800.339540156,650,629,651,0.449855668392,0.00464901290844,0.069632812862,0.999999817687,0.00017902137811,-0.000576023218467,-2.78402266239e-05,1793196745222472704
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,743,711,677,658,631,878.245102539,783,800.245102539,650,629,650.754897461,0.449657919424,0.00464925076339,0.0696424580908,0.999999823994,0.000185063184152,-0.00056323760941,-2.29575212092e-05,1793196745239139328
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,743,711,677,658,631,878.836719387,783,800.836719387,650,629,650.163280613,0.44943200861,0.00464900623144,0.0696526008928,0.999999830602,0.000188624653628,-0.000550355234214,-1.80750465401e-05,1793196745255805440
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.416353032,743,711,677,658.416353032,631,878.583646968,783.416353032,801,650,629,650.416353032,0.449188249532,0.00464788322042,0.0696611968785,0.999999835101,0.000196051187008,-0.000539638718391,-1.23247659938e-05,1793196745272471808
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.421407188,743,711,677,659,631,878,784,801,650,629.578592812,651,0.448661693875,0.00464415630147,0.0696732909461,0.999999841028,0.000212602495543,-0.000522249475668,-1.16197129959e-07,1793196745305805056
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,743,711,677,659,631.164094269,878,784,801,650,630,650.835905731,0.448370775594,0.00464145219578,0.0696759694051,0.999999842083,0.000219949107303,-0.000517122837725,6.33909743279e-06,1793196745322471680
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,743,711,677,659,631.677891865,878,784,801,649.677891865,630,650,0.447695343024,0.00462975599031,0.0696757056902,0.999999840924,0.000224601647913,-0.000517112652786,1.73304191433e-05,1793196745355804928
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,764.230534872,743,711,676.230534872,662.769465128,632.769465128,878,783.230534872,801,649.230534872,630,651,0.43845154373,0.00458102152108,0.0697508554593,0.99999991557,0.000160323343348,-0.000376635257557,3.60745625306e-05,1793196745655805696
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,743,711,676,663,633,878,783.346409011,800.653590989,649,630,650.653590989,0.437746108455,0.00458030662556,0.0697221402294,0.999999896265,0.000177025672273,-0.000418151101318,3.57953695387e-05,1793196745672472576
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,742.747205491,711,676.494410982,663,632.252794509,878,784,801,649.747205491,630,650,0.43426330249,0.00456776447513,0.0698316156778,0.999999952383,0.000152230607717,-0.000264818286274,4.39392376189e-05,1793196745755804928
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,743,711.273374483,675,662.273374483,633,878,784,801,650,630,650.273374483,0.429526376221,0.00454989600517,0.0697217825275,0.999999892997,0.000165402282994,-0.000429754255968,4.42619852681e-05,1793196745855805184
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,764.629461629,743,712,675.629461629,663,633,877.629461629,784,800.629461629,649,630.370538371,650.629461629,0.425710958531,0.00452141144688,0.0698496174877,0.999999960918,0.000128599627642,-0.000243033935427,5.0604079301e-05,1793196745939138560
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,743,711,675,662.053896788,633,877.053896788,784,800,649,629.946103212,650,0.422414296458,0.00450361009561,0.0697311198458,0.999999895939,0.000108320193974,-0.000440696378869,4.66456050813e-05,1793196746005804800
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,743,711,675,662,633,877,784,800,649,630,650,0.421609310648,0.00449543851198,0.0697086117361,0.999999882083,9.35359732345e-05,-0.000474289749227,4.61903049581e-05,1793196746022471424
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,743,711,675,662.697733281,633,877.697733281,784,800,649.697733281,630,650,0.420143708429,0.00447895041883,0.0697718837043,0.999999927242,8.1350205518e-05,-0.000369549356026,4.82915174935e-05,1793196746055804672
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,743.276279355,711.276279355,675,663.276279355,632.723720645,877.723720645,784,800.276279355,650,630,650.276279355,0.419446176159,0.00447132690956,0.0698265979327,0.999999956173,7.50441937449e-05,-0.00028198450623,5.0078388751e-05,1793196746072471552
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,743,711.179466396,675,663,633,878,784,800.179466396,649.179466396,629.179466396,651,0.415750548318,0.00443684804874,0.0697776085668,0.999999939198,2.41586029424e-05,-0.000344956758247,4.49960403206e-05,1793196746155805952
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,743,711.758996041,675,663,633,878,784,800.758996041,649.758996041,629.758996041,651,0.415034124511,0.00443149324655,0.0697745495868,0.999999936466,1.63655666693e-05,-0.000353257493827,4.48353007353e-05,1793196746172472064
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.488117681,743,711.488117681,675,663,633,877.511882319,784,800.511882319,649,630,651,0.41302132744,0.00441230848142,0.0697798348337,0.999999936119,-9.85543926004e-06,-0.000354333543379,4.59709653972e-05,1793196746222471936
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.345097043,743,711.345097043,675,663,633,877.654902957,784,800,649,630,650.345097043,0.411857297896,0.00440036885772,0.0698561954796,0.999999973982,-2.82816600216e-05,-0.0002218102624,4.51260673289e-05,1793196746255805184
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,743,711.240040361,674.759959639,663,633,877.759959639,784,800.240040361,649.240040361,629.759959639,650,0.411259832419,0.0044053430456,0.069871809825,0.999999978928,-2.75985236683e-05,-0.000198312771612,4.53181720284e-05,1793196746272471808
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,743,712,674.968060134,662.031939866,633,877,784,801,650,629,650,0.409438908092,0.0044791668025,0.0697930728593,0.999999940865,8.13329068957e-05,-0.000331213182796,4.41929458221e-05,1793196746322471680
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.278754941,743,712,675,662,633,876.721245059,784,801.278754941,649.278754941,630,651,0.407883744195,0.00445312828368,0.0697787064637,0.999999938045,1.81426651369e-05,-0.0003493424964,3.92467158297e-05,1793196746372472064
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,743,711.549590842,674,662.450409158,633,877,784,801,649,630,651,0.406504781205,0.00444891494871,0.0698074816333,0.999999949194,2.25871609768e-05,-0.000315160874278,4.21356452184e-05,1793196746422472192
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,662.156703168,633,877,784,800.156703168,649.156703168,629.156703168,651,0.402890792777,0.00445634987717,0.069809379747,0.999999951712,6.04968728657e-06,-0.000308369571759,3.80434682658e-05,1793196746605805056
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711.418417339,674,662.418417339,633,877,784,800.418417339,649,629,651,0.402670835076,0.00445489662178,0.0698077260462,0.999999950498,-2.28944509183e-06,-0.000312444190681,3.71198138922e-05,1793196746622471936
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711.99336491,674,662.99336491,633,877,784,800.99336491,649,629,651,0.402460284994,0.00445555985984,0.0698054574034,0.999999948672,-7.61579327817e-06,-0.000318290892332,3.59093511461e-05,1793196746639138560
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742.584089158,712,674,663,633,877.584089158,784,800.415910842,649.584089158,629.584089158,651,0.402271698064,0.00445380838753,0.0697970822005,0.999999944189,-1.11080147023e-05,-0.000331911847416,3.65171231047e-05,1793196746655805184
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,743,712,674.1706468,662.8293532,633,877.8293532,784,800.1706468,649.8293532,630,651,0.40209326095,0.00445215659891,0.0697908253425,0.999999940693,-1.38309042161e-05,-0.000342099974736,3.72929318664e-05,1793196746672472064
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.900616177,743,712,674.099383823,662.900616177,633,877,784,800.099383823,649.900616177,629.099383823,651,0.401668863084,0.00445371488011,0.0697935333414,0.999999942403,-2.64050383151e-06,-0.000336890062666,4.11296432919e-05,1793196746722472192
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.347730794,743,711.347730794,673.652269206,662.347730794,633,876.347730794,783.347730794,800,650,629.652269206,651,0.401372134946,0.00446894129306,0.0697942725698,0.999999938813,0.000100936737543,-0.00033220082103,4.27627909854e-05,1793196746772472576
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.617506859,743,712,673.617506859,662.382493141,633,877,784,800.382493141,649.617506859,629.617506859,651,0.401169254597,0.00450443009587,0.0697935973424,0.999999941965,8.42722167009e-05,-0.000329535262561,1.93367087465e-05,1793196746822472192
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.045105108,743,712,673.045105108,662.954894892,633,877,784,800.954894892,649.045105108,629.045105108,651,0.401122350572,0.00449378180135,0.0697967648326,0.999999944556,7.4054280295e-05,-0.00032386069802,2.27590955533e-05,1793196746839139072
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.545557124,743,712,673,662.454442876,633,877.545557124,784,801,649.545557124,629.545557124,651,0.401084234666,0.00449419171194,0.0697977599208,0.99999994493,7.64073600081e-05,-0.000322072296159,2.3898768323e-05,1793196746855805696
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+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.708981522,742.708981522,711.708981522,674,662,633,877.291018478,783.708981522,801.291018478,650,629.708981522,651,0.401004341394,0.00448935053767,0.0698027416429,0.999999947763,6.88008802169e-05,-0.000314700696028,2.65353237156e-05,1793196746905805056
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,743,711.963908238,674,662.963908238,633,877,784,801.963908238,649.036091762,630,651,0.400967618317,0.0044673416992,0.0698073903247,0.999999951251,4.68182662768e-05,-0.000307027110559,3.2254711803e-05,1793196746955805184
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,764,743,711.490298822,674.490298822,662.509701178,633,877,784,801,649.509701178,630,651,0.400951555645,0.00446025497102,0.0698128730092,0.999999954478,3.49449371294e-05,-0.000297926976444,3.26036725363e-05,1793196747055805184
+407,6.783333333,POSE2_TO_POSE3_RETREAT,764.096860881,743,711.096860881,674.096860881,663,633,877,784,801,650,630,651,0.400948353587,0.00446056123643,0.0698118935592,0.999999953762,3.5486323051e-05,-0.000300269663211,3.24863593885e-05,1793196747072472064
+408,6.800000000,POSE2_TO_POSE3_RETREAT,764.676133028,743,711.676133028,674.676133028,663,633,877,784,801,650,630,651,0.400950855929,0.00445987707011,0.069813918629,0.999999955083,3.34503952203e-05,-0.000296053794838,3.26786053576e-05,1793196747089138688
+409,6.816666667,POSE2_TO_POSE3_RETREAT,764.745605067,743,712,674.745605067,662.745605067,633,877,784,800.745605067,649.745605067,630,651,0.400952203665,0.00445944537082,0.0698151123158,0.999999955908,3.19273265432e-05,-0.000293423650408,3.26640799978e-05,1793196747105805568
+410,6.833333333,POSE2_TO_POSE3_RETREAT,764.168624121,743,712,674.168624121,662.168624121,633,877,784,800.168624121,649.168624121,630,651,0.400952087299,0.00445933381277,0.0698152517661,0.999999956126,3.10545896854e-05,-0.000292804285886,3.23873578594e-05,1793196747122472192
+411,6.850000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,662.404569799,633,876.595430201,784,800.404569799,649,630,651,0.400951871229,0.00445878798012,0.0698152708666,0.999999955996,3.24319673028e-05,-0.00029309608428,3.24210629791e-05,1793196747139138560
+412,6.866666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,662.976199894,633,876.023800106,784,800.976199894,649,630,651,0.400951613986,0.00445806282108,0.0698152402706,0.999999955717,3.47384919171e-05,-0.000293764132117,3.25829538327e-05,1793196747155805184
+413,6.883333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,662.431365858,633,877.137268285,784,801,649.568634142,629.431365858,650.431365858,0.400950403339,0.00445868954966,0.0698150102125,0.999999955488,3.3300475626e-05,-0.000294708996512,3.25842263102e-05,1793196747172471808
+414,6.900000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,662.15812268,633,877.84187732,784,800.84187732,650,629.15812268,650.15812268,0.400950139266,0.00445941097923,0.069815259901,0.999999955554,3.25652189314e-05,-0.000294566584799,3.25805081e-05,1793196747189138432
+415,6.916666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,662.737359077,633,877.262640923,784,800.262640923,650,629.737359077,650.737359077,0.400952506427,0.00446022820209,0.069816810333,0.999999956402,3.41348061921e-05,-0.000291496501671,3.25820824044e-05,1793196747205805056
+416,6.933333333,POSE2_TO_POSE3_RETREAT,764.314736146,743,712,674.314736146,662.685263854,633,877,784,800.314736146,650,629.685263854,651,0.400953912616,0.00446049692461,0.0698179794284,0.999999957044,3.40807230416e-05,-0.000289275671403,3.27154028359e-05,1793196747222471680
+417,6.950000000,POSE2_TO_POSE3_RETREAT,764.890570725,743,712,674.890570725,662.109429275,633,877,784,800.890570725,650,629.109429275,651,0.400954521603,0.00446031062283,0.0698188321751,0.99999995752,3.26796772618e-05,-0.000287759363455,3.29580170613e-05,1793196747239138560
+418,6.966666667,POSE2_TO_POSE3_RETREAT,764.524707573,743,712,674.524707573,662.475292427,633,877,784,801,650,629.475292427,651,0.400952544074,0.00446090809175,0.0698170257876,0.999999956893,3.44377211189e-05,-0.000289760375218,3.26746768313e-05,1793196747255805184
+419,6.983333333,POSE2_TO_POSE3_RETREAT,764.061316357,743,711.938683643,674,662.938683643,633,877,783.938683643,800.938683643,649.938683643,630,651,0.400950400159,0.00446158236991,0.0698150973282,0.999999956152,3.65224882676e-05,-0.000292090736958,3.23178695916e-05,1793196747272471808
+420,7.000000000,POSE2_TO_POSE3_RETREAT,764.640724879,743,711.359275121,674,662.359275121,633,877,783.359275121,800.359275121,649.359275121,630,651,0.40095197798,0.00446135186605,0.0698174090065,0.999999956742,3.51051849393e-05,-0.000290231051495,3.23829783366e-05,1793196747289138432
+421,7.016666667,POSE2_TO_POSE3_RETREAT,764.780737678,743,711.219262322,674.219262322,662,633,877.219262322,783.219262322,800.219262322,649,630,651,0.400952429205,0.00446068376843,0.069818543074,0.999999957017,3.34023048564e-05,-0.000289483590273,3.23862918564e-05,1793196747305805056
+422,7.033333333,POSE2_TO_POSE3_RETREAT,764.203621813,743,711.796378187,674.796378187,662,633,877.796378187,783.796378187,800.796378187,649,630,651,0.400951041735,0.00445930148297,0.0698177551877,0.999999956781,3.12333405799e-05,-0.00029055136715,3.22887506659e-05,1793196747322471680
+423,7.050000000,POSE2_TO_POSE3_RETREAT,764,743,711.628147345,674.628147345,662.371852655,633,878,784,801,649,629.628147345,651,0.400950729097,0.00446004633449,0.0698175782873,0.999999956696,3.23326575072e-05,-0.000290753546163,3.20174610198e-05,1793196747339138304
+424,7.066666667,POSE2_TO_POSE3_RETREAT,764,743,711.053567769,674.053567769,662.946432231,633,878,784,801,649,629.053567769,651,0.400951002436,0.00446195086028,0.0698177344847,0.999999956689,3.52137786564e-05,-0.000290483817793,3.16514470613e-05,1793196747355804928
+425,7.083333333,POSE2_TO_POSE3_RETREAT,764,743,711.534883792,674,663,633,877.465116208,784,801,649.534883792,629,651,0.400951022891,0.00446208122693,0.0698180199965,0.999999956707,3.6644434541e-05,-0.00029019148284,3.2141087064e-05,1793196747372471808
+426,7.100000000,POSE2_TO_POSE3_RETREAT,764.122608703,743.122608703,712,674,663,633,877.122608703,784,801,650,629.122608703,651,0.400950992248,0.00446195083411,0.0698181717986,0.99999995672,3.7452615265e-05,-0.000289991161302,3.25847561545e-05,1793196747389138432
+427,7.116666667,POSE2_TO_POSE3_RETREAT,764.702307513,743.702307513,712,674,663,633,877.702307513,784,801,650,629.702307513,651,0.400950868038,0.00446152835123,0.0698177755595,0.999999956714,3.64961442467e-05,-0.00029014253449,3.25290734169e-05,1793196747405805056
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0df8c01099ac1eb024d865996399b008846ead94
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_11/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
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+1,0.016666667,pose1_baseline,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
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+379,6.316666667,pose2_to_pose3_retreat,0.58017920423,0.0100013787802,1.06001162439,0.550750437115,0.018675038046,1.05966115992
+380,6.333333333,pose2_to_pose3_retreat,0.579955060627,0.0100013446621,1.06001164766,0.550526294463,0.0186750072899,1.05966118633
+381,6.350000000,pose2_to_pose3_retreat,0.579748854683,0.0100012769886,1.06001162321,0.550320089746,0.0186749439928,1.05966116728
+382,6.366666667,pose2_to_pose3_retreat,0.579560621006,0.0100013096089,1.06001162112,0.55013185503,0.0186749729351,1.05966116146
+383,6.383333333,pose2_to_pose3_retreat,0.579388219139,0.0100011958592,1.06001159211,0.549959455148,0.0186748654832,1.05966112166
+384,6.400000000,pose2_to_pose3_retreat,0.57923197584,0.0100013423835,1.06001178158,0.549803209998,0.0186750057738,1.05966131238
+385,6.416666667,pose2_to_pose3_retreat,0.579091998325,0.0100012686538,1.06001167089,0.549663232146,0.0186749312422,1.05966121017
+386,6.433333333,pose2_to_pose3_retreat,0.578967346669,0.010001234095,1.06001173036,0.549538581667,0.0186749006458,1.05966126886
+387,6.450000000,pose2_to_pose3_retreat,0.578855945154,0.0100011484499,1.06001159906,0.549427181406,0.0186748192534,1.05966113756
+388,6.466666667,pose2_to_pose3_retreat,0.57875653141,0.0100011168978,1.06001140512,0.5493277678,0.0186747882105,1.05966094515
+389,6.483333333,pose2_to_pose3_retreat,0.578669190133,0.0100012213291,1.06001147964,0.549240425624,0.0186748894751,1.0596610179
+390,6.500000000,pose2_to_pose3_retreat,0.578592445316,0.0100012025134,1.06001179518,0.549163680928,0.0186748708622,1.05966132802
+391,6.516666667,pose2_to_pose3_retreat,0.578526392891,0.0100013033953,1.06001168824,0.549097627299,0.0186749676954,1.05966122208
+392,6.533333333,pose2_to_pose3_retreat,0.578470299904,0.0100013481242,1.06001143709,0.549041533828,0.0186750113483,1.05966098496
+393,6.550000000,pose2_to_pose3_retreat,0.578423425853,0.0100012579465,1.06001159843,0.548994661387,0.0186749264564,1.05966114192
+394,6.566666667,pose2_to_pose3_retreat,0.578385013368,0.0100012333347,1.06001170702,0.548956249104,0.0186749021364,1.05966124098
+395,6.583333333,pose2_to_pose3_retreat,0.57835328285,0.0100013145795,1.06001160917,0.548924517006,0.0186749779067,1.05966114033
+396,6.600000000,pose2_to_pose3_retreat,0.578328070379,0.0100012881094,1.06001177957,0.548899305671,0.0186749554359,1.05966131362
+397,6.616666667,pose2_to_pose3_retreat,0.578307943862,0.0100012394906,1.06001160476,0.548879180511,0.0186749114985,1.05966114096
+398,6.633333333,pose2_to_pose3_retreat,0.578292561242,0.0100012174764,1.06001166259,0.548863797186,0.0186748871809,1.05966120068
+399,6.650000000,pose2_to_pose3_retreat,0.578280874302,0.0100012005315,1.06001178298,0.548852109783,0.018674868641,1.05966132012
+400,6.666666667,pose2_to_pose3_retreat,0.578272104586,0.0100011677697,1.06001180834,0.548843341955,0.0186748420212,1.05966133883
+401,6.683333333,pose2_to_pose3_retreat,0.578265654234,0.0100011858406,1.06001165625,0.548836891166,0.0186748586337,1.05966118739
+402,6.700000000,pose2_to_pose3_retreat,0.57826136117,0.0100012159464,1.06001158269,0.548832597569,0.0186748869936,1.05966111543
+403,6.716666667,pose2_to_pose3_retreat,0.578259250791,0.0100012498411,1.06001162553,0.548830486938,0.0186749200935,1.05966115971
+404,6.733333333,pose2_to_pose3_retreat,0.578257644661,0.0100012756372,1.06001165814,0.548828880616,0.0186749452845,1.05966119341
+405,6.750000000,pose2_to_pose3_retreat,0.578256402222,0.0100012679006,1.0600116071,0.548827637749,0.0186749361579,1.05966114385
+406,6.766666667,pose2_to_pose3_retreat,0.578255920227,0.0100012570622,1.06001156572,0.54882715551,0.0186749245193,1.05966110323
+407,6.783333333,pose2_to_pose3_retreat,0.578255658279,0.0100012511719,1.06001154323,0.548826893428,0.0186749181941,1.05966108115
+408,6.800000000,pose2_to_pose3_retreat,0.578255173887,0.0100012402796,1.06001150164,0.548826408791,0.0186749064976,1.05966104032
+409,6.816666667,pose2_to_pose3_retreat,0.578255123917,0.0100012391559,1.06001149735,0.548826358795,0.018674905291,1.05966103611
+410,6.833333333,pose2_to_pose3_retreat,0.578254607654,0.010001227547,1.06001145302,0.54882584227,0.0186748928249,1.0596609926
+411,6.850000000,pose2_to_pose3_retreat,0.578254535989,0.0100012259355,1.06001144687,0.548825770569,0.0186748910945,1.05966098656
+412,6.866666667,pose2_to_pose3_retreat,0.578254209105,0.010001218585,1.0600114188,0.548825443518,0.0186748832013,1.059660959
+413,6.883333333,pose2_to_pose3_retreat,0.578254142739,0.0100012170926,1.06001141311,0.548825377118,0.0186748815988,1.05966095341
+414,6.900000000,pose2_to_pose3_retreat,0.578253866334,0.01000122865,1.06001145702,0.548825100538,0.0186748925622,1.05966099738
+415,6.916666667,pose2_to_pose3_retreat,0.578253472778,0.0100012451665,1.06001151978,0.548824706732,0.0186749082324,1.0596610602
+416,6.933333333,pose2_to_pose3_retreat,0.578253183022,0.0100012573268,1.06001156599,0.548824416792,0.0186749197697,1.05966110646
+417,6.950000000,pose2_to_pose3_retreat,0.578253147709,0.0100012588088,1.06001157162,0.548824381457,0.0186749211757,1.0596611121
+418,6.966666667,pose2_to_pose3_retreat,0.578253076182,0.0100012618106,1.06001158303,0.548824309885,0.0186749240237,1.05966112352
+419,6.983333333,pose2_to_pose3_retreat,0.578252875398,0.0100012702369,1.06001161505,0.548824108972,0.0186749320184,1.05966115557
+420,7.000000000,pose2_to_pose3_retreat,0.578252522661,0.0100013439286,1.06001158613,0.548823754831,0.0186750008891,1.05966112533
+421,7.016666667,pose2_to_pose3_retreat,0.578252363035,0.0100013934647,1.06001154964,0.548823594244,0.0186750471267,1.05966108785
+422,7.033333333,pose2_to_pose3_retreat,0.578252310065,0.0100014099026,1.06001153753,0.548823540956,0.01867506247,1.05966107541
+423,7.050000000,pose2_to_pose3_retreat,0.578252250477,0.010001376029,1.06001150106,0.548823482114,0.0186750310062,1.05966103596
+424,7.066666667,pose2_to_pose3_retreat,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+425,7.083333333,pose2_to_pose3_retreat,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+426,7.100000000,pose2_to_pose3_retreat,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
+427,7.116666667,pose2_to_pose3_retreat,0.578252178036,0.010001320649,1.06001145054,0.548823410879,0.0186749795431,1.05966098109
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..afbe402b58bb2b82833bd6b2309b09c48b692e7f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:305cb1ebf9e1b5df3551aa1d63da6b5cc72d325645435361311d5a24a98b3665
+size 26672686
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..159a5266d31b4f3ec0220eb7a5a54c690224fa7c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_01/franka_data.csv
@@ -0,0 +1,422 @@
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+30,0.500000000,BASELINE,764,743,712,674.415260639,661,633,877,783.415260639,801,649,630,651,0.401005905556,0.00446548425003,0.0798497120932,0.99999998215,6.96088098502e-05,-0.000171050494704,3.99571421406e-05,1793196749264331008
+31,0.516666667,BASELINE,764,743,712,674.989738233,661,633,877,783.989738233,801,649,630,651,0.401006246358,0.00446522910667,0.0798498871065,0.999999982325,6.89820008312e-05,-0.000170261477993,4.00370076771e-05,1793196749280997632
+32,0.533333333,BASELINE,764,743.565340302,712,674.434659698,661,633,877.565340302,784,801,649,630,651,0.401006250154,0.00446427715953,0.0798498422825,0.999999982552,6.60678425591e-05,-0.000170170975203,3.96648125024e-05,1793196749297664256
+33,0.550000000,BASELINE,764,743.855293203,712,674,661,633,877.855293203,784,800.855293203,649.144706797,630,651,0.401006522904,0.00446360796992,0.0798499732815,0.99999998271,6.45370994634e-05,-0.000169868827048,3.94910983353e-05,1793196749314331392
+34,0.566666667,BASELINE,764,743.264382252,712,674,661,633,877.264382252,784,800.264382252,649.735617748,630,651,0.401007643877,0.00446384974274,0.0798506587603,0.999999982671,6.74004032889e-05,-0.000168874895456,3.99547538039e-05,1793196749330998784
+35,0.583333333,BASELINE,764,743,712,674,661,633,877,784,800.320378685,649.679621315,629.679621315,651,0.40100709118,0.00446391977978,0.0798505818685,0.999999982486,6.77861880496e-05,-0.000169816981103,3.99359074463e-05,1793196749347665152
+36,0.600000000,BASELINE,764,743,712,674,661,633,877,784,800.900160169,649.099839831,629.099839831,651,0.401005183353,0.00446385076656,0.0798498877039,0.999999982182,6.61659864117e-05,-0.000172326612542,3.95263911882e-05,1793196749364331264
+37,0.616666667,BASELINE,764.474171392,743,712,674,661,633,877,784,800.525828608,649,629,651,0.401006623892,0.00446403669809,0.0798501618907,0.999999982392,6.65851887526e-05,-0.000170971705373,3.93895683081e-05,1793196749380997376
+38,0.633333333,BASELINE,765,743,712,674,661,633,877,784,800,649.048339548,629.048339548,650.951660452,0.401008557111,0.00446417488303,0.0798506090658,0.999999982689,6.72272988269e-05,-0.000168981498647,3.93398926904e-05,1793196749397664000
+39,0.650000000,BASELINE,765,743,712,674,661,633,877,784,800,649.637699047,629.637699047,650.362300953,0.401008208674,0.00446318511436,0.0798507377928,0.999999982802,6.56160062857e-05,-0.000168878507694,3.96306826945e-05,1793196749414330624
+40,0.666666667,BASELINE,764.553894413,743,712,674,661,633,877,784,800.223052793,649.776947207,630,650.223052793,0.401007319403,0.0044631200564,0.0798504675025,0.999999982637,6.59416091114e-05,-0.000169683342208,3.9809795903e-05,1793196749430997504
+41,0.683333333,BASELINE,763.395970369,743,712,674,661,633,877,784,800.802014816,649.197985184,630,650.802014816,0.40100556716,0.00446453049257,0.0798495605288,0.999999982021,6.93577760455e-05,-0.00017193672824,3.98107144987e-05,1793196749447664384
+42,0.700000000,BASELINE,763.37928384,743,712,674,661,633,877,784,800.62071616,649.37928384,630,651,0.401005290616,0.0044649783084,0.0798495076071,0.999999981957,6.96936396425e-05,-0.00017220225805,3.96957676576e-05,1793196749464331264
+43,0.716666667,BASELINE,763.955673032,743,712,674,661,633,877,784,800.044326968,649.955673032,630,651,0.401005780958,0.00446492587187,0.0798498985172,0.999999982183,6.84287381849e-05,-0.000171434743245,3.95206081333e-05,1793196749480998144
+44,0.733333333,BASELINE,764,743,712,673.469812978,661,633,877,784,800.530187022,650,629.469812978,651,0.401006369448,0.00446436460962,0.0798504857924,0.999999982358,6.71158673102e-05,-0.000170911280743,3.96069343027e-05,1793196749497664768
+45,0.750000000,BASELINE,764,743,712,673.107487888,661,633,877,784,800.892512112,650,629,651,0.40100645882,0.00446381548161,0.0798506053033,0.999999982393,6.62263165037e-05,-0.000171033106178,3.97015580416e-05,1793196749514331136
+46,0.766666667,BASELINE,764,743,712,673.698014562,661,633,877,784,800.301985438,650,629,651,0.401004268463,0.0044635113847,0.0798485492146,0.999999981817,6.72570795048e-05,-0.000173963413478,3.9735571624e-05,1793196749530997504
+47,0.783333333,BASELINE,764,743,712,674.283140725,661,633,877,784,800,649.716859275,629,651,0.40100378377,0.00446349453563,0.0798481079146,0.999999981718,6.72993441837e-05,-0.000174528953441,3.96840675665e-05,1793196749547664128
+48,0.800000000,BASELINE,764,743,712,674.862614819,661,633,877,784,800,649.137385181,629,651,0.401005084215,0.00446377831837,0.0798493566425,0.999999982121,6.63070526317e-05,-0.00017261954259,3.95430612695e-05,1793196749564331008
+49,0.816666667,BASELINE,764,743,712,674.560404876,661.439595124,633,877,784,800,649.439595124,629,651,0.401005381195,0.00446474423569,0.0798493753114,0.999999982107,6.70384753175e-05,-0.000172444571753,3.94309303754e-05,1793196749580997632
+50,0.833333333,BASELINE,764,743,712,674,661.983940039,633,877,783.983940039,800,650,629.016059961,651,0.401005376312,0.00446587402199,0.0798490398487,0.999999981968,6.8284760317e-05,-0.000172784505187,3.93335861106e-05,1793196749597664512
+51,0.850000000,BASELINE,764,743,712,674,661.398269632,633,877,783.398269632,800,650,629.601730368,651,0.4010057253,0.00446529732777,0.079849701957,0.999999982017,6.87931248869e-05,-0.00017226978388,3.94424227494e-05,1793196749614331136
+52,0.866666667,BASELINE,764,743.185532032,712,674,661.185532032,633,877,783.185532032,800,649.814467968,629.814467968,651,0.401005925247,0.00446480088856,0.0798502055903,0.999999982063,6.91680716493e-05,-0.000171839346307,3.95189666984e-05,1793196749630998016
+53,0.883333333,BASELINE,764,743.765362153,712,674,661.765362153,633,877,783.765362153,800,649.234637847,629.234637847,651,0.401005808446,0.00446447500965,0.0798503724281,0.999999982099,6.92594749626e-05,-0.000171588031018,3.9526881274e-05,1793196749647664640
+54,0.900000000,BASELINE,764,743.655909964,712,674,661.655909964,633,877,784,800.344090036,649,629.344090036,651,0.401005820285,0.00446499159964,0.0798501160785,0.999999982054,6.94671860819e-05,-0.000171779592457,3.9470273876e-05,1793196749664331008
+55,0.916666667,BASELINE,764,743.077931331,712,674,661.077931331,633,877,784,800.922068669,649,629.922068669,651,0.401005919566,0.00446608084171,0.0798495720755,0.999999981953,6.97539551959e-05,-0.000172272190861,3.93698089045e-05,1793196749680997376
+56,0.933333333,BASELINE,764,743,712,673.503112116,661,633,877,784,801,649.496887884,629.503112116,651,0.401005010227,0.00446575457543,0.0798491286474,0.999999981867,6.89386043073e-05,-0.000173083707791,3.94458029467e-05,1793196749697664000
+57,0.950000000,BASELINE,764,743,712,673.073009948,661,633,877,784,801,650,629,651,0.401004086328,0.00446526263327,0.0798488230865,0.999999981804,6.80747094434e-05,-0.000173765335241,3.95478929414e-05,1793196749714330624
+58,0.966666667,BASELINE,764,743,712,673.661814587,661,633,877,784,801,650,629,651,0.401004170085,0.0044651587432,0.079849380784,0.999999981901,6.80813234819e-05,-0.000173178193571,3.9640058247e-05,1793196749730997504
+59,0.983333333,BASELINE,764,743,712,674,661,633,877.246528879,784,800.753471121,650,629.246528879,651,0.401004658653,0.00446530984015,0.0798498263636,0.99999998195,6.88245660622e-05,-0.000172598681348,3.96567032805e-05,1793196749747664384
+60,1.000000000,BASELINE,764,743,712,674,661,633,877.825723744,784,800.174276256,650,629.825723744,651,0.401005693476,0.00446580501649,0.0798501206512,0.99999998193,7.05618149439e-05,-0.000172029464212,3.95714412978e-05,1793196749764331520
+61,1.016666667,BASELINE,764,743,712,674,661,633,877.597314916,784,800.402685084,650,630,650.597314916,0.401006576994,0.00446559566652,0.0798504810019,0.999999982097,7.02664739548e-05,-0.000171196208274,3.9510143675e-05,1793196749780998144
+62,1.033333333,BASELINE,764,743,712,674,661,633,877.021314915,784,800.978685085,650,630,650.021314915,0.401007395391,0.00446508308969,0.0798508697859,0.999999982342,6.90963099346e-05,-0.000170249310556,3.94591602734e-05,1793196749797664512
+63,1.050000000,BASELINE,764,743,712,674.554095371,661,633,877.554095371,784,800.445904629,649.445904629,630,650.554095371,0.401006496908,0.00446619146316,0.0798502915514,0.999999982233,6.83296171451e-05,-0.00017126885005,3.91325435111e-05,1793196749814330880
+64,1.066666667,BASELINE,764,743,711.867183672,674.867183672,661,633,877.867183672,783.867183672,800.132816328,649,630,651,0.401005724075,0.0044666176418,0.0798498918731,0.999999982163,6.75546667301e-05,-0.000172017332893,3.90034166355e-05,1793196749830997504
+65,1.083333333,BASELINE,764,743,711.276983654,674.276983654,661,633,877.276983654,783.276983654,800.723016346,649,630,651,0.401005611143,0.00446448002066,0.0798502350621,0.999999982273,6.66978869804e-05,-0.000171572146077,3.95908670395e-05,1793196749847664128
+66,1.100000000,BASELINE,764,743,711.307072485,674,661,633,877,783.307072485,800.692927515,649,629.692927515,651,0.401005646536,0.00446351525873,0.0798501536072,0.999999982289,6.63975541952e-05,-0.00017153605346,3.98554490917e-05,1793196749864330752
+67,1.116666667,BASELINE,764,743,711.885695434,674,661,633,877,783.885695434,800.114304566,649,629.114304566,651,0.401005813094,0.00446358768023,0.079849696631,0.999999982221,6.65892988603e-05,-0.000171861731215,3.98345120415e-05,1793196749880997632
+68,1.133333333,BASELINE,764,743,712,674,661,633,877.461011469,784,800,649.461011469,629.461011469,651,0.401005498766,0.00446484883456,0.0798497100485,0.999999982,6.9288321986e-05,-0.00017211513302,3.96844140342e-05,1793196749897664512
+69,1.150000000,BASELINE,764,743,712,674.036368811,661,633,878,784,800,649.963631189,629.963631189,651,0.401005064547,0.0044662634798,0.0798498334093,0.999999981754,7.22874832584e-05,-0.000172350666244,3.95126645179e-05,1793196749914331136
+70,1.166666667,BASELINE,764,743,712,674.624707823,661,633,878,784,800,649.375292177,629.375292177,651,0.401004607439,0.00446556627256,0.0798498678788,0.999999981844,7.04740611297e-05,-0.000172585047373,3.94948855507e-05,1793196749930997760
+71,1.183333333,BASELINE,764,743,712,674.790173116,661.209826884,633,877.790173116,784,800.209826884,649,629.209826884,650.790173116,0.401005256942,0.00446492154328,0.0798502389613,0.999999982059,6.89798411356e-05,-0.000171928263076,3.9553584873e-05,1793196749947664128
+72,1.200000000,BASELINE,764,743,712,674.210726059,661.789273941,633,877.210726059,784,800.789273941,649,629.789273941,650.210726059,0.40100785579,0.00446436925631,0.0798512030037,0.999999982496,6.80479107915e-05,-0.000169701647954,3.97470043865e-05,1793196749964330752
+73,1.216666667,BASELINE,764,743,712,674,661.633317316,633,877,784,801,649,630,650.366682684,0.401007648115,0.00446527371226,0.0798510025944,0.999999982383,6.8637604306e-05,-0.000170184202094,3.95073474111e-05,1793196749980997376
+74,1.233333333,BASELINE,764,743,712,674,661.057073516,633,877,784,801,649,630,650.942926484,0.401005836495,0.00446701070461,0.0798501366945,0.999999981953,7.00969140533e-05,-0.000172215061094,3.90201848933e-05,1793196749997663744
+75,1.250000000,BASELINE,764,743,712,673.481774773,661,633,877,784,800.481774773,649,629.481774773,651,0.401005941697,0.00446648997814,0.0798498394582,0.999999981973,6.93466945603e-05,-0.000172380737151,3.91032688337e-05,1793196750014331392
+76,1.266666667,BASELINE,764,743,712,673.095826202,661,633,877,784,800,649.095826202,629.095826202,651,0.40100612545,0.00446550948684,0.0798496266367,0.999999982063,6.82396543864e-05,-0.000172264366758,3.92661144357e-05,1793196750030998784
+77,1.283333333,BASELINE,764,743,712,673.685835735,661,633,877,784,800,649.685835735,629.685835735,651,0.401005627593,0.00446343791797,0.0798495267572,0.999999982256,6.65451077086e-05,-0.000171750886613,3.95170080401e-05,1793196750047664640
+78,1.300000000,BASELINE,764,743,712,674.270795633,661,633,877,783.729204367,800.270795633,649.729204367,629.729204367,651,0.401005652989,0.00446302333894,0.0798498535579,0.999999982375,6.59382487951e-05,-0.000171291830392,3.95213884088e-05,1793196750064331264
+79,1.316666667,BASELINE,764,743,712,674.850004386,661,633,877,783.149995614,800.850004386,649.149995614,629.149995614,651,0.401006274324,0.0044644959301,0.0798506663107,0.999999982412,6.65701735563e-05,-0.000170894758411,3.92450112182e-05,1793196750080998144
+80,1.333333333,BASELINE,764.428052427,743,712,674.571947573,661,633.428052427,877,783.428052427,800.571947573,649,629.428052427,651,0.401006233698,0.00446475173819,0.0798505716442,0.999999982367,6.65324301106e-05,-0.000171200150643,3.9114605529e-05,1793196750097664512
+81,1.350000000,BASELINE,764.994354571,743,712,674.005645429,661,633.994354571,877,784,800.005645429,649,630,651,0.401005968939,0.00446458087946,0.0798501743376,0.999999982297,6.62635362788e-05,-0.000171729774399,3.90384893963e-05,1793196750114330880
+82,1.366666667,BASELINE,764.421728447,743,712,674.578271553,661,633.421728447,877,784,800.578271553,649,630,651,0.401006427218,0.00446426520805,0.0798512305464,0.99999998256,6.62835086067e-05,-0.000170124596338,3.92915297934e-05,1793196750130997504
+83,1.383333333,BASELINE,764,743,712,674.84420029,661,633,877,784,801,649.15579971,630,651,0.401006615603,0.00446409428183,0.0798517806209,0.999999982689,6.66203595938e-05,-0.00016919954065,3.94395333795e-05,1793196750147664128
+84,1.400000000,BASELINE,764,743,712,674.25297181,661,633,877,784,801,649.74702819,630,651,0.401006049687,0.00446432788915,0.0798509161528,0.999999982447,6.78428225344e-05,-0.000170175289474,3.92939803182e-05,1793196750164330752
+85,1.416666667,BASELINE,764,743,712,674,661,633,877,784,801,649.669057389,629.669057389,650.669057389,0.401006324194,0.00446462053046,0.0798505027438,0.999999982263,6.88192638886e-05,-0.000170849393016,3.93406544023e-05,1793196750180997632
+86,1.433333333,BASELINE,764,743,712,674,661,633,877,784,801,649.090612964,629.090612964,650.090612964,0.401007227229,0.00446495732145,0.079850426668,0.999999982124,6.96117131812e-05,-0.000171297905257,3.95310892726e-05,1793196750197664768
+87,1.450000000,BASELINE,764,743,712,674,661,633,877.485674298,784,800.514325702,649,629,650,0.401006864949,0.00446429199405,0.079850898625,0.999999982166,6.8768084908e-05,-0.000171348974978,3.97310367211e-05,1793196750214331136
+88,1.466666667,BASELINE,764,743,712,674,661,633,878,783.937236208,800.062763792,649,629.062763792,650.062763792,0.401006376032,0.00446349529774,0.0798514455825,0.99999998226,6.76077726742e-05,-0.000171225895959,3.98841779534e-05,1793196750230997504
+89,1.483333333,BASELINE,764,743,712,674,661,633,878,783.350096616,800.649903384,649,629.649903384,650.649903384,0.401006792688,0.00446315619963,0.0798517686775,0.999999982519,6.63406169042e-05,-0.000170264624957,3.96315027145e-05,1793196750247664128
+90,1.500000000,BASELINE,764,743,712,674.235295344,661,633,877.764704656,783.235295344,801,649,630,651,0.40100659352,0.00446369259924,0.0798517336191,0.999999982513,6.72232174765e-05,-0.000169984273086,3.94943373752e-05,1793196750264330752
+91,1.516666667,BASELINE,764,743,712,674.818106114,661,633,877.181893886,783.818106114,801,649,630,651,0.401005484818,0.00446552205026,0.0798511695924,0.999999982107,7.12808639643e-05,-0.000170709593148,3.95277724254e-05,1793196750280997376
+92,1.533333333,BASELINE,764,743,712,674.604963584,661,633,876.604963584,784,800.604963584,649.395036416,629.604963584,651,0.401005512426,0.00446602391319,0.0798510860147,0.99999998207,7.20475694331e-05,-0.000170595146138,3.95689927334e-05,1793196750297664000
+93,1.550000000,BASELINE,764,743,712,674.030701171,661,633,876.030701171,784,800.030701171,649.969298829,629.030701171,651,0.401006055574,0.00446592345635,0.0798512204144,0.999999982205,7.13211921773e-05,-0.000170099701173,3.96137451763e-05,1793196750314330624
+94,1.566666667,BASELINE,764,743,712,674,661.542755975,633,876,784,800.542755975,650,629,651,0.401004946083,0.00446595930852,0.0798507337107,0.999999981904,7.10963281333e-05,-0.000172001698103,3.93992330528e-05,1793196750330997504
+95,1.583333333,BASELINE,764,743.119591383,712,674,661.880408617,633,876.119591383,784,801,649.880408617,629.119591383,651,0.401004064265,0.00446571454054,0.0798503409735,0.999999981714,7.03315726685e-05,-0.000173448794875,3.92477329181e-05,1793196750347664128
+96,1.600000000,BASELINE,764,743.709903065,712,674,661.290096935,633,876.709903065,784,801,649.290096935,629.709903065,651,0.401004445983,0.00446433492792,0.0798504561756,0.999999982066,6.73302715221e-05,-0.000172572384278,3.94018909412e-05,1793196750364331008
+97,1.616666667,BASELINE,764,743.408974481,712,674,661,633,877,784,800.70448724,649,629.70448724,650.70448724,0.40100481593,0.00446410671479,0.0798505439922,0.999999982167,6.70018663556e-05,-0.000172104647069,3.94495089798e-05,1793196750380997632
+98,1.633333333,BASELINE,764,742.246842205,712,674,661,633,877,784,800.123421102,649,629.123421102,650.123421102,0.401005174501,0.00446499109673,0.0798506053462,0.999999982028,6.92562753185e-05,-0.000172031810176,3.93941776389e-05,1793196750397664000
+99,1.650000000,BASELINE,764,742.451268156,712,674,661,633,877,784,800.451268156,649,629.451268156,650.451268156,0.401004914556,0.00446562809512,0.0798498716575,0.999999981913,6.96335911101e-05,-0.000172554534015,3.93635474421e-05,1793196750414330624
+100,1.666666667,BASELINE,764,743,712,674,661,633,877,784,801,649,630,651,0.401004498043,0.00446622212348,0.0798489836775,0.999999981809,6.95498390103e-05,-0.000173201429439,3.93241480564e-05,1793196750430997504
+101,1.683333333,BASELINE,764,743,712,674,661,633,877,784,801,649,630,651,0.401004313333,0.00446735375787,0.0798494568301,0.999999981789,7.04885049142e-05,-0.000173023253517,3.89354012033e-05,1793196750447664128
+102,1.700000000,BASELINE,764,743,712,674,661,633,877,784,800.818563989,649,630,651,0.401004625621,0.00446785485511,0.0798502011603,0.999999981894,7.11105462231e-05,-0.000172197527074,3.87750811856e-05,1793196750464330496
+103,1.716666667,BASELINE,764,743,712,674,661,633,877,784,800.224231581,649,630,651,0.401006068932,0.00446692103024,0.0798515626132,0.99999998228,7.10120405073e-05,-0.000169898161128,3.91345952761e-05,1793196750480997632
+104,1.733333333,BASELINE,764,743,712,674,661,633,876.641627296,784,800,649,630,651,0.401005446541,0.00446606053847,0.0798507885091,0.999999982105,6.93969320215e-05,-0.000171547084523,3.9324653146e-05,1793196750497664256
+105,1.750000000,BASELINE,764,743,712,674,661,633,876.066128628,784,800,649,630,651,0.401003572609,0.00446524447667,0.079848720543,0.999999981572,6.68629649376e-05,-0.000175588143353,3.94120432277e-05,1793196750514330880
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,743,712,674,661,633,877,784,800,649,629,650,0.401004753863,0.00446333791084,0.0798500470408,0.99999998222,6.42600259587e-05,-0.000172925153769,3.9075057902e-05,1793196750545407232
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,712,674,661,633,877.594594968,784,800.594594968,649.594594968,629.594594968,650.594594968,0.40100421296,0.00446515780015,0.0798495129626,0.999999981854,6.85366733677e-05,-0.000173449694538,3.88571133806e-05,1793196750562074624
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,743,712,674,661,633.183941715,877.816058285,784,800.816058285,650,630,651,0.401004077522,0.0044659824167,0.0798494582714,0.999999981679,7.08021292584e-05,-0.000173559991121,3.88052769582e-05,1793196750578741760
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,743,712,674,661,633.762042439,877.237957561,784,800.237957561,650,630,651,0.401004810936,0.00446467431608,0.0798504308335,0.999999981944,6.87579096226e-05,-0.000172782625767,3.91093847887e-05,1793196750595408128
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,743,712,674,661,633.661693756,877,784,800.338306244,650,630,651,0.40100548658,0.00446487755587,0.0798506330524,0.999999982183,6.78333725876e-05,-0.000171766717797,3.90957062e-05,1793196750612074496
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,712,674,661,633.086715059,877,784,800.913284941,650,630,651,0.401006121812,0.00446613810004,0.0798502963544,0.999999982404,6.76921437956e-05,-0.00017058393011,3.88597104093e-05,1793196750628741376
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743.500270387,712,674,661,633,877,783.499729613,801,649.499729613,630,651,0.401004584586,0.00446630623227,0.0798496097758,0.999999982001,6.81579303824e-05,-0.000172774400719,3.87584245454e-05,1793196750645408000
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,743.912126265,712,674,661,633,877,783.087873735,801,649.087873735,629.912126265,651,0.401003455479,0.00446610589317,0.0798492767928,0.999999981618,6.85981895451e-05,-0.000174795775026,3.87900004965e-05,1793196750662074368
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,743.33298972,712,674,661,633,877,783.66701028,801,649.66701028,629.33298972,651,0.401006764964,0.0044649302248,0.0798512679919,0.999999982009,6.82930453781e-05,-0.000172522580766,3.94305972903e-05,1793196750678740992
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,743,712,674.244952673,661,633,877,784,800.755047327,650,629.244952673,651,0.401011758301,0.00446476437267,0.0798539506658,0.999999982271,6.84014597001e-05,-0.000170882054353,3.97237365792e-05,1793196750695407616
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,743,712,674.82127956,661,633,877,784,800.17872044,650,629.82127956,651,0.401019029571,0.00446596460925,0.0798575687726,0.999999982366,6.90693397488e-05,-0.000170097406969,3.95468321301e-05,1793196750712074240
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,743,712,674.604179672,661,633,877,784,800,650,630,651,0.401041775166,0.0044655960445,0.0798668530099,0.999999983601,6.88532886167e-05,-0.000162735948498,3.96871523237e-05,1793196750728740864
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,743,712,674.030441699,661,633,877,784,800,650,630,651,0.401071476331,0.00446452231789,0.0798786841217,0.999999985257,6.82399184932e-05,-0.000152418273049,3.99700620961e-05,1793196750745407488
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,743,712,674,661,633,877,784,800.560122311,650,629.439877689,651,0.401125880107,0.00446315012073,0.0798948055418,0.999999988552,6.51816088434e-05,-0.000130784122289,3.92843341914e-05,1793196750762074368
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,743,712,673.851929644,661,633,877,784,800.851929644,650,629.148070356,651,0.40118619251,0.00446252356881,0.0799099541488,0.999999991257,6.30306344339e-05,-0.00010976127714,3.82941905909e-05,1793196750778741248
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,743,712,673.274305444,661,633,877,784,800.274305444,650,629.725694556,651,0.401259630563,0.00446410865796,0.0799215832368,0.999999993024,6.39092695801e-05,-9.23513021544e-05,3.6578383469e-05,1793196750795407872
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,743,712,673.302408924,661.302408924,633.302408924,877,784,800.302408924,649.697591076,629.697591076,651,0.401338013355,0.00446548011588,0.0799283103529,0.999999994001,6.27833992527e-05,-8.30796346717e-05,3.39841871164e-05,1793196750812074496
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,743,712,673.878300455,661.878300455,633.878300455,877,784,800.878300455,649.121699545,629.121699545,651,0.401420867902,0.00446665837694,0.0799306043845,0.999999994447,5.98447603583e-05,-8.11678222851e-05,3.05956222012e-05,1793196750828740864
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,743,712,674,661.536573963,633.536573963,876.536573963,784,800.536573963,649,629,651,0.401525527936,0.00446812045853,0.0799329541568,0.999999994857,5.78688618048e-05,-7.90215754199e-05,2.6331733292e-05,1793196750845407232
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,743,712,674,661,633,876.050295597,783.949704403,800,649.050295597,629,651,0.401638603159,0.00446953341435,0.0799354681999,0.999999995276,5.58234760043e-05,-7.65385431901e-05,2.17561366709e-05,1793196750862073856
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,743,712,674,661,633,876.629485979,783.370514021,800,649.629485979,629,651,0.40177872973,0.00446963006701,0.0799395526121,0.999999996066,5.03347047851e-05,-7.11745246739e-05,1.6369072916e-05,1793196750878740736
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660.79191065,633,877,783,800,650,629.20808935,650.79191065,0.401931526461,0.00446919022801,0.0799455131699,0.999999997045,4.30621413093e-05,-6.27579472419e-05,1.07902777207e-05,1793196750895407104
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660.214349603,633,877,783,800,650,629.785650397,650.214349603,0.402106819595,0.0044677978247,0.0799548049054,0.999999998259,3.26223776303e-05,-4.892141917e-05,4.87105558151e-06,1793196750912073984
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660.36202103,633,877.36202103,783,800,650,630,650.36202103,0.402297015555,0.00446608726996,0.0799597113396,0.999999998885,1.98228872564e-05,-4.27984123372e-05,-2.26077761551e-06,1793196750928741120
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660.937689195,633,877.937689195,783,800,650,630,650.937689195,0.402496006452,0.00446418895765,0.0799620297838,0.999999999083,5.63080041597e-06,-4.12275477647e-05,-1.01082352111e-05,1793196750945408256
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,743,712,674,661.524716459,633,877.475283541,783.524716459,800.524716459,649.475283541,630,651,0.402713257068,0.00446091720825,0.0799546166812,0.99999999804,-9.26595760023e-06,-5.95965954466e-05,-1.68318343522e-05,1793196750962074624
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,743,712,674,662,633,877,783.88872165,800.88872165,649,630,651,0.402941337325,0.00445968659093,0.0799467978235,0.999999996455,-2.37854884358e-05,-7.76937741504e-05,-2.20674011872e-05,1793196750978740736
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,743,712,674,662,633,877,783.309907679,800.309907679,649,630,651,0.403205606379,0.00446773219881,0.0799422370157,0.999999995537,-3.63607415924e-05,-8.44798763734e-05,-2.16241452725e-05,1793196750995407616
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,743.267325651,712,674,661.732674349,633,877,783.267325651,800,649,630,651,0.403495740916,0.00447479001663,0.0799411123141,0.999999995163,-4.28347311695e-05,-8.56037124164e-05,-2.25892471115e-05,1793196751012073984
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743.842737298,712,674,661.157262702,633,877,783.842737298,800,649,630,651,0.403815684746,0.00448070943111,0.0799439476376,0.999999995573,-4.2277169319e-05,-8.02019306941e-05,-2.5177445375e-05,1793196751028740608
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,743.583207173,712,674.416792827,661,633,877,784,800,649.416792827,630,651,0.404161115435,0.00448675713414,0.0799456836631,0.999999996243,-2.76219313417e-05,-7.75801027834e-05,-2.70613642403e-05,1793196751045407488
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,743.009661683,712,674.990338317,661,633,877,784,800,649.990338317,630,651,0.404516131533,0.00449285308539,0.0799470062508,0.999999996671,-7.66466285976e-06,-7.60037947964e-05,-2.8680408826e-05,1793196751062074368
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,743,712,674.417132579,661,633,877.582867421,784,800.582867421,650,629.417132579,651,0.404936978796,0.00450342605559,0.0799485456983,0.999999997258,7.31911322954e-06,-6.72022715263e-05,-3.02207029581e-05,1793196751078741248
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,743,712,674,661,633,877.829043846,784,801,650,629,651,0.405362659728,0.00451353875104,0.0799476888719,0.99999999718,2.08625258872e-05,-6.46872138034e-05,-3.19311923931e-05,1793196751095407872
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,743,712,674,661,633,877.252267984,784,801,650,629,651,0.405797137289,0.00452237673802,0.0799411348942,0.999999995939,3.11890574255e-05,-7.73889907826e-05,-3.40488982549e-05,1793196751112074240
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,743,712,674,661,633,877,783.675095632,800.675095632,649.675095632,629,651,0.406258969189,0.00453155414872,0.0799343312296,0.999999994646,3.49167628302e-05,-9.0403322582e-05,-3.62706921702e-05,1793196751128740608
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,743,712,674,661,633,877,783.097614992,800.097614992,649.097614992,629,651,0.406742066028,0.00454099542378,0.0799273334613,0.999999993322,3.35146309582e-05,-0.000103660631635,-3.85734029593e-05,1793196751145407232
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,743,712,674,661,633,877,783,800.487851119,649,629,650.512148881,0.40724395019,0.00455290819464,0.0799261139772,0.99999999187,5.3527548063e-05,-0.000108507172663,-4.02718012062e-05,1793196751162073856
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.926024442,743,712,674,661,633,877,783,800.926024442,649,629.073975558,650,0.407757375953,0.00456524817041,0.0799248039927,0.999999989773,7.5825602691e-05,-0.000113833993638,-4.17881449438e-05,1793196751178740992
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.34650195,743,712,674,661,633,877,783,800.34650195,649,629.65349805,650,0.408323559239,0.00457707184201,0.0799148426935,0.999999986558,8.39695277772e-05,-0.000134135492597,-4.29004354134e-05,1793196751195407872
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.231470745,743,712,674,661.231470745,633,877,783.231470745,800,649.231470745,629.768529255,650.231470745,0.408915418155,0.00458766139011,0.079914425578,0.999999985082,9.53951884547e-05,-0.000137067180667,-4.4150769858e-05,1793196751212074496
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.807138856,743,712,674,661.807138856,633,877,783.807138856,800,649.807138856,629.192861144,650.807138856,0.40954545674,0.00459641579388,0.0799282006795,0.999999986204,0.000111700794672,-0.000114169931174,-4.56063758459e-05,1793196751228740864
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.618545593,743,712,674.381454407,662,633,877,784,800,649.618545593,629,650.618545593,0.410222830877,0.00460278958861,0.0799588029232,0.999999990659,0.000111678728471,-6.2843458478e-05,-4.75362618944e-05,1793196751245407744
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.044911488,743,712,674.955088512,662,633,877,784,800,649.044911488,629,650.044911488,0.410924053013,0.00460796401373,0.0799978828115,0.999999993412,0.000103430653062,2.8058774766e-06,-4.9705093721e-05,1793196751262074368
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.545896672,743,712,675,662,633,877,784,800.545896672,649,629,650,0.411582648961,0.00459869498316,0.0799871308347,0.999999993521,0.000100173439058,-1.91751371574e-05,-5.0560546049e-05,1793196751278740992
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,743,712,675,661.864345186,633,877,783.864345186,800.864345186,649,629,650.135654814,0.412249557788,0.00458962216896,0.0799661461444,0.999999992772,9.35461458664e-05,-5.47705911568e-05,-5.2004299009e-05,1793196751295407616
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,712,675,661.282832989,633,877,783.282832989,800.282832989,649,629,650.717167011,0.412955688997,0.00458522664213,0.0799254417972,0.999999989553,7.44490284413e-05,-0.000110647707959,-5.57482969063e-05,1793196751312074240
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,743,712,675,661.290779346,633,877.290779346,783.290779346,800.290779346,649.290779346,629.290779346,651,0.413682867746,0.00457960156187,0.0799053427989,0.999999987482,6.13450937002e-05,-0.000133993407633,-5.76056055815e-05,1793196751328740864
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,743,712,675,661.856911007,633,877.856911007,783.856911007,800.856911007,649.856911007,629.856911007,651,0.414429977459,0.00457281216051,0.0799047559469,0.999999988878,5.39163767827e-05,-0.000126533621426,-5.76763221684e-05,1793196751345407488
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,712,675,662.435767643,633,877.564232357,783.564232357,801,650,629.564232357,650.564232357,0.41522672078,0.00456952692756,0.0799269780892,0.999999993095,4.53421248333e-05,-9.11966552958e-05,-5.86316134946e-05,1793196751362074112
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,712,675,662.980723394,633,877.019276606,783.019276606,801,649.980723394,629.019276606,650,0.416038567336,0.00456770072624,0.079955413241,0.999999996318,3.72227263954e-05,-4.90385571487e-05,-5.97740244633e-05,1793196751378740992
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,712,675,662.386832105,633,877.613167895,783.613167895,801,649.386832105,629.613167895,650,0.416800195628,0.00457403589318,0.0799390798446,0.999999993293,5.42118587446e-05,-8.46214944555e-05,-5.75755498229e-05,1793196751395407616
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,712,675,662,633,878,784,800.799372873,649.200627127,630,650,0.417611162881,0.0045780962593,0.079937120114,0.999999992357,6.65604321507e-05,-8.76804752686e-05,-5.62846339143e-05,1793196751412073984
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,712,675,662,633,878,784,800.223930175,649.776069825,630,650,0.41851430611,0.00457790679705,0.0799620135514,0.999999995477,7.02394203858e-05,-2.99775541566e-05,-5.66892373487e-05,1793196751428740608
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.349975712,743,712,675,662.349975712,633,878,784,800.349975712,650,630,650.349975712,0.419382077817,0.00457833542009,0.079974207967,0.999999995755,7.19623023751e-05,-3.32169227961e-06,-5.74563330883e-05,1793196751445407232
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.922902554,743,712,675,662.922902554,633,878,784,800.922902554,650,630,650.922902554,0.420227316154,0.00457915779277,0.0799783125023,0.999999995662,7.24390518565e-05,3.5557178647e-06,-5.84543536882e-05,1793196751462074112
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.486965083,743.513034917,712,675.513034917,662.486965083,633,878,784,801,650,629.486965083,651,0.421057149086,0.00458199739409,0.0799633009925,0.99999999508,7.81343074826e-05,-2.19288155456e-05,-5.70517977268e-05,1793196751478740736
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.103085922,744,712,676,662.103085922,633,878,784,801,650,629,651,0.421898539582,0.00458475328365,0.0799530204307,0.999999994098,8.41662037385e-05,-4.02430136813e-05,-5.56739071891e-05,1793196751495407360
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.680453713,744,712,676,662.680453713,633,878,784,801,650,629,651,0.422804125245,0.00458568091583,0.0799781817023,0.999999994549,8.80136434911e-05,-2.41611616597e-06,-5.61268554988e-05,1793196751512074240
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743.742211993,712,675.742211993,663,633,878.257788007,784,800.742211993,650,629,651,0.423696500314,0.00458697552564,0.0799887528011,0.999999994517,8.81801507275e-05,7.08258799528e-06,-5.60321059738e-05,1793196751528740864
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743.164919138,712,675.164919138,663,633,878.835080862,784,800.164919138,650,629,651,0.42457250217,0.00458872497105,0.0799812407075,0.999999994792,8.37844766222e-05,-1.85289286336e-05,-5.52585347786e-05,1793196751545407488
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.581134461,743.418865539,712,675.418865539,662.581134461,633,878.581134461,783.581134461,800.837731079,650,629.418865539,651,0.425402272597,0.00459083671059,0.0799426075775,0.999999991094,8.74070678112e-05,-8.37023388464e-05,-5.62621300909e-05,1793196751562074112
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.005183915,744,712,676,662.005183915,633,878,783,801.994816085,650,629.994816085,651,0.42621435662,0.00459305804229,0.0798919979813,0.999999980468,9.42218503964e-05,-0.000163784620466,-5.79674171595e-05,1793196751578740480
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.584577451,744,712,676,662.584577451,633,878,783,801.415422549,650,629.415422549,651,0.427115366423,0.00459136942362,0.0798934109027,0.999999983149,9.94278770114e-05,-0.000142739549686,-5.86709621155e-05,1793196751595407104
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743.836615746,712,676,663,633,878,783.163384254,801,650,629,651,0.428007627672,0.00459006309719,0.0798977901292,0.999999985275,9.84278160001e-05,-0.000127547609616,-5.91077533975e-05,1793196751612074240
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743.259295469,712,676,663,633,878,783.740704531,801,650,629,651,0.428877724297,0.00458972531296,0.0799096845259,0.999999986841,8.17045552557e-05,-0.000127184649735,-5.88687209649e-05,1793196751628740608
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.684314145,743.315685855,712,675.684314145,662.684314145,633,878,784,801,649.684314145,629,651,0.429778497737,0.00458916469789,0.0799365991495,0.999999990617,8.28376484412e-05,-9.22839463592e-05,-5.82042782978e-05,1793196751645407232
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.111239869,743.888760131,712,675.111239869,662.111239869,633,878,784,801,649.111239869,629,651,0.43070428289,0.00458842240197,0.079975760227,0.999999993083,9.8529578619e-05,-2.92235545403e-05,-5.7192985368e-05,1793196751662074112
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.47685102,743.52314898,712,675.47685102,662.47685102,633,878,784,801.47685102,649,629.47685102,651,0.431578011068,0.00458828230522,0.0800072004272,0.999999993585,9.66646614568e-05,1.89955479596e-05,-5.58968042446e-05,1793196751678740736
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.932912676,743,712,675.932912676,663,633,877.932912676,784,802,649.067087324,629.932912676,651,0.4324257227,0.00458861509239,0.0800259301017,0.999999993264,9.11859990329e-05,4.6453916618e-05,-5.477104308e-05,1793196751695407104
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.353905705,743,712,675.353905705,663,633,877.353905705,784,802,649.646094295,629.353905705,651,0.433170589289,0.00459144947297,0.0799618608796,0.999999992738,9.04008709832e-05,-5.72278958912e-05,-5.54693097133e-05,1793196751712073728
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743.223736685,712,675.223736685,663,633,877.223736685,784,801.776263315,649.776263315,629.223736685,650.776263315,0.433937292333,0.00459199806127,0.0799117667445,0.9999999858,8.99490793606e-05,-0.000130896570308,-5.63508409313e-05,1793196751728740608
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743.799233762,712,675.799233762,663,633,877.799233762,784,801.200766238,649.200766238,629.799233762,650.200766238,0.434738326919,0.00458895291128,0.0798836443301,0.99999998191,9.0021362682e-05,-0.000157378394421,-5.75205028576e-05,1793196751745407488
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743.625623635,712,676.374376365,663.374376365,633,878,784,801,649.374376365,630,650,0.435557665987,0.00458697572698,0.0799012674112,0.99999998616,8.84322615307e-05,-0.000128578550977,-5.76891252045e-05,1793196751762074112
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743.050670982,712,676.949329018,663.949329018,633,878,784,801,649.949329018,630,650,0.436386811837,0.00458557071732,0.0799433991504,0.999999992202,8.5953054993e-05,-7.01609391876e-05,-5.73214292777e-05,1793196751778740480
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,711.460372741,677,663.460372741,633,878,784,801,650,629.460372741,650,0.437153557671,0.00458527610738,0.0799707400374,0.999999994479,8.11663793724e-05,-3.69273408183e-05,-5.55952715391e-05,1793196751795407616
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,711.127903838,677,663,633,878,784,801.127903838,650,629,650.127903838,0.43790710344,0.0045846331456,0.0799927820318,0.999999995502,7.73129556129e-05,-8.14959090173e-06,-5.43425992773e-05,1793196751812074496
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711.703901828,677,663,633,878,784,801.703901828,650,629,650.703901828,0.438635532823,0.00458239380373,0.080001268163,0.99999999538,7.75103536184e-05,1.3544860103e-05,-5.52086890125e-05,1793196751828740864
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,712,676.718915437,663.281084563,633,878,783.718915437,801.718915437,650,629.281084563,651,0.439335545244,0.00458097252153,0.0799962032039,0.999999995539,7.53479540084e-05,1.05382782312e-05,-5.59835960455e-05,1793196751845407488
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,712,676.140479429,663.859520571,633,878,783.140479429,801.140479429,650,629.859520571,651,0.440005496116,0.00458041664177,0.0799768029276,0.999999995723,7.06891909174e-05,-1.859883215e-05,-5.6662043395e-05,1793196751862074112
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,712,676,663.555687733,633,878,783.444312267,801,650,630,651,0.440595838548,0.00457924488241,0.0799229856486,0.999999990822,6.95372626317e-05,-0.000101419043183,-5.68744188018e-05,1793196751878740736
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.03074229,743,712,676.03074229,662.96925771,632.96925771,878.03074229,784,801,649.96925771,629.96925771,651,0.44116150024,0.00457802468063,0.079860092587,0.999999976328,6.93649190232e-05,-0.000198183060679,-5.70637938238e-05,1793196751895407360
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.610028289,743,712,676.610028289,662.389971711,632.389971711,878.610028289,784,801,649.389971711,629.389971711,651,0.441742409132,0.00457946505472,0.0798322412161,0.999999968046,6.66004642815e-05,-0.000236498686837,-5.95103066917e-05,1793196751912074240
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.812002162,743,712,677.187997838,662,632.187997838,879.187997838,783.812002162,801,649.187997838,629.187997838,650.812002162,0.44233216332,0.00458105462834,0.07982964545,0.999999967793,6.62897497834e-05,-0.000237459617064,-6.02709768343e-05,1793196751928741120
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.236744281,743,712,677.763255719,662,632.763255719,879.763255719,783.236744281,801,649.763255719,629.763255719,650.236744281,0.442940138196,0.00458295154095,0.0798790741416,0.999999982784,7.10335372396e-05,-0.000161472960955,-5.75589503611e-05,1793196751945408000
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,712,678,662,633,879.661191392,783.338808608,801.338808608,650,630,650.338808608,0.443504677603,0.00458553628332,0.0799132507595,0.999999989261,7.65554581984e-05,-0.000111853418209,-5.57380859321e-05,1793196751962074624
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,712,678,662,633,879.08543222,783.91456778,801.91456778,650,630,650.91456778,0.444038839767,0.00458860206901,0.0799367606223,0.999999991845,8.26215776284e-05,-8.06740918768e-05,-5.45404684923e-05,1793196751978741248
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.503357945,743,712,678,661.496642055,633,878.496642055,784,801.496642055,650,629.496642055,651,0.444494699923,0.00458999394388,0.0799182227707,0.999999988939,8.29498402562e-05,-0.000110546693622,-5.49690769121e-05,1793196751995407616
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,743,712,678,660.907539962,632.907539962,878.092460038,784,801,650,629.092460038,651,0.444928818327,0.00459105729326,0.0798912681404,0.999999983299,8.18208212446e-05,-0.000153725958135,-5.54666668387e-05,1793196752012073984
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,743,712,678,660.328739755,632.328739755,878.671260245,784,801,650,629.671260245,651,0.445320337083,0.00459192669954,0.0798585770217,0.999999973183,7.82851143899e-05,-0.000210945578935,-5.48366999475e-05,1793196752028740608
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.752679898,743,711.752679898,678,660,632,879,783.752679898,801,650,630,651,0.445706658502,0.00459241013069,0.0798366614987,0.999999964984,7.88649897882e-05,-0.000246673548218,-5.44456270802e-05,1793196752045407488
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.180222665,743,711.180222665,678,660,632,879,783.180222665,801,650,630,651,0.446086147258,0.00459238614305,0.0798289120178,0.999999962626,8.48553786519e-05,-0.000254147708732,-5.43686143087e-05,1793196752062074112
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.404506287,743,711,677.595493713,659.595493713,632,879,783,801,649.595493713,629.595493713,651,0.446447761307,0.00459628340186,0.0798216347402,0.999999960638,9.05908172548e-05,-0.000259772109811,-5.50920816502e-05,1793196752078740736
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.994873862,743,711,677.005126138,659.005126138,632,879,783,801,649.005126138,629.005126138,651,0.446801162375,0.00460198238276,0.0798145744284,0.999999958801,9.62091126298e-05,-0.000264546589844,-5.61833510895e-05,1793196752095407360
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.425942627,743,711,677.574057373,658.425942627,632,879,783,801.574057373,649.574057373,629.574057373,651,0.447109199854,0.0046111379955,0.0798116410891,0.999999958204,0.00010140491866,-0.000263963917566,-6.02737187252e-05,1793196752112073984
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+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711,678,658,632,879,783.120540047,801.241080095,649.879459953,629,651,0.448077118948,0.00463934641843,0.079760163578,0.999999929578,0.000136828358454,-0.000343583246372,-6.38211987693e-05,1793196752178740736
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+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743.943857495,711,678,657,632,879,783,801,650,629.943857495,651,0.44845506468,0.00463019107368,0.0797448539813,0.999999924949,0.000120482063233,-0.000362785327438,-6.30323183584e-05,1793196752212074240
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+256,4.266666667,HOLD_POSE2,764.82053745,743,711,678,656,631,879,783,801,650,629.82053745,651,0.449527531029,0.00463017942717,0.0797187061642,0.999999909397,0.000132641673333,-0.000400852372176,-5.41192549865e-05,1793196753067031808
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+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,743,711.829791818,676.170208182,661.170208182,633,878,783.829791818,801,649,630,651,0.431696247451,0.00448307604141,0.0797254459209,0.999999896639,4.34075227517e-05,-0.000450473920983,4.37251956379e-05,1793196754216198400
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764.59430216,743,712,676,660.59430216,633,878.40569784,784,801,649.40569784,629.59430216,650.59430216,0.430952630406,0.00447536278652,0.0797395730123,0.999999905688,3.15992706648e-05,-0.000430968715292,4.3482944389e-05,1793196754232865024
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764.018055212,743,712,676,660.018055212,633,878.981944788,784,801,649.981944788,629.018055212,650.018055212,0.430228112777,0.00446771559493,0.079771114546,0.999999927178,1.51960278627e-05,-0.000378955927666,4.24843532415e-05,1793196754249531648
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764.57206136,743,712,676,661.144122721,633,878.42793864,784,801,649.42793864,629.57206136,650.57206136,0.429548991789,0.00445478714577,0.0798291668079,0.999999958186,1.80069964459e-06,-0.000285743070168,4.44380445413e-05,1793196754266198784
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.840888955,743,712,676,662,633,878,784,801,649,629.840888955,651,0.428839771311,0.00444336090722,0.079867370599,0.999999973714,-7.14107234822e-06,-0.000224485308753,4.61131790361e-05,1793196754282865664
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764.263090092,743,712,676,662,633,878,784,801,649,629.263090092,651,0.428047482543,0.0044363371323,0.0798510882683,0.999999967438,-4.61969179089e-06,-0.000250821572478,4.68040293339e-05,1793196754299532032
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764.312640111,743,712,676,661.374719779,633,878,784,801.312640111,649.312640111,629.312640111,650.687359889,0.427237698219,0.00442871263447,0.0798150362988,0.999999952928,-6.02807098153e-06,-0.000303245497323,4.63732516083e-05,1793196754316198656
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764.886640926,743,712,676,660.226718149,633,878,784,801.886640926,649.886640926,629.886640926,650.113359074,0.426413288011,0.00442058594498,0.0797624573185,0.999999927685,-1.07216486266e-05,-0.000377478168023,4.50048157036e-05,1793196754332865536
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764.541904971,743,712,676,660.916190057,633,878,784,801.083809943,650,630,650,0.425610519966,0.00441237074081,0.0797486964993,0.999999918545,-3.42091189552e-05,-0.000399801245218,4.35726309167e-05,1793196754349531904
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,743.62898108,712,676,662,633,878,783.37101892,800,650,630,650.62898108,0.424014748878,0.00440804441496,0.0797405050872,0.999999910403,-3.74229131837e-05,-0.000419224150499,4.52217003575e-05,1793196754382865152
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,743,712,675.369638807,660.739277614,633,878,783.369638807,800.369638807,650,630,650.369638807,0.421805526343,0.00446112301752,0.079801641453,0.999999953399,1.97287332503e-05,-0.000301604760083,4.29907353972e-05,1793196754432865792
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,743,712,675.944736922,661.889473844,633,878,783.944736922,800.944736922,650,630,650.944736922,0.421100269824,0.00446465112272,0.0798516559174,0.999999975115,3.23625823247e-05,-0.000216637430385,4.23247396387e-05,1793196754449532160
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,743,712,675,661,633,878,784,801,649.881756623,630,650.881756623,0.419566555071,0.00444462997717,0.0798387417074,0.999999969325,1.43205752758e-05,-0.000243247612688,4.44479934082e-05,1793196754482865152
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,743,712,675,661,633,877.147199307,784,801,649,630,650,0.417289173147,0.00444595423325,0.0797836956843,0.999999941918,-1.95571967604e-06,-0.000338336609563,4.10867342193e-05,1793196754532865280
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,661.408365054,633,877.408365054,783,801,649.591634946,630,650.591634946,0.415159894516,0.00446067936727,0.0797967245349,0.999999942579,2.0178140661e-05,-0.000335661055085,4.20258374722e-05,1793196754582865664
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,743,712,675.664998524,661.335001476,633.335001476,878,784,801,650,630,651,0.413170173075,0.00444802894032,0.0797901944449,0.999999944492,-1.15785648819e-05,-0.000330875423877,3.74614110613e-05,1793196754632865280
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.918780195,743,711.918780195,675,661,632.918780195,877.918780195,784,800.081219805,649,630,651,0.4112509106,0.00445268031781,0.0797737574627,0.999999930594,-8.04516356058e-06,-0.000370462232627,3.87990006892e-05,1793196754682865408
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.335695178,743,711.335695178,675,661,632.335695178,877.335695178,784,800.664304822,649,630,651,0.410656175333,0.00445564266963,0.0797725361419,0.999999930572,1.99422706512e-06,-0.000370573466693,3.90831554458e-05,1793196754699532032
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,743,711.24350657,675,661,632.24350657,877,784,801,649,630,651,0.410094657933,0.00445757541814,0.0797856317007,0.999999938775,6.81604575639e-06,-0.000347635930063,3.94002424666e-05,1793196754716198912
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,743,711.817438875,675,661,632.817438875,877,784,801,649,630,651,0.409578215495,0.0044581110483,0.0798181545198,0.999999956151,4.55789020963e-06,-0.000293422411152,3.97620167535e-05,1793196754732865536
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.392130076,743,712,675,661,633,877,784,800.607869924,649,630,651,0.409062339165,0.00445713625641,0.0798352763158,0.999999964193,6.97739563389e-06,-0.000264421945164,4.05694231418e-05,1793196754749532160
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.441045838,661,633,877,784,800,649.558954162,629.441045838,651,0.40799960341,0.00445686445221,0.0798183188921,0.999999954882,9.31806992474e-06,-0.000297335581139,4.17247363975e-05,1793196754782865408
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.125206213,742.125206213,712,674,661,633,877.874793787,784,800.874793787,649,630,651,0.406125029879,0.00445738516245,0.0797688423385,0.999999930996,1.077993516e-05,-0.000369223094098,3.95790523591e-05,1793196754849531648
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742.461579854,712,674,661.461579854,633,877.538420146,784,800.538420146,649,629.538420146,651,0.405751197627,0.00445805925547,0.0797857391367,0.999999942922,5.6120082895e-06,-0.000335578555309,3.88909230016e-05,1793196754866198528
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.630338924,743.630338924,712,674,661.369661076,633,877.630338924,784,800.630338924,649,629.630338924,650.369661076,0.405008843998,0.0044608095969,0.0798094929602,0.999999953899,1.73335990399e-05,-0.000300569343793,3.94820616824e-05,1793196754899531776
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+410,6.833333333,POSE2_TO_POSE3_RETREAT,764,743,712,674.261517434,660.738482566,633,877.738482566,784,801,650,630,651,0.40095519735,0.0044403151808,0.0798261553346,0.999999955258,4.07369557418e-05,-0.000292679955644,4.65171018784e-05,1793196755649532160
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+418,6.966666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,661,633,877,784,800,650,629.371685563,651,0.400953608358,0.00444086569347,0.0798268109661,0.999999955223,4.30632093754e-05,-0.000292468791716,4.64900346244e-05,1793196755782865408
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..381392c4f87eec0b2f8e4b6fbf0e5d677e904b6e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,422 @@
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+394,6.566666667,pose2_to_pose3_retreat,0.578266527078,0.0100012897516,1.07001134127,0.548837760683,0.0186749516757,1.06966088287
+395,6.583333333,pose2_to_pose3_retreat,0.578261939189,0.0100014513313,1.07001164457,0.548833171732,0.0186751095779,1.06966118396
+396,6.600000000,pose2_to_pose3_retreat,0.57825952835,0.0100014992659,1.07001180621,0.548830760649,0.0186751565774,1.06966134286
+397,6.616666667,pose2_to_pose3_retreat,0.578258046268,0.0100014565565,1.07001191,0.54882927903,0.0186751152402,1.06966144187
+398,6.633333333,pose2_to_pose3_retreat,0.578257010089,0.0100014266967,1.07001198256,0.548828243175,0.0186750863397,1.0696615111
+399,6.650000000,pose2_to_pose3_retreat,0.578256638386,0.0100014159853,1.07001200859,0.548827871587,0.0186750759724,1.06966153593
+400,6.666666667,pose2_to_pose3_retreat,0.578256531842,0.010001412915,1.07001201605,0.548827765077,0.0186750730008,1.06966154305
+401,6.683333333,pose2_to_pose3_retreat,0.57825641986,0.010001409688,1.0700120239,0.54882765313,0.0186750698775,1.06966155053
+402,6.700000000,pose2_to_pose3_retreat,0.578256204984,0.0100014034958,1.07001203894,0.548827438321,0.0186750638843,1.06966156488
+403,6.716666667,pose2_to_pose3_retreat,0.578256027526,0.010001398382,1.07001205137,0.548827260919,0.0186750589348,1.06966157674
+404,6.733333333,pose2_to_pose3_retreat,0.578255822574,0.0100013924759,1.07001206572,0.548827056031,0.0186750532184,1.06966159043
+405,6.750000000,pose2_to_pose3_retreat,0.578255723099,0.0100013894347,1.0700120681,0.548826956602,0.0186750503299,1.06966159274
+406,6.766666667,pose2_to_pose3_retreat,0.57825564209,0.0100013866466,1.07001206187,0.548826875657,0.0186750477743,1.0696615869
+407,6.783333333,pose2_to_pose3_retreat,0.578255592818,0.0100013849508,1.07001205807,0.548826826423,0.0186750462199,1.06966158334
+408,6.800000000,pose2_to_pose3_retreat,0.578255374323,0.0100013774309,1.07001204125,0.5488266081,0.0186750393271,1.06966156758
+409,6.816666667,pose2_to_pose3_retreat,0.578255349179,0.0100013765656,1.07001203931,0.548826582977,0.0186750385339,1.06966156576
+410,6.833333333,pose2_to_pose3_retreat,0.578254729087,0.010001355224,1.07001199157,0.548825963373,0.0186750189719,1.06966152101
+411,6.850000000,pose2_to_pose3_retreat,0.578254580743,0.0100013501184,1.07001198015,0.548825815146,0.0186750142921,1.06966151031
+412,6.866666667,pose2_to_pose3_retreat,0.57825426672,0.0100013393108,1.07001195597,0.548825501371,0.0186750043857,1.06966148765
+413,6.883333333,pose2_to_pose3_retreat,0.578254145711,0.010001335146,1.07001194665,0.548825380457,0.0186750005682,1.06966147892
+414,6.900000000,pose2_to_pose3_retreat,0.578253943131,0.0100013281739,1.07001193106,0.548825178037,0.0186749941775,1.0696614643
+415,6.916666667,pose2_to_pose3_retreat,0.57825347642,0.0100013124923,1.07001189397,0.548824711687,0.0186749798081,1.06966142937
+416,6.933333333,pose2_to_pose3_retreat,0.578253448959,0.0100013126999,1.07001188837,0.548824684227,0.0186749800119,1.06966142362
+417,6.950000000,pose2_to_pose3_retreat,0.578252942949,0.0100013165245,1.07001178518,0.54882417823,0.018674983768,1.06966131764
+418,6.966666667,pose2_to_pose3_retreat,0.578252501981,0.0100013198574,1.07001169526,0.548823737274,0.0186749870412,1.06966122528
+419,6.983333333,pose2_to_pose3_retreat,0.578252164949,0.0100013049559,1.07001153081,0.548823400122,0.0186749723034,1.06966107497
+420,7.000000000,pose2_to_pose3_retreat,0.578252174217,0.0100012545436,1.07001165103,0.548823409337,0.0186749213828,1.06966118707
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8819d578bd44f7f12a5fff3800cec2596e00855c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d34fc337df1084749653c05e19e83150ac1ccffb34c4edc4450923a1372afd8
+size 26809935
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5efc97947ba9e1454f80bb787e2141225b46e504
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_02/franka_data.csv
@@ -0,0 +1,424 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,743,712,674,661,633,877,784,801,650,630,651,0.400953627736,0.0044429574525,0.0798273635492,0.999999955308,4.4689283057e-05,-0.000291975874259,4.62187541593e-05,1793196755973123840
+1,0.016666667,BASELINE,764,743,712,674.574214574,661,633,877,784,800.425785426,650,630,651,0.400953692543,0.00444227693298,0.0798276876231,0.99999995558,4.44118889174e-05,-0.000291098398165,4.61354952929e-05,1793196755989790464
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+3,0.050000000,BASELINE,764,743,712,674.254402621,661,633,877.745597379,784,800.745597379,649.254402621,630,651,0.400953853934,0.00443976763984,0.0798275775443,0.99999995566,4.16568028516e-05,-0.000291164539253,4.65608535062e-05,1793196756023123712
+4,0.066666667,BASELINE,764,743,712,674,661,633,877.669796086,784,800.669796086,649,630,650.669796086,0.400954590836,0.0044400498566,0.0798276662008,0.999999955812,4.11953229066e-05,-0.000290733091096,4.64111547819e-05,1793196756039790592
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+9,0.150000000,BASELINE,764.766439983,743,712,674,661,633,877,784,801.233560017,649,629.766439983,651,0.400955197129,0.00443988487232,0.0798288676179,0.999999956537,3.94842751278e-05,-0.000288508330533,4.61585488972e-05,1793196756123123456
+10,0.166666667,BASELINE,764.187527779,743,712,674,661,633,877,784,801.812472221,649,629.187527779,651,0.400954405937,0.00444030748194,0.0798279613051,0.999999956121,3.97018977084e-05,-0.000289942696828,4.59988738311e-05,1793196756139790080
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+12,0.200000000,BASELINE,764,743,712,674,661,633,877,783.034497645,801.034497645,649,629.965502355,651,0.400952826527,0.00444052297319,0.0798274585904,0.999999955863,3.81795700323e-05,-0.000291035672447,4.59942533228e-05,1793196756173123840
+13,0.216666667,BASELINE,764.539995826,743,712,674.539995826,661,633,877,783.539995826,800.460004174,649.539995826,629.460004174,651,0.40095311765,0.00444029722908,0.0798276050049,0.999999955833,3.97075365335e-05,-0.00029089232983,4.62586708798e-05,1793196756189790464
+14,0.233333333,BASELINE,764.882235274,743,712,674.764470547,661,633.117764726,877,784,800.117764726,649.882235274,629,651,0.400953710539,0.00443998483205,0.079828097505,0.999999955959,4.07983709359e-05,-0.000290272062316,4.64613385214e-05,1793196756206457088
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+16,0.266666667,BASELINE,764,743.29404377,712,673.29404377,661,633.70595623,877,784,801,649,629,651,0.400954841286,0.00443973562786,0.079829479167,0.999999956532,3.8821815332e-05,-0.000288619668588,4.61241230324e-05,1793196756239790336
+17,0.283333333,BASELINE,764,743.87278535,712,673.87278535,661,633.12721465,877,784,801,649,629,651,0.40095257525,0.00444098063074,0.0798268696334,0.999999955444,3.87544371836e-05,-0.000292430707277,4.57722210677e-05,1793196756256456960
+18,0.300000000,BASELINE,764,743.547496066,712,674,661,633,877.452503934,784,801,649.452503934,629,651,0.400952383485,0.00444165799416,0.0798265603743,0.999999955328,4.06866357663e-05,-0.000292570354238,4.57197038831e-05,1793196756273123584
+19,0.316666667,BASELINE,764.031898179,743,712.031898179,674.031898179,661,633,877.968101821,784,801,649.968101821,629.031898179,651,0.400952717469,0.00444209009695,0.0798268873397,0.999999955472,4.30561218088e-05,-0.000291730568362,4.57677833108e-05,1793196756289789952
+20,0.333333333,BASELINE,764.601190917,743,712.601190917,674.601190917,661,633,877.398809083,784,801,649.398809083,629.601190917,651,0.400952063131,0.00444108459463,0.0798270144617,0.999999955422,4.33015198774e-05,-0.000291816651139,4.60895786589e-05,1793196756306456832
+21,0.350000000,BASELINE,765,743,712.822239083,674.822239083,661,633,877,784,801,649,630,651,0.400951648185,0.00444060516834,0.0798269791823,0.999999955361,4.34835054045e-05,-0.000291975126506,4.62417435794e-05,1793196756323123712
+22,0.366666667,BASELINE,765,743,712.228645612,674.228645612,661,633,877,784,801,649,630,651,0.400951793245,0.00444135638129,0.0798265640006,0.999999955275,4.35171512078e-05,-0.000292302948406,4.59970953895e-05,1793196756339790336
+23,0.383333333,BASELINE,764.645209191,743,712,674,661,633,877,784,800.645209191,649,629.645209191,651,0.400952370115,0.00444155080205,0.0798268585125,0.999999955437,4.32916658277e-05,-0.000291780164394,4.60015960281e-05,1793196756356456960
+24,0.400000000,BASELINE,764.068136268,743,712,674,661,633,877,784,800.068136268,649,629.068136268,651,0.400953217521,0.00444139638367,0.0798275976586,0.999999955754,4.29038306209e-05,-0.000290724462209,4.6162192368e-05,1793196756373123584
+25,0.416666667,BASELINE,764,743,712,674,661,633,877,784,800,649.506996608,629.506996608,651,0.400953022952,0.00444156134602,0.0798282160431,0.999999955984,4.21816894172e-05,-0.000290076554972,4.59123422396e-05,1793196756389790208
+26,0.433333333,BASELINE,764.08400794,743,712,674,661,633,877.08400794,784,800,649.91599206,630,651,0.400952746692,0.00444169592199,0.0798286771602,0.999999956151,4.14992046893e-05,-0.000289638859824,4.56553145323e-05,1793196756406457088
+27,0.450000000,BASELINE,764.673895264,743,712,674,661,633,877.673895264,784,800,649.326104736,630,651,0.40095281855,0.0044413900334,0.0798282886015,0.999999956012,4.13250397191e-05,-0.00029013825738,4.56859654933e-05,1793196756423123712
+28,0.466666667,BASELINE,765,743,712,674,661,633,877.740897997,784,800.259102003,649.259102003,629.740897997,651,0.400953072766,0.00444090033893,0.0798280213414,0.999999955998,4.08132559765e-05,-0.000290250809521,4.57425113198e-05,1793196756439790592
+29,0.483333333,BASELINE,765,743,712,674,661,633,877.161477726,784,800.838522274,649.838522274,629.161477726,651,0.400953552426,0.00444018341205,0.0798279040383,0.999999956138,3.98840865864e-05,-0.000289885118888,4.58310700135e-05,1793196756456457472
+30,0.500000000,BASELINE,765,743,712,674,661,633,877,784,800.586197306,650,629.413802694,651,0.400953381932,0.00444048183116,0.0798278433234,0.999999956084,4.09086949221e-05,-0.000289936508413,4.57775467638e-05,1793196756473123840
+31,0.516666667,BASELINE,765,743,712,674,661,633,877,784,800.012516386,650,629.987483614,651,0.400952960242,0.00444117254284,0.0798278044722,0.999999955953,4.26881715325e-05,-0.000290149042462,4.56691282458e-05,1793196756489790464
+32,0.533333333,BASELINE,764.439065902,743,712,674,661,633,877.560934098,784,800,649.439065902,630,651,0.400953437073,0.00444090826591,0.0798274687204,0.999999955935,4.02817077078e-05,-0.000290565935437,4.55855328395e-05,1793196756506456832
+33,0.550000000,BASELINE,764,743,712,674,661,633,878,784,800,649,630,651,0.400953516998,0.00444077109281,0.0798272030719,0.999999955874,3.85735873582e-05,-0.000291008065816,4.55842220843e-05,1793196756523123456
+34,0.566666667,BASELINE,764,743,712,674,661,633,878,784,800,649,630,651,0.400952234605,0.00444111880942,0.0798271881131,0.999999955679,3.9452261122e-05,-0.000291517762866,4.58499557688e-05,1793196756539790080
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+38,0.633333333,BASELINE,764,742.953602065,712,673.953602065,661,633,877,783.953602065,801,649.953602065,629.046397935,651,0.400952885052,0.00444013822678,0.0798278295983,0.999999956033,3.99933153485e-05,-0.000290275494125,4.5541144938e-05,1793196756606456832
+39,0.650000000,BASELINE,764,742.36230768,712,673.36230768,661,633,877,783.36230768,801,649.36230768,629.63769232,651,0.400952278771,0.00444051746378,0.0798274979221,0.999999955829,4.09380421423e-05,-0.000290831615144,4.56463808664e-05,1793196756623123712
+40,0.666666667,BASELINE,764.223847545,742.223847545,712,673.223847545,661,633,877.223847545,783,800.776152455,649,630,651,0.400952358972,0.00444058388783,0.0798278640284,0.999999955986,4.11101818832e-05,-0.000290231919525,4.58673798701e-05,1793196756639790592
+41,0.683333333,BASELINE,764.801871445,742.801871445,712,673.801871445,661,633,877.801871445,783,800.198128555,649,630,651,0.400953525341,0.00444015537256,0.0798293341808,0.999999956712,4.00599178662e-05,-0.000287803466155,4.62715416723e-05,1793196756656457216
+42,0.700000000,BASELINE,764.623137168,743,712,674,661,633,878,783.376862832,800,649.376862832,630,651,0.400953177858,0.00444050999438,0.0798285357447,0.999999956401,3.99214759368e-05,-0.000288946879622,4.5969593392e-05,1793196756673123584
+43,0.716666667,BASELINE,764.049727359,743,712,674,661,633,878,783.950272641,800,649.950272641,630,651,0.400952040848,0.00444127304926,0.0798265541613,0.999999955545,4.02585807356e-05,-0.000291953145025,4.52993843149e-05,1793196756689789952
+44,0.733333333,BASELINE,764.527757746,743,712,674,661,633,877.472242254,784,800,649.472242254,629.472242254,651,0.400953488904,0.00444250616898,0.079827627928,0.999999955922,4.24705167723e-05,-0.000290349458312,4.52738029181e-05,1793196756706456832
+45,0.750000000,BASELINE,765,743,712,674.108242848,661,633.108242848,877,784,800,649,629.108242848,651,0.400954695002,0.00444331851622,0.0798286523138,0.999999956318,4.40834172477e-05,-0.000288728496374,4.53483826121e-05,1793196756723123456
+46,0.766666667,BASELINE,765,743,712,674.700409871,661,633.700409871,877,784,800,649,629.700409871,651,0.400953721946,0.00444205014903,0.0798281588508,0.999999956312,4.2222276024e-05,-0.000288987352147,4.55970931861e-05,1793196756739790080
+47,0.783333333,BASELINE,765,743.285322187,712,674.714677813,661,633.714677813,877,784,800,649.285322187,630,651,0.400953210046,0.0044409349135,0.0798277043847,0.999999956183,4.07822188265e-05,-0.000289623085147,4.57009320659e-05,1793196756756456960
+48,0.800000000,BASELINE,765,743.862805968,712,674.137194032,661,633.137194032,877,784,800,649.862805968,630,651,0.400953170354,0.00443997648019,0.0798272898503,0.99999995593,3.97733391575e-05,-0.000290644729463,4.56564265886e-05,1793196756773124096
+49,0.816666667,BASELINE,764.561220015,743.561220015,712,674,661,633,877,784,800.438779985,650,630,651,0.400952577192,0.00444003748371,0.0798272160513,0.999999955746,4.08277327183e-05,-0.000291095031436,4.5871863044e-05,1793196756789790464
+50,0.833333333,BASELINE,764.014602648,743,712,674.014602648,661,633,877,784,800.985397352,650,630,651,0.400951860055,0.00444043635567,0.0798272627061,0.999999955593,4.25253366336e-05,-0.000291334033384,4.61553043576e-05,1793196756806457088
+51,0.850000000,BASELINE,764.602964071,743,712,674.602964071,661,633,877,784,800.397035929,650,630,651,0.400953047923,0.00444162940643,0.0798278704804,0.99999995584,4.42345594501e-05,-0.00029026580726,4.59282369748e-05,1793196756823123712
+52,0.866666667,BASELINE,764.811548736,743,712,674.811548736,661,633,877,784,800,650,630,651,0.400953702688,0.00444227893866,0.0798282022377,0.999999956009,4.49161718567e-05,-0.000289607181855,4.5732223722e-05,1793196756839790336
+53,0.883333333,BASELINE,764.232026138,743,712,674.232026138,661,633,877,784,800,650,630,651,0.400953251164,0.00444180056905,0.0798279612085,0.999999956024,4.34653019169e-05,-0.000289798553996,4.56006535642e-05,1793196756856456960
+54,0.900000000,BASELINE,764,743,712,674,661,633,877.346101058,784,800.346101058,650,629.653898942,651,0.40095248556,0.00444098147611,0.0798274098312,0.999999955872,4.09532350873e-05,-0.000290716795032,4.54197928564e-05,1793196756873123584
+55,0.916666667,BASELINE,764,743,712,674,661,633,877.92329651,784,800.92329651,650,629.07670349,651,0.400951510243,0.00443993487955,0.079826651232,0.999999955599,3.77325988217e-05,-0.000292120372123,4.52060204663e-05,1793196756889789952
+56,0.933333333,BASELINE,764.506995581,743,712,674,661,633,877.493004419,784,800.493004419,650,629.506995581,651,0.400951500867,0.00443979166736,0.0798271016856,0.999999955809,3.90517848767e-05,-0.000291171631451,4.55644274818e-05,1793196756906457088
+57,0.950000000,BASELINE,764.909100682,743,712,674,661,633,877.090899318,784,800,649.909100682,630,651,0.400951805488,0.00443989639358,0.0798277102942,0.999999956051,4.10399317516e-05,-0.000290002522438,4.59488795873e-05,1793196756923123968
+58,0.966666667,BASELINE,764.329455869,743,712,674,661,633,877.670544131,784,800,649.329455869,630,651,0.400953002435,0.00444058981885,0.0798281729786,0.999999956092,4.28840068474e-05,-0.00028958690981,4.60018803167e-05,1793196756939790336
+59,0.983333333,BASELINE,764.249999626,743,712,674,661,633,878,784,800,649,630,651,0.400954045928,0.00444115000461,0.0798286061354,0.999999956222,4.34511911184e-05,-0.000289061348089,4.59561805838e-05,1793196756956456960
+60,1.000000000,BASELINE,764.829205904,743,712,674,661,633,878,784,800,649,630,651,0.400954887349,0.00444153473687,0.0798290004096,0.999999956471,4.23369293253e-05,-0.000288391002202,4.57805092701e-05,1793196756973123584
+61,1.016666667,BASELINE,765,743,712,674,661,633,878,784,800,649,629.594181699,651,0.400954344574,0.0044409416034,0.0798287351254,0.999999956412,4.09578946547e-05,-0.000288818188681,4.5637773846e-05,1793196756989789952
+62,1.033333333,BASELINE,765,743,712,674,661,633,878,784,800,649,629.018654071,651,0.400953222942,0.00443993953581,0.0798281940203,0.999999956221,3.946813457e-05,-0.000289704352721,4.5508811906e-05,1793196757006456576
+63,1.050000000,BASELINE,764.432532183,743.567467817,712,674,661,633,877.432532183,784,800,649.567467817,629.567467817,650.432532183,0.400953374561,0.00443969794773,0.0798282341113,0.99999995621,4.00025865467e-05,-0.00028964469296,4.5663898977e-05,1793196757023125504
+64,1.066666667,BASELINE,764.151588747,743.848411253,712,674,661,633,877,784,800,650,630,650.151588747,0.400953305461,0.00443974855124,0.0798282648461,0.999999956147,4.07275563939e-05,-0.000289730617375,4.58546644327e-05,1793196757039792896
+65,1.083333333,BASELINE,764.729090522,743.270909478,712,674,661,633,877,784,800,650,630,650.729090522,0.400952496384,0.00444054853962,0.0798282145923,0.999999955922,4.17973028367e-05,-0.000290314602709,4.61189400336e-05,1793196757056457984
+66,1.100000000,BASELINE,764.693581062,743,712,674,661,633,877,784,800,649.693581062,629.693581062,651,0.40095228424,0.00444062334561,0.0798280614641,0.999999955796,4.22027283476e-05,-0.00029068106999,4.61728206461e-05,1793196757073123584
+67,1.116666667,BASELINE,764.116405859,743,712,674,661,633,877,784,800,649.116405859,629.116405859,651,0.400952599554,0.00444005736978,0.0798278174344,0.999999955759,4.20211500906e-05,-0.0002908553351,4.60407931491e-05,1793196757089790464
+68,1.133333333,BASELINE,764.458724671,743,712,674.458724671,661,633.458724671,877.458724671,784,800.458724671,649,629.458724671,651,0.400952414068,0.00444054172613,0.0798275275846,0.999999955613,4.17405859895e-05,-0.000291410442685,4.59479200384e-05,1793196757106457088
+69,1.150000000,BASELINE,764.965641748,743,712,674.965641748,661,633.965641748,877.965641748,784,800.965641748,649,630,651,0.400952273809,0.00444125172224,0.0798273447445,0.999999955515,4.14333057188e-05,-0.000291807217804,4.58533854805e-05,1793196757123123712
+70,1.166666667,BASELINE,764.373454925,743,712,674.373454925,661,633.373454925,877.373454925,784,800.373454925,649,630,651,0.40095492196,0.00444131700743,0.079829087216,0.999999956625,4.10982789188e-05,-0.000288071270579,4.55712778921e-05,1793196757139790592
+71,1.183333333,BASELINE,764.21376763,743,712,674,661,633,877,784,800.21376763,649,629.78623237,651,0.400955886748,0.00444113980442,0.0798298465189,0.999999957087,4.07033866085e-05,-0.000286548206422,4.53819399172e-05,1793196757156457216
+72,1.200000000,BASELINE,764.79251447,743,712,674,661,633,877,784,800.79251447,649,629.20748553,651,0.400953977423,0.00444054858575,0.0798289271954,0.99999995646,4.02062820123e-05,-0.000288803339112,4.53509934192e-05,1793196757173123840
+73,1.216666667,BASELINE,765,743,712,674.367797574,661,633,877.367797574,784,801,649.367797574,629.367797574,651,0.400952345238,0.00444118243254,0.0798278270379,0.99999995595,4.11724600219e-05,-0.000290420062835,4.540262365e-05,1793196757189790464
+74,1.233333333,BASELINE,765,743,712,674.941144876,661,633,877.941144876,784,801,649.941144876,629.941144876,651,0.400950867939,0.00444250092735,0.0798266258186,0.999999955504,4.29564176361e-05,-0.00029168000106,4.5500403247e-05,1793196757206457344
+75,1.250000000,BASELINE,764.482959907,743.517040093,712,675,661,633,877.482959907,784,800.482959907,650,630,651,0.400951846157,0.00444322355537,0.0798270733332,0.999999955668,4.41517756294e-05,-0.000290952438406,4.54052481593e-05,1793196757223124224
+76,1.266666667,BASELINE,764.095871454,743.904128546,712,674.904128546,660.904128546,633,877,784,800,649.904128546,629.904128546,651,0.400952965318,0.00444328109337,0.0798276713114,0.999999955915,4.46679597196e-05,-0.000290025328631,4.53804916536e-05,1793196757239791104
+77,1.283333333,BASELINE,764.688403517,743.311596483,712,674.311596483,660.311596483,633,877,784,800,649.311596483,629.311596483,651,0.40095335944,0.00444024626487,0.079828071692,0.999999956236,4.20145093184e-05,-0.000289242299731,4.58347707773e-05,1793196757256457472
+78,1.300000000,BASELINE,765,743,712,674,660.273121949,633,877.273121949,784,800,649.273121949,629.273121949,651,0.40095335806,0.00443862285351,0.0798285674713,0.999999956471,3.95967200719e-05,-0.00028875645752,4.59347118072e-05,1793196757273123584
+79,1.316666667,BASELINE,765,743,712,674,660.849173945,633,877.849173945,784,800,649.849173945,629.849173945,651,0.400952918014,0.00443856489931,0.0798291690608,0.999999956612,3.74403118428e-05,-0.000288600236535,4.56416428134e-05,1793196757289790208
+80,1.333333333,BASELINE,765,743,712,674,661,633,877.573901649,784,800.426098351,650,630,650.573901649,0.400953552971,0.00444008533707,0.0798293122443,0.999999956592,3.99901256726e-05,-0.00028832401588,4.56672419947e-05,1793196757306456832
+81,1.350000000,BASELINE,764.996602176,743,712,674,661,633,877,784,800.996602176,649.996602176,630,650.003397824,0.400954550595,0.00444214778926,0.0798292827349,0.999999956497,4.41743668523e-05,-0.000288022882248,4.58050445773e-05,1793196757323123456
+82,1.366666667,BASELINE,764.408008056,743,712,674,661,633,877,784,800.408008056,649.408008056,630,650.591991944,0.400952339169,0.00444113849261,0.0798275140648,0.999999955783,4.23560914962e-05,-0.000290761635555,4.58004117749e-05,1793196757339790848
+83,1.383333333,BASELINE,764.177787582,743,712,674,661,633,877,784,800.177787582,649,629.822212418,651,0.400951086431,0.00444016520404,0.0798265060643,0.999999955467,4.05961716852e-05,-0.000292104240144,4.57589565727e-05,1793196757356457984
+84,1.400000000,BASELINE,764.757260567,743,712,674,661,633,877,784,800.757260567,649,629.242739433,651,0.400951999713,0.00443927327034,0.0798272166869,0.999999956065,3.89680974586e-05,-0.000290292448569,4.5634306468e-05,1793196757373124352
+85,1.416666667,BASELINE,765,743,712,674,661,633,877,784,800.66621856,649.33378144,629.33378144,651,0.400952533761,0.00443955031073,0.0798280324382,0.99999995632,3.92483398571e-05,-0.000289367150774,4.56728647136e-05,1793196757389790976
+86,1.433333333,BASELINE,765,743,712,674,661,633,877,784,800.091825797,649.908174203,629.908174203,651,0.400952794434,0.00444067002356,0.0798289239731,0.999999956329,4.09042208182e-05,-0.000289080895336,4.58290741373e-05,1793196757406457344
+87,1.450000000,BASELINE,765,743,712,674,661,633,877.486542507,784,800,650,630,651,0.400952475979,0.00443993774456,0.0798286152105,0.999999956271,4.13628703628e-05,-0.000289192446724,4.59957135991e-05,1793196757423123712
+88,1.466666667,BASELINE,765,743,712,674,661.066616253,633,877.933383747,784,800.066616253,649.933383747,630,650.933383747,0.400952163059,0.00443908844502,0.0798282158098,0.999999956223,4.1447407747e-05,-0.000289326534584,4.61100297273e-05,1793196757439790080
+89,1.483333333,BASELINE,765,743,712,674,661.65410994,633,877.34589006,784,800.65410994,649.34589006,630,650.34589006,0.400952755085,0.00444007966025,0.0798288935797,0.999999956362,4.03880486715e-05,-0.000289044955387,4.57997073715e-05,1793196757456456960
+90,1.500000000,BASELINE,764.762569916,743,712,674,662,633.237430084,877.237430084,784,800.762569916,649.237430084,630,650.237430084,0.400953378915,0.00444028275466,0.0798292534387,0.999999956583,3.93959828336e-05,-0.000288433352062,4.5689556611e-05,1793196757473123584
+91,1.516666667,BASELINE,764.185224846,743,712,674,662,633.814775154,877.814775154,784,800.185224846,649.814775154,630,650.814775154,0.400954048277,0.00443935754178,0.079829158163,0.999999956922,3.85002569418e-05,-0.00028734927221,4.58659800297e-05,1793196757489790464
+92,1.533333333,BASELINE,764.39029713,743,712,674.39029713,661.60970287,634,878,783.60970287,800,649.60970287,630,651,0.400953822728,0.00443934862155,0.0798291850156,0.999999956909,3.89180015428e-05,-0.000287361877745,4.57174438651e-05,1793196757506457344
+93,1.550000000,BASELINE,764.964957986,743,712,674.964957986,661.035042014,634,878,783.035042014,800,649.035042014,630,651,0.400953174453,0.00443977252822,0.0798292695575,0.999999956729,3.99561869966e-05,-0.000287892521851,4.54154073308e-05,1793196757523124480
+94,1.566666667,BASELINE,765,743,712,674.445380158,661,633.445380158,877.445380158,783.554619842,800.554619842,649,630,651,0.400953303093,0.00444029859439,0.0798295831845,0.999999956917,4.1003217948e-05,-0.000287083417631,4.54687547665e-05,1793196757539790848
+95,1.583333333,BASELINE,765,743.142494341,712,674,661,633,877,784,800.857505659,649.142494341,629.857505659,651,0.400953739109,0.00444070603536,0.0798299138621,0.999999957097,4.18291916246e-05,-0.000286331822981,4.55064080911e-05,1793196757556456960
+96,1.600000000,BASELINE,765,743.721901735,712,674,661,633,877,784,800.278098265,649.721901735,629.278098265,651,0.400954962903,0.00444072940922,0.079830251206,0.999999957183,4.19756032921e-05,-0.000286023323855,4.54251789677e-05,1793196757573123584
+97,1.616666667,BASELINE,765,743.700460978,712,674,661,633,877,784,800,649.700460978,629.299539022,651,0.400954789465,0.00444076271147,0.0798297605125,0.999999956922,4.16790603165e-05,-0.000286984314964,4.53796982851e-05,1793196757589790208
+98,1.633333333,BASELINE,765,743.124457474,712,674,661,633,877,784,800,649.124457474,629.875542526,651,0.40095332643,0.00444080517729,0.0798285055683,0.999999956337,4.09736850366e-05,-0.000289117003048,4.53672122207e-05,1793196757606456832
+99,1.650000000,BASELINE,764.540552714,743,712,674,661,633,877.459447286,783.540552714,800,649.459447286,630,651,0.400952313217,0.0044419402632,0.0798278658793,0.999999956184,4.08306751553e-05,-0.000289691910334,4.52000863705e-05,1793196757623123712
+100,1.666666667,BASELINE,764.045018365,743,712,674,661,633,877.954981635,783.045018365,800.045018365,650,630,651,0.400951588555,0.0044431977211,0.0798275268141,0.999999956172,4.10679601216e-05,-0.000289726752357,4.50244636052e-05,1793196757639790848
+101,1.683333333,BASELINE,764.624517146,743,712,674,661,633,877.375482854,783.624517146,800.624517146,650,630,651,0.400952817748,0.00444233259417,0.0798287435668,0.999999956408,4.3980032809e-05,-0.000288447290053,4.5253998214e-05,1793196757656457472
+102,1.700000000,BASELINE,764.7967348,743,712,674,661,633.2032652,877,784,800.7967348,650,630,651,0.400954005432,0.00444158710299,0.0798298152637,0.999999956763,4.49757132041e-05,-0.000287029698352,4.54483445114e-05,1793196757673124096
+103,1.716666667,BASELINE,764.219368489,743,712,674,661,633.780631511,877,784,800.219368489,650,630,651,0.40095511672,0.00444106179651,0.0798306199914,0.999999957346,4.24443533215e-05,-0.00028535788541,4.55779281663e-05,1793196757689790208
+104,1.733333333,BASELINE,764.356467162,743,712,674,661,633.643532838,877,784,800,649.643532838,629.643532838,651,0.400955804486,0.00444142378292,0.0798304534032,0.999999957502,4.13564462288e-05,-0.00028498670067,4.54791876086e-05,1793196757706456832
+105,1.750000000,BASELINE,764.931364934,743,712,674,661,633.068635066,877,784,800,649.068635066,629.068635066,651,0.400956232733,0.00444232947134,0.0798296916265,0.9999999574,4.11530362812e-05,-0.000285412495247,4.52405379708e-05,1793196757723123712
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,743,712,674,662,633,877,784,801,650,629,651,0.400953338443,0.00444136122205,0.0798287959458,0.99999995678,4.02907829431e-05,-0.000287722640811,4.50750514586e-05,1793196757755681536
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.627070018,743,712,674,661.372929982,633,877,783.372929982,801,650,629,651,0.400955068924,0.00444150930342,0.079830011076,0.999999957281,4.14421989787e-05,-0.000285810596955,4.50960899338e-05,1793196757772348928
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.765624536,743,711.765624536,674.234375464,661,633,877,783,800.765624536,650,629,651,0.400955158632,0.00444109037835,0.0798301450968,0.999999957208,4.23225766928e-05,-0.000285904465084,4.52918429708e-05,1793196757789016064
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.187321918,743,711.187321918,674.812678082,661,633,877,783,800.187321918,650,629,651,0.400952840637,0.00443983941692,0.0798286926766,0.999999956294,4.28052276256e-05,-0.000288941847539,4.57439755876e-05,1793196757805682944
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.389080374,743,711.389080374,674.610919626,660.610919626,633,877,783.389080374,800.389080374,650,629,650.610919626,0.400952811935,0.00444016137078,0.0798287794645,0.999999956353,4.28080138267e-05,-0.000288732705827,4.57660912989e-05,1793196757822349568
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.964572171,743,711.964572171,674.035427829,660.035427829,633,877,783.964572171,800.964572171,650,629,650.035427829,0.400953880051,0.00444123692061,0.0798296036991,0.999999956879,4.25808930868e-05,-0.000286968129044,4.55821825508e-05,1793196757839015936
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660.550288099,633,877,784,800.449711901,649.449711901,629,650,0.400954609738,0.0044404689238,0.079829498161,0.999999957073,4.04725707269e-05,-0.000286616886983,4.54670307358e-05,1793196757855682816
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,743,712,674,661,633,877,784,800.135342998,649.135342998,629,650.135342998,0.400955244493,0.00443981787392,0.0798294478811,0.999999957161,3.88360886422e-05,-0.00028654083664,4.5432798132e-05,1793196757872349440
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,743,712,674,661,633,877,784,800.716015987,649.716015987,629,650.716015987,0.400955639937,0.00443994954755,0.0798297801099,0.999999956988,3.91581920269e-05,-0.000287065208144,4.56499795842e-05,1793196757889015296
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.706815193,743,712,674,661,633,877,784,800.706815193,649.706815193,629,651,0.400960382694,0.00444009855142,0.0798323324912,0.999999957998,3.8897171451e-05,-0.000283568728899,4.56072060321e-05,1793196757905681408
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.133000519,743,712,674,661,633,877,784,800.133000519,649.133000519,629,651,0.400969286603,0.00444026414339,0.0798370099525,0.999999960099,3.80779977844e-05,-0.000276223582185,4.53156094129e-05,1793196757922348032
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.44381411,743.44381411,712,674,661,633,877.44381411,784.44381411,800.44381411,649,629.44381411,651,0.400997427578,0.00444042481532,0.0798490837087,0.999999965781,3.82577095358e-05,-0.000254849867058,4.50167163969e-05,1793196757939014656
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,743.977904676,712,674.022095324,661,633,878,784.977904676,801.022095324,649,629.977904676,651,0.401032384954,0.00444063827614,0.07986365013,0.999999972098,3.88118328985e-05,-0.000228692174965,4.46972391619e-05,1793196757955681536
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,743.385123225,712,674.614876775,661,633,878,784.385123225,801.614876775,649,629.385123225,651,0.401093487702,0.00444225352835,0.0798849599821,0.999999980458,4.12522601834e-05,-0.000188294360036,4.39029659025e-05,1793196757972347904
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,743,712,674.797646541,661,633,878,783.797646541,801.595293082,649.202353459,629.202353459,651,0.401157274751,0.0044431596561,0.079902996167,0.999999986172,4.19544184555e-05,-0.000155150498187,4.26992357782e-05,1793196757989014784
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,743,712,674.220007987,661,633,878,783.220007987,800.440015975,649.779992013,629.779992013,651,0.40122604012,0.0044427506406,0.0799149610066,0.999999989218,3.94327803468e-05,-0.000135459824498,4.07361261653e-05,1793196758005682176
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,743,712,674,661,633,877.644191127,783.355808873,800.355808873,649.644191127,629.644191127,651,0.401301181051,0.00444416278477,0.0799204511873,0.999999990453,3.83282787849e-05,-0.000127190139678,3.80407152002e-05,1793196758022348544
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,743,712,674,661,633,877.069494974,783.930505026,800.930505026,649.069494974,629.069494974,651,0.401380244112,0.00444669527394,0.0799219582725,0.999999990734,3.80955745358e-05,-0.000125946444925,3.48948056147e-05,1793196758039014656
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.482245858,743,712,674,661.517754142,633,877.517754142,784,800.482245858,649.517754142,629.517754142,651,0.40148010591,0.00444562194028,0.0799230612372,0.999999991336,3.19800088251e-05,-0.000123945088289,3.07110130525e-05,1793196758055681792
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,743,712,674,661.895077804,633,878,784,800,649.895077804,629.895077804,651,0.401588908109,0.00444500509439,0.079924898071,0.999999992043,2.62188211235e-05,-0.000120590755602,2.61797905755e-05,1793196758072348928
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,743,712,674,661.316078231,633,878,784,800,649.316078231,629.316078231,651,0.401725179046,0.00444869200197,0.0799303019755,0.999999993228,2.57152938305e-05,-0.000111594094758,2.07238395396e-05,1793196758089015552
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.26199039,743,712,674,661.26199039,633,877.73800961,784,800,649.26199039,629.26199039,651,0.401876441913,0.00445149523917,0.0799366923854,0.999999994686,2.26493875474e-05,-9.94903221201e-05,1.47011980135e-05,1793196758105681920
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.838939799,743,712,674,661.838939799,633,877.161060201,784,800,649.838939799,629.838939799,651,0.402045727733,0.00445323614723,0.0799442687496,0.999999996333,1.6503046285e-05,-8.36512494482e-05,7.99729418008e-06,1793196758122348288
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.585957178,743,711.585957178,674,661.585957178,633,877,784,800.414042822,649.585957178,630,650.585957178,0.402234616875,0.0044555777085,0.0799500680914,0.999999997214,7.9192361047e-06,-7.4223002041e-05,5.90326533198e-07,1793196758139015168
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.011569151,743,711.011569151,674,661.011569151,633,877,784,800.988430849,649.011569151,630,650.011569151,0.402431097754,0.00445815188321,0.0799551792514,0.99999999771,-1.60852635369e-06,-6.72774556676e-05,-7.08891522677e-06,1793196758155681536
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,743,711.578112123,674,661,633,877.578112123,784,800.421887877,649.578112123,629.421887877,650.578112123,0.402647172228,0.00446172247885,0.0799501716514,0.999999996756,-6.88671292899e-06,-7.87323208675e-05,-1.55404952716e-05,1793196758172348160
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,743,712,674,661,633.16506896,877.83493104,784,800,649.83493104,629.16506896,650.83493104,0.402874846981,0.00446573103269,0.0799456533524,0.999999995896,-9.81353085481e-07,-8.82362896506e-05,-2.05453611289e-05,1793196758189014784
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,743,712,674,661,633.744399659,877.255600341,784,800,649.255600341,629.744399659,650.255600341,0.403130623391,0.004470787297,0.0799428850149,0.999999995099,3.27713269427e-05,-9.18950095919e-05,-1.68604143269e-05,1793196758205681664
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,743,712,674,661,633.67884344,877,784,800.32115656,649,629.67884344,650.32115656,0.403415774677,0.00447879767695,0.0799429119847,0.99999999569,8.55598488026e-06,-9.08003503489e-05,-1.73659413894e-05,1793196758222348800
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743,712,674,661,633.104118711,877,784,800.895881289,649,629.104118711,650.895881289,0.40372411879,0.00448914046948,0.0799451459808,0.999999994195,-6.14278321246e-05,-8.59526747368e-05,-2.11800443207e-05,1793196758239016192
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,743,712,673.518690103,661,633,877,783.518690103,801,649,629,651,0.4040685689,0.00449444191666,0.0799465526568,0.999999994488,-5.83712111036e-05,-8.37820652019e-05,-2.44407173259e-05,1793196758255682304
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,743,712,673,661,633,877,783.06803472,801,649.06803472,629,650.93196528,0.404426476806,0.00449925009037,0.0799475633648,0.999999995605,-3.69028394331e-05,-8.17466651865e-05,-2.729009257e-05,1793196758272348416
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,743,712,673,661,633,877,783.646713867,801,649.646713867,629,650.353286133,0.404825437346,0.00450872747643,0.0799469759086,0.999999996698,1.46823966437e-06,-7.62806221836e-05,-2.7971426648e-05,1793196758289014784
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.225268296,743,712,673.225268296,661.225268296,633,877,784,801.225268296,649.774731704,629,650.225268296,0.405235776207,0.00451838573564,0.0799435955709,0.999999996095,3.02227989107e-05,-7.75054503077e-05,-2.98389154767e-05,1793196758305681408
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.803627185,743,712,673.803627185,661.803627185,633,877,784,801.803627185,649.196372815,629,650.803627185,0.405663949666,0.00452832749858,0.0799358376081,0.999999994493,4.39042050619e-05,-8.92177009558e-05,-3.35656099211e-05,1793196758322348288
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.621595435,743,712,674,661.621595435,633,877,784,801.243190871,649.378404565,629,651,0.406124354478,0.00453747950889,0.0799327797979,0.999999993948,4.22751248538e-05,-9.50572970606e-05,-3.58001850606e-05,1793196758339014912
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.048659199,743,712,674,661.048659199,633,877,784,800.097318397,649.951340801,629,651,0.406601328947,0.00454622552103,0.0799321382596,0.999999993978,3.27751722546e-05,-9.78778574277e-05,-3.72676861163e-05,1793196758355681792
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.539472229,743,712,674,661,633,877,783.460527771,800,649.460527771,629,651,0.40710986097,0.00455790530516,0.0799267962233,0.999999991611,5.99691039324e-05,-0.00010800882744,-3.89282574647e-05,1793196758372348928
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.872792933,743,712,674.127207067,661,633,877.127207067,783.127207067,800.127207067,649.127207067,629,651,0.407628018465,0.00456962878912,0.0799205248856,0.999999988421,8.38175652256e-05,-0.000120401167102,-4.04548099612e-05,1793196758389015552
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.291507787,743,712,674.708492213,661,633,877.708492213,783.708492213,800.708492213,649.708492213,629,651,0.408170080103,0.00458053630406,0.0799124935963,0.999999986066,8.35673118469e-05,-0.000138443740663,-4.14390051431e-05,1793196758405682176
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.286872644,743,712,675,661,633,878,784,800.713127356,650,629,651,0.408749808255,0.00459155527742,0.0799128897033,0.999999984553,9.67170198118e-05,-0.000140301343664,-4.3062845128e-05,1793196758422348800
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.862330979,743,712,675,661,633,878,784,800.137669021,650,629,651,0.409367427812,0.00460268637412,0.0799217635307,0.999999983443,0.000123346706377,-0.000125877327111,-4.53301494486e-05,1793196758439015424
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.563646565,743,712,674.563646565,661.436353435,633,877.563646565,784,800,650,629,651,0.410042993637,0.00461215121066,0.0799545774373,0.999999988771,0.000123860095924,-7.02724908198e-05,-4.66637800178e-05,1793196758455681792
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,743.010223875,712,674.010223875,662,633,877.010223875,784,800,649.989776125,629,651,0.410736455009,0.00462077805737,0.079994150837,0.99999999209,0.000116335254863,-3.10608741591e-06,-4.77113407061e-05,1793196758472348160
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,743.601105712,712,674.601105712,662,633,877.601105712,784,800,649.398894288,629,651,0.411411375267,0.00461157088275,0.0799900606732,0.999999991634,0.000118715765451,-1.47884297147e-05,-4.91869711711e-05,1793196758489014784
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,743.811959094,712,675,661.811959094,633,878,784,800.188040906,649.188040906,629,650.811959094,0.412086366172,0.004599422689,0.0799740874763,0.999999991907,0.000108823746302,-4.17389963666e-05,-5.09938608965e-05,1793196758505681664
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743.23322395,712,675,661.23322395,633,878,784,800.76677605,649.76677605,629,650.23322395,0.412761503777,0.00458116391518,0.0799334247978,0.999999990832,7.34329839747e-05,-0.000100412484985,-5.34890105616e-05,1793196758522348544
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.343944062,743,712,675,661.343944062,633,878,784,800.656055938,649.656055938,629.343944062,650,0.413475662357,0.00456850165159,0.0799081911895,0.999999988354,5.19592192839e-05,-0.000132422584091,-5.52777996498e-05,1793196758539015680
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.920054301,743,712,675,661.920054301,633,878,784,800.079945699,649.079945699,629.920054301,650,0.414216160609,0.00455961709459,0.0798933723759,0.999999986882,3.9879583768e-05,-0.000146434596389,-5.65897876245e-05,1793196758555682560
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,743.505611926,712,674.494388074,662,633,877.494388074,784,800,649,630,650.505611926,0.415002126414,0.00456197119332,0.0799206439051,0.999999992564,3.78721886245e-05,-0.000100711781862,-5.73929811964e-05,1793196758572348672
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.908512746,744,712,674.091487254,662,633,877.091487254,784,800,649.091487254,629.908512746,650.908512746,0.415796030905,0.00456722509892,0.0799483443156,0.999999995805,4.13173341287e-05,-5.80049506038e-05,-5.76034517139e-05,1793196758589014784
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.32906176,744,712,674.67093824,662,633,877.67093824,784,800,649.67093824,629.32906176,650.32906176,0.416593203203,0.0045782871253,0.079942159733,0.999999992936,6.51884836324e-05,-8.2720614871e-05,-5.50897871002e-05,1793196758605681408
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.248892024,743.751107976,712,675,662,633,878,784,800,650,629,650.248892024,0.417416856973,0.00458486152427,0.079942813903,0.999999992221,7.71450484541e-05,-8.13577193711e-05,-5.46556905619e-05,1793196758622348288
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.82487815,743.17512185,712,675,662,633,878,784,800,650,629,650.82487815,0.418275312668,0.00458553827896,0.0799524555674,0.999999994636,7.34434549421e-05,-4.5722357878e-05,-5.69545642534e-05,1793196758639014912
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743.400056908,712,675.400056908,662,633,878,784,800.400056908,649.599943092,629.400056908,650.599943092,0.419142858551,0.00458325407666,0.0799683613007,0.999999995436,7.53718402626e-05,-1.27640342694e-05,-5.73154370605e-05,1793196758655681792
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,743.974882942,712,675.974882942,662,633,878,784,800.974882942,649.025117058,629.974882942,650.025117058,0.420014375556,0.00457967634869,0.0799870035589,0.999999995023,7.9759741939e-05,1.90247958554e-05,-5.68296734227e-05,1793196758672348928
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.4348378,743.4348378,712,675.4348378,662,633,878,784,801,649,629.4348378,650,0.42083725827,0.00457954504447,0.079965875213,0.999999995345,7.6635106743e-05,-1.54926183105e-05,-5.65347127672e-05,1793196758689015552
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.153005141,743,712,675.153005141,662,633,878.153005141,783.846994859,801,649.153005141,629.153005141,650.153005141,0.421685065869,0.00458101687837,0.0799546099697,0.999999994826,7.73803549538e-05,-3.4811375684e-05,-5.61182500007e-05,1793196758705681920
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.732097069,743,712,675.732097069,662,633,878.732097069,783.267902931,801,649.732097069,629.732097069,650.732097069,0.422608472114,0.00458651458372,0.0799758718363,0.999999994426,8.98583111304e-05,-3.36820855928e-06,-5.53391518703e-05,1793196758722348288
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.69141785,743,712,676,662.30858215,633,878.69141785,783.30858215,801,649.69141785,629.69141785,651,0.423503775652,0.00459022056116,0.0799893242359,0.999999993982,9.45505621634e-05,1.0596057037e-05,-5.46319518088e-05,1793196758739014912
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.117176944,743,712,676,662.882823056,633,878.117176944,783.882823056,801,649.117176944,629.117176944,651,0.424374885636,0.00459238403842,0.079996053458,0.999999994216,9.25400914061e-05,9.51271806244e-06,-5.39866488365e-05,1793196758755681536
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.468117813,743,712,675.531882187,662.531882187,633,878.468117813,784,801,649.468117813,629,650.531882187,0.425187917768,0.00459520939537,0.0799547861656,0.999999991122,0.000102115026864,-6.59052983511e-05,-5.4644022033e-05,1793196758772348416
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743,712,675.055728865,662,633,878.944271135,783.944271135,801,650,629,650,0.425998471478,0.00459772091642,0.0799059768779,0.999999980929,0.000112480885087,-0.000149547135776,-5.59154432776e-05,1793196758789014784
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743,712,675.638446025,662,633,878.361553975,783.361553975,801,650,629,650,0.426926387013,0.00459566012283,0.0799022061052,0.999999984436,0.000102239479415,-0.000130746481241,-5.98354104593e-05,1793196758805681920
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.781755019,743,712,676,662.218244981,633,878.218244981,783.218244981,800.781755019,649.781755019,629,650.218244981,0.427837788676,0.00459409286274,0.0799031457369,0.999999986432,9.25491453743e-05,-0.000121634056402,-6.14430980407e-05,1793196758822348544
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.206726727,743,712,676,662.793273273,633,878.793273273,783.793273273,800.206726727,649.206726727,629,650.793273273,0.428722193675,0.00459333242324,0.0799117858607,0.999999986498,8.37596948526e-05,-0.000128359791498,-5.9270708717e-05,1793196758839015424
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.367847793,743,712,676,663,633,878.632152207,784,800.367847793,649,629,651,0.429619444981,0.00459221136411,0.0799352370762,0.999999989618,9.04412727642e-05,-9.59996086431e-05,-5.80327162462e-05,1793196758855681792
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.942167594,743,712,676,663,633,878.057832406,784,800.942167594,649,629,651,0.430523906855,0.00459088789015,0.0799670017185,0.99999999189,0.000105806698672,-4.17006014482e-05,-5.73191982173e-05,1793196758872348416
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.470043057,743.529956943,712,676,663,633,878,784,800.470043057,649.529956943,629,650.470043057,0.431408094674,0.00458977748755,0.0800047908242,0.999999993268,9.97234734708e-05,1.76136172727e-05,-5.66435197064e-05,1793196758889015040
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.117926063,744,712,676,663,633,878,783.882073937,800.235852126,650,629.117926063,650,0.432267842654,0.00458985435612,0.08002449733,0.999999993037,9.28992469732e-05,4.63712013416e-05,-5.60836694291e-05,1793196758905681664
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.700658931,744,712,676,663,633,878,783.299341069,801.401317862,650,629.700658931,650,0.433040208295,0.00459451682951,0.0799702722273,0.999999993015,9.26205268052e-05,-4.75239422297e-05,-5.596365774e-05,1793196758922348288
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.722129463,743.722129463,711.722129463,676,662.722129463,633,878,783.277870537,801.722129463,650,629.722129463,650,0.433830654056,0.00459686415269,0.0799221565072,0.99999998694,9.48985879836e-05,-0.000118024046334,-5.6434940637e-05,1793196758939015424
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.150749783,743.150749783,711.150749783,676,662.150749783,633,878,783.849250217,801.150749783,650,629.150749783,650,0.434640197586,0.00459676602916,0.0798804940001,0.99999997994,9.9877327098e-05,-0.000163812445782,-5.75307965779e-05,1793196758955682304
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,711.424397775,676,662.848795549,633,878,784,801,650,629,650,0.435462840242,0.0045960149942,0.0798997291448,0.999999984966,9.865796139e-05,-0.000130235739158,-5.80756128185e-05,1793196758972348928
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.000917695,743,712,676,663.999082305,633,878.000917695,784,801.000917695,650,629,650.000917695,0.436290098156,0.00459503053579,0.0799407765723,0.999999991431,9.52132557033e-05,-6.82587896218e-05,-5.84190166427e-05,1793196758989015552
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.591591874,743,712,676,663.408408126,633,878.591591874,784,801.591591874,650,629,650.591591874,0.43706639728,0.00459441481614,0.0799735606497,0.999999993855,8.91994566441e-05,-3.42103564287e-05,-5.62401464203e-05,1793196759005681920
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.821187106,743,712,676,663,633,878.821187106,784,801.821187106,649.821187106,629.178812894,650.821187106,0.437837729296,0.00459171888922,0.0799994602278,0.999999995062,8.26673085534e-05,-3.25080630049e-06,-5.50682331094e-05,1793196759022348288
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+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,712,677.075674541,663,633,879,783.924325459,800.075674541,649.924325459,630,650.075674541,0.441177811704,0.00457099246519,0.079869952455,0.99999997836,6.64961215589e-05,-0.000189033822814,-5.59028184199e-05,1793196759105682176
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,712,677.653681758,663,633,879,783.346318242,800.653681758,649.346318242,630,650.653681758,0.441772715541,0.00457767102129,0.0798387493641,0.999999969495,6.71855670482e-05,-0.000230039350793,-5.98209789439e-05,1793196759122348800
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.232759848,743,711.767240152,677.767240152,662.767240152,633,879,783.232759848,801,649,630,651,0.442381296319,0.00458198541427,0.0798370782801,0.999999969646,6.76423233318e-05,-0.000228900291033,-6.11381679814e-05,1793196759139015168
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.813438718,743,711.186561282,677.186561282,662.186561282,633,879,783.813438718,801,649,630,651,0.443010320866,0.00458276596286,0.0798795503163,0.999999982416,6.77512662304e-05,-0.000164765390191,-5.85675415672e-05,1793196759155681792
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765,743,711,677.964497598,662,633,879,784,801.964497598,649,630,651,0.444160781995,0.00459405524267,0.0799361492325,0.999999990417,9.14429826965e-05,-8.73513953939e-05,-5.63331035677e-05,1793196759189015040
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764.701309544,743.701309544,712,678,659.701309544,632,879,783.701309544,801,649.298690456,630,651,0.445888451786,0.00460620207402,0.0798372585243,0.999999964117,9.09051333652e-05,-0.000246018748452,-5.45624986916e-05,1793196759255682304
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+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,711,678.675392831,656.675392831,631,879,783,801.675392831,650,629,650.675392831,0.449807827453,0.00464043088347,0.0797203856891,0.999999907139,0.000138595991351,-0.0004032744304,-6.23123484229e-05,1793196759572347904
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,711,678.099475292,656.099475292,631,879,783,801.099475292,650,629,650.099475292,0.449862566543,0.0046434337518,0.079725787699,0.999999909329,0.00014324266091,-0.000396214646593,-6.19550583992e-05,1793196759589014528
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711,678,656,631,879,783,801.486624163,650,629,650.486624163,0.449900631769,0.00464148627941,0.0797261217405,0.999999909715,0.000142128864263,-0.000395804939253,-6.08872457646e-05,1793196759605681152
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,711,678.073666609,656,631.073666609,879,783,801.926333391,650,629,650.926333391,0.449933212066,0.00463917445956,0.0797251415871,0.999999909418,0.000140284145062,-0.000397374703318,-5.98106414536e-05,1793196759622347776
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,711,678.652596052,656,631.652596052,879,783,801.347403948,650,629,650.347403948,0.449952049909,0.00464145269021,0.0797224051391,0.999999906979,0.000141675342292,-0.000402998121673,-5.96912255169e-05,1793196759639014656
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,711.230682928,678.769317072,656,631.769317072,879.230682928,783,801,649.769317072,629.230682928,650,0.449968153973,0.00464325482204,0.0797203506621,0.999999905079,0.000142742081841,-0.000407318211396,-5.96607313672e-05,1793196759655681536
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,711.807505481,678.192494519,656,631.192494519,879.807505481,783,801,649.192494519,629.807505481,650,0.449980155998,0.00464434256761,0.0797193194823,0.999999904024,0.000143321972674,-0.000409682656631,-5.97636643294e-05,1793196759672348160
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+227,3.783333333,POSE1_TO_POSE2_PRESS,764.289758186,743,711.289758186,678,656,631,879,783,801,649.710241814,629.289758186,651,0.450004364618,0.00464357519324,0.0797168789873,0.999999902659,0.00014224800625,-0.000413654052645,-5.77718443223e-05,1793196759772348160
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711,678,655.323064268,631,879,783,801.323064268,649,629,651,0.450008290935,0.00464558476957,0.0797151389643,0.999999901295,0.000144599333069,-0.000416163689818,-5.75142335487e-05,1793196759955681536
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.826196398,711,678.586901801,655,631,879.586901801,783,801.586901801,650,630,650.413098199,0.450008974231,0.00464058985412,0.0797154509508,0.999999902093,0.000139607459038,-0.000416170338858,-5.59017485166e-05,1793196760005682176
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,743.999266766,711,678,655.000733234,631,879,783,801,650,630,651,0.450008773558,0.00464076287691,0.0797144985766,0.99999990187,0.000139924195357,-0.000416510266682,-5.6580855375e-05,1793196760022348288
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743.419790631,711,678,655.580209369,631,879,783,801,650,630,651,0.450008596694,0.00464148676539,0.0797139796806,0.999999901319,0.000139273607177,-0.00041805238788,-5.65353365088e-05,1793196760039014912
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,743,711,678,655.84040202,631,879,783,801,649.84040202,629.84040202,651,0.450008942155,0.00464212759393,0.0797140778605,0.999999901181,0.000139190622483,-0.000418403585092,-5.6586963854e-05,1793196760055681792
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,743,711,678,655.261243585,631,879,783,801,649.261243585,629.261243585,651,0.450010660734,0.00464255006955,0.0797157982454,0.999999902126,0.000140599786956,-0.000415624011807,-5.68939748182e-05,1793196760072348416
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+247,4.116666667,POSE1_TO_POSE2_PRESS,764,743,711,678,655,631,879,783,801.883600528,649,629.883600528,651,0.450009776843,0.00464098276784,0.0797152212261,0.999999901864,0.000139223771905,-0.000416781618967,-5.6412625628e-05,1793196760105681920
+248,4.133333333,HOLD_POSE2,765,743,711,678,655,631,879,783,801,650,630,651,0.450011382574,0.00463868459081,0.0797152897688,0.999999902565,0.000137745803211,-0.000415687497772,-5.56832752667e-05,1793196760137240064
+249,4.150000000,HOLD_POSE2,764.420243725,743,711,678,655.579756275,631,879,783,801,650,630,650.420243725,0.45001089498,0.00463965393409,0.079714666968,0.999999901706,0.000139395396981,-0.000417191319603,-5.57433490335e-05,1793196760153906688
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+251,4.183333333,HOLD_POSE2,764,743,711,678,655.26680793,631.73319207,879,783,801,650,630,650.73319207,0.450012410931,0.00463989939406,0.0797151512745,0.999999902038,0.000139622038984,-0.000416261249498,-5.61845320946e-05,1793196760187239168
+252,4.200000000,HOLD_POSE2,764,743,711,678,655,631.684869725,879,783,800.684869725,650,629.684869725,651,0.45001249298,0.00464117739606,0.0797153527292,0.999999902188,0.000139511970789,-0.000415905281738,-5.64123920143e-05,1793196760203905536
+253,4.216666667,HOLD_POSE2,764,743,711,678,655,631.09691681,879,783,800.09691681,650,629.09691681,651,0.450011376852,0.00464387222245,0.0797150932704,0.999999901822,0.000139964566543,-0.000416612692918,-5.65675471827e-05,1793196760220572160
+254,4.233333333,HOLD_POSE2,764,743,711,678,655,631,879,782.516174794,800.967650411,649.516174794,629,650.516174794,0.450012254798,0.00464318469321,0.0797156174363,0.999999902124,0.000140136072563,-0.000415869636934,-5.62651811423e-05,1793196760237238528
+255,4.250000000,HOLD_POSE2,764.06286728,743,711,678,655.06286728,631,879,782.06286728,801.93713272,649.06286728,629,650,0.450013185397,0.00464189501223,0.079716109584,0.999999902434,0.000140269789471,-0.000415129260673,-5.5892460052e-05,1793196760253905152
+256,4.266666667,HOLD_POSE2,764.639647379,743,711,678,655.639647379,631,879,782.639647379,801.360352621,649.639647379,629,650,0.450011329106,0.00464114019947,0.0797150756726,0.999999901732,0.00014054811572,-0.000416751019018,-5.56827958683e-05,1793196760270572288
+257,4.283333333,HOLD_POSE2,765,743,711,678,656,631,879,783,801.216187743,650,629,650.216187743,0.45001095665,0.00464075745895,0.079714649633,0.999999901601,0.000140277199634,-0.00041717887404,-5.55083093501e-05,1793196760287239168
+258,4.300000000,HOLD_POSE2,765,743,711,678,656,631,879,783,801.79232889,650,629,650.79232889,0.450013054786,0.00464099422017,0.0797152357024,0.999999902423,0.000139091792968,-0.000415618875379,-5.53923937983e-05,1793196760303905792
+259,4.316666667,HOLD_POSE2,764.623512591,743,711,678.376487409,656,631,879,783,801.623512591,650,629,650.623512591,0.450012561858,0.00464180412506,0.0797146232421,0.999999902003,0.000139699914922,-0.000416384092177,-5.57008666984e-05,1793196760320572416
+260,4.333333333,HOLD_POSE2,764.034835396,743,711,678.965164604,656,631,879,783,801.034835396,650,629,650.034835396,0.450010608596,0.004642937056,0.0797133352858,0.999999900878,0.000141318876552,-0.000418459809409,-5.62485265891e-05,1793196760337239040
+261,4.350000000,HOLD_POSE2,764,743,711,678.454871723,655.454871723,631,879,783,801,649.454871723,629.545128277,650.545128277,0.450012162685,0.00464102010825,0.0797152066255,0.999999902056,0.000139596647864,-0.000416275249746,-5.58197357976e-05,1793196760353905408
+262,4.366666667,HOLD_POSE2,764,743,711,678,655.246251018,631,879,782.876874491,801,649,630,650.876874491,0.450013567335,0.00463941633551,0.0797166921047,0.999999903036,0.000138185880502,-0.000414439221745,-5.54272330883e-05,1793196760370572032
+263,4.383333333,HOLD_POSE2,764,743,711,678,656.39188511,631,879,782.304057445,801,649,630,650.304057445,0.450013620473,0.00463965699468,0.0797160425476,0.999999902798,0.000138680206762,-0.00041485481326,-5.53915770208e-05,1793196760387238656
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+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.370910262,743,711,678,655,631,879.629089738,782.370910262,802,649.370910262,629,650.370910262,0.449997479682,0.00464048432866,0.0797075812369,0.999999897596,0.000138015292396,-0.000427345755589,-5.59968467201e-05,1793196760607733248
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,711,677.912413821,655.912413821,631,879,783,801,649.087586179,630,650.912413821,0.448787079412,0.00463161125434,0.0796201215592,0.999999825313,0.000164124852765,-0.000567444097783,-2.10626517921e-05,1793196760857733120
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,743,711,677.330075465,655.330075465,631,879,783,801,649.669924535,630,650.330075465,0.44861344334,0.00463058079305,0.0796250210206,0.999999827327,0.000168428720075,-0.000562816729184,-1.46754566991e-05,1793196760874400256
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,764.717283792,743,712,676.282716208,661.434567583,633,878,784,800,650,629,650,0.429254451977,0.0044659502168,0.0798430374051,0.999999964574,1.96507905176e-05,-0.000262141501656,4.18067451199e-05,1793196761507733248
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764.707716404,743,712,676,661.707716404,633,878,784,800.292283596,649.707716404,629.292283596,650,0.428495006599,0.00445664997243,0.0798621868167,0.999999972501,1.42310163448e-05,-0.000230122644149,4.28735581043e-05,1793196761524399616
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764.131707948,743,712,676,661.131707948,633,878,784,800.868292052,649.131707948,629.868292052,650,0.427678218632,0.00444785178706,0.0798426898799,0.99999996601,8.52475649455e-06,-0.00025714941465,4.22192559385e-05,1793196761541066240
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,743,712,675.543635231,661,632.543635231,878,784,800.543635231,649,629.543635231,650,0.426859926971,0.00443810990693,0.0797976635373,0.999999946856,-2.60330634275e-06,-0.000323422529838,4.09700079607e-05,1793196761557732864
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,743,712,675.046877423,661,632.046877423,878,784,800.046877423,649,629.046877423,650.046877423,0.426043303785,0.00442819879565,0.0797487217524,0.99999992056,-1.6178937048e-05,-0.000396295443875,3.96109327221e-05,1793196761574399488
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,743,712,675.624522944,661,632.624522944,878,784,800.624522944,649,629.624522944,650.624522944,0.425250619601,0.00441953901458,0.0797411349461,0.999999913527,-3.92692180637e-05,-0.000412167113369,3.90052333245e-05,1793196761591066624
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,743,712,676,661,633,878,784,801,649.201204242,630,650.798795758,0.424456066444,0.00441213320118,0.079736400083,0.999999908387,-5.140389618e-05,-0.000423173187795,3.88250146305e-05,1793196761607733504
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,743,712,676,661,633,878,784,801,649.776094835,630,650.223905165,0.423658042002,0.00440705631634,0.0797369619866,0.999999907917,-4.31912971153e-05,-0.000425142644438,3.94350194364e-05,1793196761624400640
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764.357706458,743,712,675.642293542,660.642293542,633,878,784,801,650,630,650,0.422909564826,0.00442124313927,0.0797538608293,0.999999922777,-2.73183315084e-05,-0.000389976557117,4.02309626744e-05,1793196761641067264
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764.943605611,743,712,675.056394389,660.056394389,633,878,784,801,650,630,650,0.422192695525,0.00444771891422,0.0797811815417,0.999999944312,-6.55856695328e-06,-0.000331120485588,4.11455219823e-05,1793196761657733376
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764.476473418,743,711.476473418,675,661.570579745,633,878,784,801,649.476473418,629.476473418,650.523526582,0.421470768005,0.00446824950059,0.0798237961127,0.999999964705,2.71537817825e-05,-0.00026107446715,4.11382061186e-05,1793196761674399744
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,743,711,675,662.897407714,633,878,784,800.897407714,649,629.102592286,650.897407714,0.420738801733,0.00448220027976,0.0798573328623,0.999999976182,5.37750730298e-05,-0.000207477681265,4.12098295641e-05,1793196761691066368
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,743,711,675,662.319354965,633,878,784,800.319354965,649,629.680645035,650.319354965,0.419962807917,0.00446859164686,0.0798412498708,0.999999970505,4.11398419409e-05,-0.000235637551179,4.21023232439e-05,1793196761707732992
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,743,711.257479177,675,661.485041645,633,878,784,800.257479177,649.257479177,629.742520823,650.257479177,0.419182392529,0.0044584799998,0.0798152614552,0.999999959673,2.77840231192e-05,-0.000279482109859,4.20958320568e-05,1793196761724399616
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,743,711.832808943,675,660.334382113,633,878,784,800.832808943,649.832808943,629.167191057,650.832808943,0.418396518895,0.00445268528151,0.0797770450818,0.999999940351,1.35386604834e-05,-0.000342688959945,4.0979569929e-05,1793196761741066752
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,743,711.582482209,675,660.417517791,633,877.582482209,784,801.417517791,649.582482209,629.417517791,651,0.417662437023,0.00445075249054,0.0797807566354,0.999999941044,3.78694338385e-06,-0.000341043093998,3.98369557018e-05,1793196761757733632
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764.005973194,743,711.005973194,675,661.005973194,633,877.005973194,784,801.988053612,649,630,651,0.416949508672,0.00445050290355,0.0798015458358,0.999999950245,-3.83564977893e-06,-0.000313044783045,3.87105060438e-05,1793196761774400512
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.585256051,743,711.585256051,675,661.585256051,633,877.585256051,784,800.829487897,649,630,651,0.41623057792,0.00445996591583,0.0798129456846,0.99999995237,1.62163055758e-05,-0.000305586390882,4.01716498035e-05,1793196761791066624
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.837264166,743,712,675,661.674528332,633,877.837264166,784,800.162735834,649,630,650.837264166,0.415518814512,0.0044681813874,0.0798135012711,0.999999950555,2.94153813413e-05,-0.000310430190816,4.07089433497e-05,1793196761807732992
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764.26432917,743,712,675,660.52865834,633,877.26432917,784,800.73567083,649,630,650.26432917,0.414825117278,0.00447325225455,0.0797867223318,0.999999938966,2.5340789088e-05,-0.000346283440287,3.89175393857e-05,1793196761824399616
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,743,712,675,660.310525062,633,877.310525062,784,801,649,630,650.310525062,0.414160349556,0.0044694953286,0.0797822586928,0.999999939051,1.61707234314e-05,-0.000346720220435,3.76999183386e-05,1793196761841066240
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,743,712,675,660.887023137,633,877.887023137,784,801,649,630,650.887023137,0.413520360776,0.00445817716168,0.0797969087063,0.999999949125,2.63624891102e-06,-0.000316821846187,3.69737577978e-05,1793196761857732864
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,743,712,675,661,633,878,784,800.523547628,649.476452372,630,651,0.412872368741,0.00445445627421,0.0798013850751,0.999999951313,-1.06439624485e-05,-0.000309963843245,3.43866869849e-05,1793196761874399744
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,743,712,675,661,633,878,784,800,649.932492311,629.932492311,650.932492311,0.412222921022,0.00445318339803,0.0798011571063,0.999999950363,-2.09425608605e-05,-0.00031274733487,3.20136517579e-05,1793196761891066880
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,743,712,675,661,633,878,784,800,649.353007896,629.353007896,650.353007896,0.411577227325,0.00445643269437,0.0797840574218,0.999999939477,-9.09867997779e-06,-0.000346061821213,3.47037294306e-05,1793196761907733760
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,743,712,674.775639137,661,633,878,784,800.224360863,649.224360863,629.224360863,650.224360863,0.410955607378,0.0044609590548,0.0797732514208,0.999999931946,2.11884321815e-06,-0.000367115380232,3.64644002085e-05,1793196761924400128
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,743,712,674.201568096,661,633,878,784,800.798431904,649.798431904,629.798431904,650.798431904,0.410371511126,0.00446747596848,0.0797722553551,0.999999931145,1.23600646318e-05,-0.000369057889215,3.67764088063e-05,1793196761941066240
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,743,712,674.382328639,661,633,877.617671361,783.617671361,800.617671361,649.617671361,630,651,0.409830960129,0.00446910220642,0.0797938388585,0.999999944027,1.52987966374e-05,-0.000332174001308,3.70471080722e-05,1793196761957733120
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,743,712,674.971542289,661,633,877.028457711,783.028457711,800.028457711,649.028457711,630,651,0.409313972212,0.00446808201098,0.0798276405792,0.999999961588,1.42860191317e-05,-0.000274280440055,3.72954540315e-05,1793196761974399744
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,743,712,675,661.551381382,633,877.551381382,783.551381382,800,649,630,651,0.408796098127,0.00446255091954,0.0798371852331,0.999999965617,1.01284381904e-05,-0.000259279928949,3.7900255082e-05,1793196761991066368
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,743,712,675,661.740006713,633,877.870003356,784,800,649.129996644,630,650.870003356,0.408273431341,0.00445898520384,0.0798367821226,0.999999964903,6.59715179552e-06,-0.00026206630835,3.83571708927e-05,1793196762007732736
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,743,712,675,660.58790961,633,877.293954805,784,800,649.706045195,630,650.293954805,0.407734473738,0.00446294868881,0.0798064696154,0.999999948558,5.76245371625e-06,-0.000318415012986,3.82445841772e-05,1793196762024399872
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,743.278715264,712,675,660.278715264,633,877,784,800.278715264,650,629.721284736,650.278715264,0.407229726441,0.00446530826959,0.0797799197739,0.999999932937,1.41834835353e-05,-0.000363947562528,3.82924803633e-05,1793196762041066752
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,743.847864762,712,675,660.847864762,633,877,784,800.847864762,650,629.152135238,650.847864762,0.4067606279,0.00446599650755,0.0797572908064,0.999999919453,3.2249411254e-05,-0.000398209173746,3.85076072372e-05,1793196762057733632
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,743.562668705,712,674.562668705,661,633,877,784,801,649.562668705,629.437331295,650.562668705,0.406340729842,0.00446676820554,0.0797653118311,0.999999927884,2.82842969079e-05,-0.000376811192392,3.80272747803e-05,1793196762074400000
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.03319229,743,712,674.03319229,661,633,877,784,800.96680771,649.03319229,630,650.03319229,0.405940182394,0.00446769422355,0.0797842806445,0.999999942689,1.70289611278e-05,-0.00033606218875,3.7333848142e-05,1793196762091066112
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.612316378,743,712,674.612316378,661,633,877,784,800.387683622,649.612316378,630,650.612316378,0.405562682416,0.00447065763439,0.0797994015859,0.999999950775,1.806238125e-05,-0.000311016032717,3.73085782137e-05,1793196762107732992
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.810310079,743,712,675,661,633,877.189689921,784,800,649.810310079,629.810310079,651,0.405191193543,0.00447190661027,0.079810603463,0.999999955742,2.04767758847e-05,-0.000294420525928,3.7589226955e-05,1793196762124399616
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.236481614,743,712,675,661,633,877.763518386,784,800,649.236481614,629.236481614,651,0.404831877726,0.00446968370627,0.0798138688929,0.999999955435,2.56877635882e-05,-0.000294938320243,3.84893875802e-05,1793196762141066240
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.345972982,743,712,675,660.654027018,633,877.654027018,784,800.345972982,649.345972982,629.345972982,651,0.404489061469,0.00447000513533,0.0798140329725,0.999999953839,2.52892514936e-05,-0.000300230656745,3.92956147694e-05,1793196762157732864
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.934474596,743,712,675,660.065525404,633,877.065525404,784,800.934474596,649.934474596,629.934474596,651,0.404157811442,0.0044721101532,0.0798120229917,0.999999951279,2.09584551125e-05,-0.00030886996902,4.00359942832e-05,1793196762174400000
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,743,711.485263981,674.485263981,660,633,877,784,800.485263981,650,630,651,0.403846592633,0.00447316125525,0.0798150465025,0.99999995034,4.24967981984e-05,-0.000309577524824,4.09442897674e-05,1793196762191066880
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,743,711.093794661,674,660.093794661,633.093794661,877.093794661,784,800.093794661,649.906205339,630,651,0.403547485457,0.00447411903282,0.0798197850847,0.999999950176,6.23417178377e-05,-0.000306620710669,4.17667346885e-05,1793196762207733504
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,743,711.671973819,674,660.671973819,633.671973819,877.671973819,784,800.671973819,649.328026181,630,651,0.403297965111,0.00447527679376,0.0798301238892,0.999999955496,5.67025811012e-05,-0.000289872230204,4.20371707859e-05,1793196762224399872
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,660.751491768,633.751491768,877.751491768,784,800.751491768,649.248508232,630,651,0.403054223977,0.00447442142188,0.079835717493,0.999999957797,4.97236963581e-05,-0.000283050435645,4.2617984498e-05,1793196762241066496
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660.177114148,633.177114148,877.177114148,784,800.177114148,649.822885852,630,651,0.402818061153,0.00447092622447,0.0798350887042,0.999999956378,4.09879974789e-05,-0.00028924552708,4.36057970485e-05,1793196762257733120
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.40762272,660,633,877.40762272,784,800.40762272,650,630,651,0.402609066777,0.00446706271189,0.0798318390582,0.999999955287,3.08284272576e-05,-0.000294320422457,4.30319305407e-05,1793196762274399744
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.996978092,660,633,877.996978092,784,800.996978092,650,630,651,0.402412185065,0.00446303499145,0.0798274209411,0.999999954258,2.00340449691e-05,-0.000298895894549,4.17618121414e-05,1793196762291066368
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,660.57615324,633,878,784,800.42384676,649.42384676,629.42384676,651,0.402240225841,0.00444947923258,0.0798269797769,0.999999955451,5.1512569281e-06,-0.000295159848757,4.41868211844e-05,1793196762307733248
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.897437081,743.102562919,712,674,660,633,878.102562919,784,801,649,630,651,0.401690050924,0.0044250710306,0.0798426865203,0.999999961337,-3.40915019772e-05,-0.000271627450747,4.88069971198e-05,1793196762374400000
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+418,6.966666667,POSE2_TO_POSE3_RETREAT,764,743,712,674.35894785,661,633,877,784,801,650,630,651,0.400952607092,0.00445705211367,0.0798271698428,0.99999995393,6.65081996654e-05,-0.000292991201508,4.32695116924e-05,1793196762991066112
+419,6.983333333,POSE2_TO_POSE3_RETREAT,764,743,712,674.948563682,661,633,877,784,801,650,630,651,0.400952287206,0.00445649367695,0.0798280046666,0.999999954127,6.66492658844e-05,-0.000292240895642,4.3569554128e-05,1793196763007732736
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..25e6688e4a8daecbd2d353b242bd74f18951e8c7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,424 @@
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+400,6.666666667,pose2_to_pose3_retreat,0.578256960656,0.0100012842862,1.07001154353,0.548828195778,0.0186749512032,1.06966108122
+401,6.683333333,pose2_to_pose3_retreat,0.578255918177,0.0100013063439,1.07001156989,0.548827152894,0.0186749718322,1.06966110618
+402,6.700000000,pose2_to_pose3_retreat,0.578255227588,0.010001325643,1.07001163923,0.548826461556,0.0186749885441,1.0696611744
+403,6.716666667,pose2_to_pose3_retreat,0.57825511154,0.010001328886,1.07001165088,0.548826345382,0.0186749913524,1.06966118587
+404,6.733333333,pose2_to_pose3_retreat,0.578255093295,0.0100013293959,1.07001165272,0.548826327117,0.0186749917939,1.06966118767
+405,6.750000000,pose2_to_pose3_retreat,0.578254746458,0.0100013390886,1.07001168754,0.548825979904,0.0186750001872,1.06966122193
+406,6.766666667,pose2_to_pose3_retreat,0.578254670186,0.01000134122,1.0700116952,0.548825903549,0.018675002033,1.06966122947
+407,6.783333333,pose2_to_pose3_retreat,0.578254354858,0.0100013500321,1.07001172686,0.548825587879,0.0186750096638,1.06966126062
+408,6.800000000,pose2_to_pose3_retreat,0.578254090778,0.0100013574121,1.07001175338,0.548825323513,0.0186750160544,1.0696612867
+409,6.816666667,pose2_to_pose3_retreat,0.578253726329,0.0100013665686,1.07001178367,0.548824958719,0.0186750240169,1.0696613164
+410,6.833333333,pose2_to_pose3_retreat,0.57825333632,0.0100013647706,1.07001174504,0.548824568912,0.0186750228727,1.06966127702
+411,6.850000000,pose2_to_pose3_retreat,0.578253085597,0.0100013636147,1.0700117202,0.548824318318,0.0186750221372,1.06966125171
+412,6.866666667,pose2_to_pose3_retreat,0.578252961354,0.0100013630419,1.07001170789,0.54882419414,0.0186750217727,1.06966123916
+413,6.883333333,pose2_to_pose3_retreat,0.578252841268,0.0100013624882,1.07001169599,0.548824074116,0.0186750214204,1.06966122704
+414,6.900000000,pose2_to_pose3_retreat,0.578252637644,0.0100013624084,1.07001167154,0.548823870607,0.0186750217373,1.0696612027
+415,6.916666667,pose2_to_pose3_retreat,0.57825253599,0.010001367066,1.07001163596,0.548823769068,0.0186750268954,1.06966116988
+416,6.933333333,pose2_to_pose3_retreat,0.578252394003,0.0100013735717,1.07001158625,0.548823627241,0.0186750341,1.06966112404
+417,6.950000000,pose2_to_pose3_retreat,0.578252176733,0.0100013835268,1.07001151019,0.548823410215,0.0186750451246,1.0696610539
+418,6.966666667,pose2_to_pose3_retreat,0.578252140754,0.0100013299879,1.07001155818,0.548823374975,0.0186749939982,1.06966109956
+419,6.983333333,pose2_to_pose3_retreat,0.57825216901,0.0100012662829,1.07001163659,0.54882340399,0.018674932682,1.06966117345
+420,7.000000000,pose2_to_pose3_retreat,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213829,1.06966118707
+421,7.016666667,pose2_to_pose3_retreat,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213828,1.06966118707
+422,7.033333333,pose2_to_pose3_retreat,0.578252174217,0.0100012545436,1.07001165103,0.548823409337,0.0186749213828,1.06966118707
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5e1c0db1dc70c0d4c73e3ec8fdb16fb10c8f1f2d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c26db643e41a42738229d36bcdfc4f6cc5bf32c716c4876501b238ad5debbe7b
+size 26872493
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..94b6a76da0a0b7327c26c786531a2041fe05a31a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_03/franka_data.csv
@@ -0,0 +1,425 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,743,712,674,661,633,878,784,800,650,630,651,0.40095080235,0.00445683500758,0.0798269034248,0.999999954343,6.59187541941e-05,-0.000291756476384,4.29682892551e-05,1793196763210244096
+1,0.016666667,BASELINE,764.417262487,743,712,674.582737513,660.417262487,633,878,784,800.582737513,650,630,651,0.400951227459,0.0044566727274,0.0798271355402,0.999999954367,6.57986180452e-05,-0.000291687180103,4.30718185766e-05,1793196763226910720
+2,0.033333333,BASELINE,764.163528294,743,712,674.836471706,660,633,877.836471706,783.836471706,800.836471706,649.836471706,629.836471706,651,0.400951452834,0.00445664279619,0.0798272616479,0.999999954379,6.56731411698e-05,-0.000291679278016,4.3046461515e-05,1793196763243577344
+3,0.050000000,BASELINE,764.739410307,743,712,674.260589693,660,633,877.260589693,783.260589693,800.260589693,649.260589693,629.260589693,651,0.400951174561,0.00445694659673,0.0798271204463,0.99999995436,6.55341970684e-05,-0.000291826187808,4.26961039625e-05,1793196763260243968
+4,0.066666667,BASELINE,764.686495539,743,712,674,660.313504461,633,877.313504461,783,800,649.313504461,629,651,0.400951170506,0.00445776256218,0.0798271199209,0.999999954267,6.71222211429e-05,-0.000291769260254,4.27898662522e-05,1793196763276910592
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+6,0.100000000,BASELINE,764.475361041,743,712,674,661,633,877.524638959,783.475361041,800.475361041,649.524638959,629,651,0.400952536196,0.00445887006746,0.0798280663321,0.999999954599,6.88732004634e-05,-0.000290191716615,4.29803209677e-05,1793196763310243840
+7,0.116666667,BASELINE,765,743,712,674.066909778,661,633,877,784,800.933090222,649,629.066909778,651,0.40095367806,0.0044583909445,0.0798289688183,0.999999955163,6.6764243347e-05,-0.000288793921592,4.25936761516e-05,1793196763326910720
+8,0.133333333,BASELINE,765,743,712,674.64457971,661,633,877,784,800.35542029,649,629.64457971,651,0.400953066105,0.00445785834643,0.0798290647647,0.999999955076,6.63183017421e-05,-0.000289182819279,4.27050869258e-05,1793196763343577344
+9,0.150000000,BASELINE,765,743,712,674.778967309,660.778967309,633,877.221032691,784,800.221032691,649,630,651,0.400953136256,0.00445752004619,0.0798293200301,0.999999955146,6.61679908576e-05,-0.000288970492817,4.2727674207e-05,1793196763360243968
+10,0.166666667,BASELINE,765,743,712,674.204460526,660.204460526,633,877.795539474,784,800.795539474,649,630,651,0.400954297228,0.00445749246588,0.0798298300774,0.999999955468,6.64904508107e-05,-0.000287796692424,4.26082155044e-05,1793196763376910848
+11,0.183333333,BASELINE,764.620430653,743,712,674,660.379569347,633,878,784,800.620430653,649.379569347,629.620430653,650.620430653,0.400954512753,0.00445762114188,0.0798301723067,0.999999955611,6.6340614178e-05,-0.000287330626762,4.26365446769e-05,1793196763393577216
+12,0.200000000,BASELINE,764.031138962,743,712,674,660.968861038,633,878,784,800.031138962,649.968861038,629.031138962,650.031138962,0.400954205893,0.00445783615371,0.0798304218121,0.999999955655,6.59298209205e-05,-0.000287255603594,4.27465306418e-05,1793196763410243840
+13,0.216666667,BASELINE,764.548780143,743,712,674,661,633,877.451219857,784,800,649.451219857,629,650.548780143,0.400954389276,0.00445760918857,0.0798302510251,0.999999955721,6.52769900574e-05,-0.000287235524853,4.23400476839e-05,1793196763426910720
+14,0.233333333,BASELINE,764.872772032,743,712,674.127227968,660.872772032,633,877.127227968,784,800,649,629.127227968,650.872772032,0.400954556247,0.00445723685462,0.0798300927932,0.999999955756,6.45748399254e-05,-0.000287308681149,4.2090502482e-05,1793196763443577344
+15,0.250000000,BASELINE,764.29766267,743,712,674.70233733,660.29766267,633,877.70233733,784,800,649,629.70233733,650.29766267,0.400954569159,0.00445643958021,0.0798300613022,0.99999995568,6.37466057828e-05,-0.00028769926248,4.24948582724e-05,1793196763460243968
+16,0.266666667,BASELINE,764.283309408,743,712,675,660.283309408,633,878,784,800,649,629.716690592,650.283309408,0.400953856936,0.00445620100923,0.0798297795076,0.999999955487,6.37332022648e-05,-0.000288345673823,4.26602593906e-05,1793196763476910592
+17,0.283333333,BASELINE,764.87057135,743,712,675,660.87057135,633,878,784,800,649,629.12942865,650.87057135,0.400952366741,0.00445656185123,0.0798292291714,0.99999995517,6.4594001443e-05,-0.000289266556018,4.25692945594e-05,1793196763493577472
+18,0.300000000,BASELINE,764.548551547,743,711.548551547,675,660.548551547,633,877.548551547,784,800,649,629,651,0.400952524853,0.00445641333419,0.0798297076034,0.999999955571,6.40895553888e-05,-0.000287975715369,4.26752969891e-05,1793196763510244096
+19,0.316666667,BASELINE,764.030525131,743,711.030525131,674.969474869,660,633,877.030525131,784,800,649,629.030525131,651,0.400953087692,0.00445618588299,0.0798303898928,0.99999995611,6.32685596086e-05,-0.000286258672099,4.28243763717e-05,1793196763526910464
+20,0.333333333,BASELINE,764.609683894,743,711.609683894,674.390316106,660,633,877.609683894,784,800,649,629.609683894,651,0.400952549766,0.00445712777979,0.079829508993,0.999999955552,6.36949498073e-05,-0.000288119143822,4.27468978109e-05,1793196763543577344
+21,0.350000000,BASELINE,765,743,712,674.187328227,660,633.187328227,878,784,800,649.187328227,629.812671773,651,0.400952033078,0.00445768655638,0.079828859301,0.999999955108,6.45273058035e-05,-0.000289474698786,4.27112838794e-05,1793196763560243968
+22,0.366666667,BASELINE,765,743,712,674.761842338,660,633.761842338,878,784,800,649.761842338,629.238157662,651,0.400951560287,0.00445745346751,0.0798286874888,0.999999954906,6.61987463215e-05,-0.000289786648698,4.27621993273e-05,1793196763576910592
+23,0.383333333,BASELINE,764.655964495,743,712,674.655964495,660,634,877.655964495,784,800.344035505,650,629.344035505,651,0.400951596322,0.00445782102368,0.0798285436815,0.999999954935,6.57390770053e-05,-0.000289824921629,4.25354999024e-05,1793196763593577216
+24,0.400000000,BASELINE,764.068334103,743,712,674.068334103,660,634,877.068334103,784,800.931665897,650,629.931665897,651,0.400951992633,0.00445861386749,0.079828419703,0.999999955126,6.37704721441e-05,-0.000289669417166,4.21122348291e-05,1793196763610243840
+25,0.416666667,BASELINE,764,743,712,673.487995877,660,633.487995877,877,784,801,650,629.487995877,651,0.400952172334,0.00445722058401,0.0798290065616,0.999999955098,6.46665999642e-05,-0.000289504081685,4.25466398334e-05,1793196763626910464
+26,0.433333333,BASELINE,764,743,712,673.090988373,660.090988373,633,877,784,800.909011627,650,629.090988373,651,0.400952383586,0.00445590657555,0.0798295827739,0.999999955084,6.56188143623e-05,-0.000289281760803,4.29215727197e-05,1793196763643577344
+27,0.450000000,BASELINE,764,743,712,673.667866689,660.667866689,633,877,784,800.332133311,650,629.667866689,651,0.400952915537,0.0044565521126,0.0798296026232,0.999999955307,6.48574712267e-05,-0.000288762038617,4.23762260568e-05,1793196763660243968
+28,0.466666667,BASELINE,764.243451158,743.243451158,712,674,660.756548842,633,877.243451158,784,800.243451158,650,630,651,0.400952971988,0.00445762317835,0.0798292338842,0.99999995523,6.53863716866e-05,-0.00028894158275,4.2154074024e-05,1793196763676910592
+29,0.483333333,BASELINE,764.817279766,743.817279766,712,674,660.182720234,633,877.817279766,784,800.817279766,650,630,651,0.400952383157,0.00445927171138,0.0798283378083,0.999999954743,6.76662081622e-05,-0.000290070072178,4.23705160267e-05,1793196763693577216
+30,0.500000000,BASELINE,765,743.597484127,712,674.402515873,660.402515873,633.402515873,877.597484127,784,800.597484127,649.597484127,630,651,0.40095193038,0.00445910595098,0.0798280979344,0.999999954762,6.63901010913e-05,-0.000290317816648,4.22375566781e-05,1793196763710244096
+31,0.516666667,BASELINE,765,743.006918617,712,674.993081383,660.993081383,633.993081383,877.006918617,784,800.006918617,649.006918617,630,651,0.400951541166,0.00445809257869,0.0798281646286,0.999999955013,6.34527081752e-05,-0.000290154089681,4.19413620274e-05,1793196763726910720
+32,0.533333333,BASELINE,764.427409142,743,712,675,660.427409142,633.427409142,877,784,800.572590858,649,630,651,0.400953006083,0.00445798613703,0.0798288863333,0.999999955287,6.50112707543e-05,-0.000288805308993,4.23284664596e-05,1793196763743577088
+33,0.550000000,BASELINE,764,743,712,674.848980678,660.151019322,633,877,784,800.848980678,649,630,651,0.400953895601,0.00445795109927,0.0798294856018,0.999999955471,6.60793305923e-05,-0.000287875606297,4.26575959768e-05,1793196763760243968
+34,0.566666667,BASELINE,764,743,712,674.273224017,660.726775983,633,877,784,800.273224017,649,630,651,0.400953105013,0.0044580866464,0.0798297186844,0.999999955412,6.56179736405e-05,-0.000288164057097,4.28008919677e-05,1793196763776910592
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+37,0.616666667,BASELINE,765,743,712,674.524472525,661,633,877.475527475,783.524472525,799.475527475,650,629.524472525,650,0.400951520191,0.004456127239,0.0798285009642,0.999999955052,6.18838642886e-05,-0.000290287467146,4.24251779198e-05,1793196763826910464
+38,0.633333333,BASELINE,764.945417257,743,712,674,660.945417257,633,878,783.054582743,800.054582743,650,629,650.054582743,0.400950831331,0.00445595666181,0.0798278297315,0.999999954746,6.23575329172e-05,-0.000291195196942,4.27120982566e-05,1793196763843577088
+39,0.650000000,BASELINE,764.366790471,743,712,674,660.366790471,633,878,783.633209529,800.633209529,650,629,650.633209529,0.400952469741,0.00445699039037,0.0798289612055,0.99999995511,6.60599521273e-05,-0.000289103068492,4.28330582964e-05,1793196763860243968
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+41,0.683333333,BASELINE,764.784372326,743,712,674,660.784372326,633.784372326,878,784,800.215627674,650,629,650.215627674,0.400952990163,0.00445865744751,0.0798294731308,0.999999955555,6.52501302064e-05,-0.00028785659892,4.20908505679e-05,1793196763893577472
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+43,0.716666667,BASELINE,765,743,711.043660894,674,661,633.043660894,877.043660894,784,800,649.043660894,629.956339106,650.956339106,0.400952062096,0.00445801922554,0.0798291198694,0.999999955574,6.26224727128e-05,-0.00028841365163,4.18081422962e-05,1793196763926910720
+44,0.733333333,BASELINE,765,743,711.536112886,674,661,633,878.072225772,784,800,649,629.463887114,651,0.400952674763,0.00445745671623,0.0798297629427,0.999999955812,6.33220366008e-05,-0.000287366317318,4.22770834254e-05,1793196763943577344
+45,0.750000000,BASELINE,765,743,712,674,661,633,878.88499428,784,800,649.11500572,629.11500572,651,0.400953174265,0.00445708915159,0.0798302475207,0.99999995594,6.42615532142e-05,-0.000286657183364,4.26455363421e-05,1793196763960243968
+46,0.766666667,BASELINE,765,743,712,674,661,633,878.306765115,784,800,649.693234885,629.693234885,651,0.400952864242,0.00445750627564,0.0798298272687,0.999999955547,6.55923122387e-05,-0.000287754466961,4.24464994625e-05,1793196763976910592
+47,0.783333333,BASELINE,765,743,712,674,661,633,878,784,800.269774302,650,630,651,0.400952638568,0.00445758211812,0.079829769153,0.999999955441,6.60999733716e-05,-0.000288012261638,4.24030806817e-05,1793196763993577472
+48,0.800000000,BASELINE,765,743,712,674,661,633,878,784,800.84440431,650,630,651,0.400952508211,0.00445727229888,0.0798301202657,0.999999955662,6.56775012789e-05,-0.000287321400544,4.25355165247e-05,1793196764010244096
+49,0.816666667,BASELINE,765,743,712,674,661,633,877.570974933,784,801,650,630,650.570974933,0.400953341182,0.00445680753058,0.0798305429718,0.999999955855,6.40735614637e-05,-0.00028702083316,4.24761768563e-05,1793196764026910720
+50,0.833333333,BASELINE,765,743,712,674.017092758,661,633,877.017092758,784,800.982907242,650,629.982907242,650,0.400954478,0.00445628685349,0.0798309771298,0.999999956035,6.20764884775e-05,-0.000286848650338,4.23490594241e-05,1793196764043577344
+51,0.850000000,BASELINE,765,743,712,674.596514977,661,633,877.596514977,784,800.403485023,650,629.403485023,650,0.400953843005,0.00445581969691,0.0798309134603,0.999999956272,6.15785736686e-05,-0.000286132349898,4.2334858557e-05,1793196764060243968
+52,0.866666667,BASELINE,765,743,712,675,661,633,877.825439599,784,800,649.825439599,629.174560401,650,0.40095302483,0.00445574932228,0.0798305262092,0.99999995618,6.15797305942e-05,-0.000286455050593,4.23317909311e-05,1793196764076910592
+53,0.883333333,BASELINE,765,743,712,675,661,633,877.250551677,784,800,649.250551677,629.749448323,650,0.400951786561,0.00445658890624,0.0798293968734,0.999999955329,6.27254320659e-05,-0.000289160541154,4.23542556881e-05,1793196764093577472
+54,0.900000000,BASELINE,765,743,712,674.668709421,660.668709421,633,877,784,800,649,630,650.331290579,0.400951534114,0.00445727695644,0.0798290078953,0.999999955117,6.39488584085e-05,-0.000289648790939,4.21981782856e-05,1793196764110243840
+55,0.916666667,BASELINE,765,743,712,674.081494929,660.081494929,633,877,784,800,649,630,650.918505071,0.400952043221,0.00445784794589,0.0798291908479,0.9999999554,6.52323276164e-05,-0.000288424209103,4.19041760174e-05,1793196764126910464
+56,0.933333333,BASELINE,765,743,712,674.49925614,660.49925614,633,877,784,800.49925614,649,630,650.50074386,0.400951690071,0.00445752488926,0.0798287527275,0.999999955259,6.39896977087e-05,-0.000289170270913,4.20450544691e-05,1793196764143577344
+57,0.950000000,BASELINE,765,743,712,674.921327842,661,633,877,784,800.921327842,649,630,650.078672158,0.400951471879,0.0044572997852,0.0798283938941,0.999999955093,6.28905785901e-05,-0.000289956671107,4.22471082297e-05,1793196764160243712
+58,0.966666667,BASELINE,765,743,712,674.343773199,661,633,877,784,800.343773199,649,630,650.656226801,0.400952990618,0.00445860943026,0.0798291725008,0.999999955214,6.52828618544e-05,-0.000288985115348,4.2392697904e-05,1793196764176910592
+59,0.983333333,BASELINE,764.76691258,743,712,674,661,633,877,784,800.23308742,649,629.76691258,650.76691258,0.400953949127,0.00445875800454,0.0798299008949,0.999999955566,6.5787327355e-05,-0.000287655858973,4.23507367362e-05,1793196764193577216
+60,1.000000000,BASELINE,764.19107243,743,712,674,661,633,877,784,800.80892757,649,629.19107243,650.19107243,0.400954083824,0.004457199236,0.0798305554521,0.999999956258,6.35157759793e-05,-0.000285800607257,4.20329839438e-05,1793196764210243840
+61,1.016666667,BASELINE,764.392946132,743,712,674,661,633,877,784,800.607053868,649,629.392946132,650.392946132,0.400954182844,0.00445684406161,0.0798308198219,0.999999956265,6.41881613259e-05,-0.000285616156483,4.21045010689e-05,1793196764226910720
+62,1.033333333,BASELINE,764.981025991,743,712,674,661,633,877,784,800.018974009,649,629.981025991,650.981025991,0.400954264149,0.004457086582,0.0798308904279,0.99999995593,6.63224808868e-05,-0.000286261411435,4.23693263619e-05,1793196764243577344
+63,1.050000000,BASELINE,764.439275166,743,712,674,661,633,877,784,800.560724834,649.560724834,630,651,0.400952538751,0.00445760176537,0.0798297006321,0.999999955536,6.63063680326e-05,-0.000287671611703,4.21585571362e-05,1793196764260243968
+64,1.066666667,BASELINE,764,743,712,674,660.860891635,633,877.139108365,784,800.860891635,650,629.860891635,651,0.400951207317,0.00445775040266,0.0798286631295,0.999999955231,6.57885721868e-05,-0.000288867251745,4.20173003793e-05,1793196764276911104
+65,1.083333333,BASELINE,764,743,712,674,660.285755079,633,877.714244921,784,800.285755079,650,629.285755079,651,0.400951299551,0.00445672162561,0.0798282346979,0.999999955219,6.39230021042e-05,-0.000289310424614,4.21436278771e-05,1793196764293578496
+66,1.100000000,BASELINE,764.28958094,743,712,674,660,633,878,784,800,650,629.28958094,650.71041906,0.400952028937,0.00445716701388,0.0798287468183,0.999999955481,6.36599174847e-05,-0.000288458132151,4.21541065354e-05,1793196764310245376
+67,1.116666667,BASELINE,764.865113888,743,712,674,660,633,878,784,800,650,629.865113888,650.134886112,0.400953387489,0.00445906809378,0.079830187704,0.999999956013,6.49792366305e-05,-0.000286326608664,4.20501881256e-05,1793196764326911744
+68,1.133333333,BASELINE,765,743,712,674,660,633.452489189,877.547510811,784,800.452489189,650,629.547510811,650.452489189,0.400953529074,0.00445798466545,0.0798302189008,0.999999956089,6.37591101117e-05,-0.000286321779138,4.21382391114e-05,1793196764343578112
+69,1.150000000,BASELINE,764.957487923,743,712,674.042512077,660,633.957487923,877.042512077,784,800.957487923,650,629,651,0.400953365701,0.00445621163921,0.0798299398842,0.999999956056,6.2031007485e-05,-0.000286797978797,4.22750155568e-05,1793196764360243968
+70,1.166666667,BASELINE,764.379771421,743,712,674.620228579,660,633.379771421,877.620228579,784,800.379771421,650,629,651,0.400954052961,0.00445725850384,0.0798311880404,0.999999956427,6.36941560546e-05,-0.000285134324631,4.22854167004e-05,1793196764376911104
+71,1.183333333,BASELINE,764,743.197281042,712,674.802718958,660,633.197281042,877.802718958,784,800,649.802718958,629,650.802718958,0.400954375535,0.0044580412576,0.0798317474436,0.999999956567,6.47878149556e-05,-0.000284400734759,4.2242524255e-05,1793196764393578240
+72,1.200000000,BASELINE,764,743.773059603,712,674.226940397,660,633.773059603,877.226940397,784,800,649.226940397,629,650.226940397,0.400953998436,0.0044583172963,0.0798309854259,0.999999956274,6.47888682735e-05,-0.000285451538186,4.20973843229e-05,1793196764410245120
+73,1.216666667,BASELINE,764,743.643922995,711.643922995,674,660.356077005,634,877.356077005,784,800,649.356077005,629,650.356077005,0.400954155472,0.00445893193341,0.0798310642137,0.999999956302,6.56101202229e-05,-0.000285188105977,4.19467944571e-05,1793196764426911488
+74,1.233333333,BASELINE,764,743.056196323,711.056196323,674,660.943803677,634,877.943803677,784,800,649.943803677,629,650.943803677,0.400954659998,0.00445976684929,0.0798316899966,0.999999956537,6.69649610815e-05,-0.000284069683785,4.17926590875e-05,1793196764443577600
+75,1.250000000,BASELINE,764,743,711.524023786,674,661,633.475976214,877.475976214,784,800,649.475976214,629,651,0.400955800941,0.0044590375067,0.0798322056717,0.99999995687,6.50661970533e-05,-0.000283334340126,4.18143626609e-05,1793196764460244224
+76,1.266666667,BASELINE,764,743,712,674,661,633,877,784,800.10306139,649,629.10306139,651,0.400956518915,0.00445835373747,0.0798323721472,0.99999995708,6.33033290846e-05,-0.000282986404243,4.18427467797e-05,1793196764476910848
+77,1.283333333,BASELINE,764,743,712,674,661,633,877,784,800.680309783,649,629.680309783,651,0.400954981221,0.00445864057724,0.0798309855114,0.999999956699,6.37484198763e-05,-0.000284234590876,4.18163322646e-05,1793196764493577728
+78,1.300000000,BASELINE,764,743,712,674,661,633,877,784,800.744804867,649.255195133,630,651,0.40095383621,0.00445847411409,0.0798302168572,0.99999995642,6.35516339763e-05,-0.000285250202091,4.18765326493e-05,1793196764510244608
+79,1.316666667,BASELINE,764,743,712,674,661,633,877,784,800.17285265,649.82714735,630,651,0.400953178609,0.00445774499556,0.0798302152634,0.999999956268,6.2558128349e-05,-0.000285977132507,4.20442424646e-05,1793196764526911232
+80,1.333333333,BASELINE,764.413027154,743,712,674.413027154,661,633,877,784,800,649.586972846,630,650.586972846,0.400952990083,0.00445793217206,0.0798302256463,0.999999956124,6.39331827855e-05,-0.000286180848571,4.20111108004e-05,1793196764543577856
+81,1.350000000,BASELINE,764.995166047,743,712,674.995166047,661,633,877,784,800,649,629.995166047,650.004833953,0.40095300321,0.00445850916526,0.0798302408308,0.99999995598,6.63024203656e-05,-0.000286161425404,4.18905631661e-05,1793196764560244480
+82,1.366666667,BASELINE,764.415859632,743,712,674.415859632,661,633,877,784,800,649,629.415859632,650.584140368,0.400952837361,0.00445824990318,0.0798302101908,0.999999955966,6.49096201851e-05,-0.000286554185313,4.17188909718e-05,1793196764576911104
+83,1.383333333,BASELINE,764,743,712,674,660.837640595,633,877.162359405,784,800.162359405,649,629.162359405,650.837640595,0.400952400376,0.00445793136963,0.0798298948056,0.999999955847,6.3856761739e-05,-0.000287214567448,4.16634543766e-05,1793196764593577472
+84,1.400000000,BASELINE,764,743,712,674,660.262188067,633,877.737811933,784,800.737811933,649,629.737811933,650.262188067,0.400951273538,0.00445746203085,0.0798288549395,0.999999955463,6.36688211288e-05,-0.000288555864342,4.19037574765e-05,1793196764610244096
+85,1.416666667,BASELINE,764.319491716,743,712,674,660.319491716,633,877.680508284,784,800.680508284,649,630,650.319491716,0.400951142687,0.00445768568204,0.0798288086462,0.99999995546,6.38443466258e-05,-0.000288507251185,4.20317403807e-05,1793196764626910720
+86,1.433333333,BASELINE,764.906383391,743,712,674,660.906383391,633,877.093616609,784,800.093616609,649,630,650.906383391,0.400951845433,0.00445848933417,0.079829593928,0.999999955777,6.4324076649e-05,-0.000287295346777,4.20657164013e-05,1793196764643577344
+87,1.450000000,BASELINE,764.510480869,743,712,674,660.510480869,633,877,784,800.489519131,649,629.510480869,651,0.400953139592,0.004457965501,0.0798300430392,0.999999956003,6.4380315036e-05,-0.000286483399111,4.21420658001e-05,1793196764660244480
+88,1.466666667,BASELINE,764,743,712,674,660.071004265,633,877.071004265,784,801,649.071004265,629.071004265,651,0.400954408806,0.00445742858649,0.0798304384343,0.999999956206,6.44176242134e-05,-0.000285756588446,4.22047414895e-05,1793196764676911616
+89,1.483333333,BASELINE,764,743,712,674,660.645835162,633,877.645835162,784,801,649.645835162,629.645835162,651,0.400954704583,0.00445858653191,0.0798309053844,0.999999956368,6.48909194387e-05,-0.000285095277579,4.21133294612e-05,1793196764693578240
+90,1.500000000,BASELINE,764.220701565,743,712,674,660.779298435,633,877.779298435,784,800.779298435,649.779298435,629.779298435,651,0.400955334942,0.00445916248715,0.0798315124409,0.999999956608,6.57162294097e-05,-0.000284055067941,4.21611273169e-05,1793196764710244608
+91,1.516666667,BASELINE,764.7956249,743,712,674,660.2043751,633,877.2043751,784,800.2043751,649.2043751,629.2043751,651,0.400956502297,0.00445880435923,0.0798323443653,0.999999956971,6.71065162343e-05,-0.000282406733121,4.24323543687e-05,1793196764726910976
+92,1.533333333,BASELINE,765,743,711.618313963,674,660.381686037,633,877,784,800.381686037,649,629.381686037,651,0.400955159781,0.00445896630541,0.0798314033602,0.99999995651,6.69600488724e-05,-0.000284088479196,4.2308032425e-05,1793196764743577600
+93,1.550000000,BASELINE,765,743,711.026109739,674,660.973890261,633,877,784,800.973890261,649,629.973890261,651,0.40095243295,0.0044594150974,0.0798294844994,0.999999955585,6.59659878775e-05,-0.00028760692471,4.19655462323e-05,1793196764760244224
+94,1.566666667,BASELINE,764.447698087,743,711.552301913,674.552301913,661,633,877.552301913,784,800.447698087,649.552301913,629.447698087,651,0.400954207193,0.00445811085744,0.0798311855481,0.999999956374,6.42261843785e-05,-0.000285226740761,4.21014872861e-05,1793196764776910848
+95,1.583333333,BASELINE,764.129440934,743,712,674.870559066,660.870559066,633,877.870559066,784,800,649.870559066,629,651,0.400955285419,0.00445715528931,0.0798322086386,0.999999956831,6.2993904424e-05,-0.000283880008755,4.22177271828e-05,1793196764793577472
+96,1.600000000,BASELINE,764.704389477,743,712,674.295610523,660.295610523,633,877.295610523,784,800,649.295610523,629,651,0.40095325359,0.00445767805675,0.079830323706,0.999999955894,6.36267919993e-05,-0.000287026564934,4.21902125997e-05,1793196764810244608
+97,1.616666667,BASELINE,764.714171685,743,712,674.285828315,660.285828315,633,877,784,800,649,629.285828315,651,0.400952979881,0.0044578969148,0.0798300221416,0.999999955776,6.39829350375e-05,-0.000287375002445,4.20725630294e-05,1793196764826911488
+98,1.633333333,BASELINE,764.125864503,743,712,674.874135497,660.874135497,633,877,784,800,649,629.874135497,651,0.400954566709,0.00445779415962,0.0798313961825,0.999999956528,6.40462121113e-05,-0.000284762320376,4.18595277781e-05,1793196764843578368
+99,1.650000000,BASELINE,764.455605878,743,712,674.544394122,661,633,877.911211755,784,800,649,630,651,0.400953552625,0.00445814153017,0.079830790077,0.999999956267,6.47255012816e-05,-0.000285531660047,4.18159638658e-05,1793196764860244736
+100,1.666666667,BASELINE,765,743,712,674,661,633,878.964958219,784,800.035041781,649,629.964958219,650.964958219,0.400952041591,0.00445856714991,0.0798298031658,0.999999955802,6.54287325526e-05,-0.000286992976467,4.18235252472e-05,1793196764876911104
+101,1.683333333,BASELINE,765,743,712,674,661,633,878.388207161,784,800.611792839,649,629.388207161,650.388207161,0.400953791596,0.00445830851039,0.0798312608877,0.999999956489,6.39102049536e-05,-0.00028492162971,4.19083773447e-05,1793196764893577728
+102,1.700000000,BASELINE,764.813055315,743,712,674,660.813055315,633,878,784,800.813055315,649,629,650,0.400954914587,0.00445799080687,0.0798322627058,0.999999956945,6.28840147878e-05,-0.000283539408868,4.19565248453e-05,1793196764910244352
+103,1.716666667,BASELINE,764.241196276,743,712,674,660.241196276,633,878,784,800.241196276,649,629,650,0.400954746572,0.00445755149211,0.0798323258292,0.999999956937,6.2871535071e-05,-0.000283576081029,4.19290985043e-05,1793196764926910976
+104,1.733333333,BASELINE,764.342398776,743,712,674,660.342398776,633,878,784,800,649,629.342398776,650.342398776,0.400954852639,0.00445751920108,0.0798320918108,0.999999956879,6.27745220092e-05,-0.000283792375963,4.19791716386e-05,1793196764943577600
+105,1.750000000,BASELINE,764.934554522,743,712,674,660.934554522,633,878,784,800,649,629.934554522,650.934554522,0.400955158631,0.00445778380655,0.0798316410473,0.999999956786,6.26158475336e-05,-0.000284139693682,4.20857754458e-05,1793196764960244480
+106,1.766666667,BASELINE,765,743,712,674,661,633,877.484626333,784,800.515373667,649,630,650.484626333,0.400954771216,0.0044584825857,0.0798315001851,0.999999956651,6.3503800685e-05,-0.000284438662924,4.19476965513e-05,1793196764976911616
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,712,674,661,633,878,783,800,649,630,651,0.400953790135,0.00445942214644,0.0798312412901,0.999999956344,6.55220627838e-05,-0.000285093183066,4.17118826001e-05,1793196765019871488
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,743.58806014,712,674,660.41193986,633,878,783.58806014,800,649.58806014,630,651,0.400953180309,0.00445854362567,0.0798305764717,0.999999956183,6.4564688463e-05,-0.000285856860439,4.18469619936e-05,1793196765036537344
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,743.826462522,712,674,660.347074956,633,878,784,800,649.826462522,630,651,0.400953171967,0.00445793545964,0.0798305980349,0.999999956242,6.41045347151e-05,-0.000285738719359,4.19462910999e-05,1793196765053203712
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,743.247026162,712,674,661.505947677,633,878,784,800,649.247026162,630,651,0.400954570479,0.00445795964496,0.0798322250239,0.999999956817,6.48073645707e-05,-0.000283558031893,4.19620013993e-05,1793196765069870592
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.668002415,743,712,674,661.33600483,633,878,784,800.331997585,649.331997585,630,651,0.400954567832,0.00445815765339,0.07983223455,0.999999956805,6.49673567722e-05,-0.000283545793192,4.2086042982e-05,1793196765086537216
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.089285332,743,712,674,660.178570663,633,878,784,800.910714668,649.910714668,630,651,0.400953523932,0.00445848483612,0.0798310420802,0.999999956357,6.47239464974e-05,-0.000285145007887,4.22905894866e-05,1793196765103204352
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660.485864798,633,877.514135202,784,801,649.514135202,630,651,0.40095538794,0.0044601013087,0.0798320758058,0.999999956764,6.63652085491e-05,-0.00028335676122,4.21502200364e-05,1793196765119870720
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.06177591,743,712,674,661,633.06177591,877,784,801,649.06177591,630,651,0.400958357674,0.00446150892292,0.0798337528524,0.999999957447,6.78200027327e-05,-0.0002806162623,4.19653839132e-05,1793196765136537344
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.649710697,743,712,674,661,633.649710697,877,784,801,649.649710697,630,651,0.400966226906,0.00445913438972,0.0798374502171,0.999999959203,6.47582689873e-05,-0.000275028547158,4.19377342709e-05,1793196765153203712
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,743,712,674,661,633.765857774,877.468284452,784,800.765857774,650,630,650.765857774,0.400983208923,0.00445722279765,0.0798449662142,0.999999962757,6.23148911769e-05,-0.000262379746881,4.19514951067e-05,1793196765169870336
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,743,712,674,661,633.186590097,878.626819806,784,800.186590097,650,630,650.186590097,0.401013623178,0.00445599358062,0.079858110872,0.999999968632,6.07829697605e-05,-0.000239322913277,4.20262949418e-05,1793196765186536704
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,743,712,674.391350675,661,633.391350675,878.217298651,784,800.391350675,649.608649325,629.608649325,650.391350675,0.40106223771,0.0044569731727,0.0798754691598,0.99999997608,6.16251840566e-05,-0.000205813053636,4.10382870703e-05,1793196765203203072
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,743,712,674.968660987,661,633.968660987,877.062678025,784,800.968660987,649.031339013,629.031339013,650.968660987,0.401119500542,0.00445900233319,0.0798948296557,0.999999983195,6.35955255465e-05,-0.000167336186273,3.95452606468e-05,1793196765219869696
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,743,712,675,661,633.456114715,877.543885285,784,801,649,629,651,0.401188843057,0.00445997889247,0.0799077421466,0.999999986772,6.28564755139e-05,-0.000145145830272,3.79149818152e-05,1793196765236536320
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,743,712,674.878192742,660.878192742,633,878,784,800.878192742,649,629.121807258,650.878192742,0.401260043964,0.00446062271682,0.0799183677984,0.999999989279,6.14913765557e-05,-0.000127913504073,3.60352524966e-05,1793196765253203200
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,743,712,674.289470819,660.289470819,633,878,784,800.289470819,649,629.710529181,650.289470819,0.401335710652,0.00446022269622,0.0799216462319,0.999999989796,5.83226354278e-05,-0.000126102913109,3.3229522337e-05,1793196765269870080
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660.294690999,633.294690999,877.705309001,784.294690999,800,649.294690999,630,650.294690999,0.401422874998,0.00446098929919,0.0799235225484,0.999999990306,5.55159200982e-05,-0.000124174109764,2.97923779461e-05,1793196765286536960
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660.874441713,633.874441713,877.125558287,784.874441713,800,649.874441713,630,650.874441713,0.401521161224,0.00446288439742,0.0799240425725,0.999999990803,5.3059398794e-05,-0.00012213095764,2.57444557832e-05,1793196765303203328
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743,712,674.449897433,661,633.550102567,877,784.550102567,800,650,630,651,0.401645480801,0.0044649248426,0.07992683742,0.999999991742,4.94379476062e-05,-0.000116876029402,2.02995087749e-05,1793196765319869952
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,743,712,674.975266659,661,633,877.049466681,784,800,650,630,651,0.401778436551,0.00446693992558,0.0799304107688,0.999999992775,4.53092327115e-05,-0.000110402283733,1.44507215483e-05,1793196765336536832
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,743,712,674.387511985,661,633,878.224976029,784,800,650,630,651,0.401944159163,0.00446746302557,0.0799373905263,0.999999994637,3.69640707108e-05,-9.63950257961e-05,8.20032300111e-06,1793196765353203200
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,712,674,661,633,878.605436093,784,800,650,630,651,0.402119667471,0.00446787360416,0.0799443945025,0.999999996079,2.79496783798e-05,-8.40074909815e-05,1.64060529441e-06,1793196765369869824
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,712,674,661,633,877.447307647,784,800,650,630,651,0.40231411315,0.00446806642996,0.0799514453463,0.999999997035,1.76401849216e-05,-7.47544643422e-05,-5.51770962143e-06,1793196765386536960
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.645916063,743,712,674,661,633,877.354083937,784,800.354083937,649.645916063,630,651,0.402518967124,0.00447058259997,0.0799522564523,0.999999997025,1.04161765251e-05,-7.52549959954e-05,-1.33405758955e-05,1793196765403203840
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.069012966,743,712,674,661,633,877.930987034,784,800.930987034,649.069012966,630,651,0.402730370884,0.00447456081204,0.0799491409954,0.999999996401,5.13381178428e-06,-8.18932794882e-05,-2.15816340357e-05,1793196765419870464
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.502866236,743,712,674,661,633,878,784,801,649.502866236,630,651,0.40297193698,0.00447854875112,0.0799432185802,0.999999995384,2.07699574277e-05,-9.07705922821e-05,-2.36978350872e-05,1793196765436536832
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.922992779,743,712,674,660.922992779,633,878,784,801,650,630,651,0.403225165291,0.00448318788908,0.0799376851651,0.999999994143,3.71197030566e-05,-9.86525237531e-05,-2.45637589618e-05,1793196765453203200
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.329087481,743,712,674,660.329087481,633,878,784,801,650,630,651,0.40352916382,0.00449218922054,0.0799373230237,0.999999994193,3.91799588077e-05,-9.78109484747e-05,-2.26237855993e-05,1793196765469869824
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660.257298146,633,878,784,800.742701854,649.742701854,629.742701854,650.742701854,0.403854640507,0.00449934297699,0.0799402039971,0.999999995274,1.76145638568e-05,-9.27685399891e-05,-2.31370645176e-05,1793196765486536192
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660.834339087,633,878,784,800.165660913,649.165660913,629.165660913,650.165660913,0.404206807947,0.00450420076301,0.079947115169,0.999999995685,-3.3310279531e-05,-8.25057822342e-05,-2.66989847631e-05,1793196765503202816
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.411720381,743,712,674,661,633.411720381,877.588279619,784,800,649.411720381,629.411720381,650.411720381,0.404585988375,0.00451131121533,0.0799482107975,0.999999996485,-1.82574792558e-05,-7.68265047205e-05,-2.81942278322e-05,1793196765519869696
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.98923872,743,712,674,661,633.98923872,877.01076128,784,800,649.98923872,629.98923872,650.98923872,0.404976046804,0.00451932880619,0.0799469645325,0.999999996647,2.3364224547e-05,-7.29929744082e-05,-2.88572291283e-05,1793196765536536576
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.437396641,743,711.437396641,674.562603359,661,633.437396641,877,784,800.562603359,649.437396641,630,651,0.405402716493,0.00452891700253,0.0799434193597,0.999999995557,4.49312043621e-05,-7.64907622616e-05,-3.18958756105e-05,1793196765553203200
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.141414102,743,711.141414102,674.858585898,661,633,877,784,800.858585898,649.141414102,630,651,0.405840350854,0.00453837406576,0.0799382520694,0.999999994184,5.77234221259e-05,-8.42092906253e-05,-3.47734063731e-05,1793196765569870080
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.738008375,743,711.738008375,674.261991625,661,633,877,784,800.261991625,649.738008375,630,651,0.406311040393,0.00454731304938,0.0799280040496,0.999999992851,4.34973235843e-05,-0.000105065368544,-3.69871504832e-05,1793196765586536704
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,743.322364022,712,674.322364022,661,633,877.322364022,784.322364022,800,649.677635978,629.677635978,651,0.406799715984,0.00455785179095,0.0799218128623,0.999999990941,5.30348657313e-05,-0.000117422136251,-3.89445843985e-05,1793196765603203328
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,743.897136969,712,674.897136969,661,633,877.897136969,784.897136969,800,649.102863031,629.102863031,651,0.407302474588,0.00456964313349,0.0799187981473,0.999999988297,8.11791819031e-05,-0.000123124001728,-4.07013293293e-05,1793196765619869696
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.527230254,743.527230254,712,675,661,633,878,784.527230254,800.472769746,649,629.472769746,651,0.407826657652,0.00458099805444,0.0799113789161,0.999999985715,8.82475321934e-05,-0.000138081423444,-4.14311854019e-05,1793196765636536320
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743,711.950509917,675,660.950509917,633,878,784,800.950509917,649,629.950509917,650.950509917,0.408362432728,0.00459226232144,0.0799040326276,0.999999983081,9.28157954009e-05,-0.000153145988162,-4.20731807093e-05,1793196765653202944
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,711.364022083,675,660.364022083,633,878,784,800.364022083,649,629.364022083,650.364022083,0.408973317035,0.00460357513816,0.0799078950462,0.999999980936,0.000120103922457,-0.000147482564606,-4.41905560112e-05,1793196765669869568
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,711.221076864,675,660.221076864,633,877.778923136,784,800,649,629.221076864,650.221076864,0.409616078484,0.00461411772953,0.0799247257675,0.999999982741,0.000133872199473,-0.00012024278941,-4.62367505625e-05,1793196765686536704
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,711.803903129,675,660.803903129,633,877.196096871,784,800,649,629.803903129,650.803903129,0.410311000655,0.00462339999586,0.0799627766003,0.999999989298,0.000125517862644,-5.76975003218e-05,-4.81664714172e-05,1793196765703203840
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,743,712,675,661.380042419,633,877.380042419,784,800,649,630,651,0.410992110428,0.00462764566315,0.0799800423602,0.999999989465,0.000132855888553,-3.10587751958e-05,-4.95510586137e-05,1793196765719870464
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,743,712,675,661.952790962,633,877.952790962,784,800,649,630,651,0.411666216398,0.00462933744821,0.0799867687407,0.999999987486,0.000148150959196,-2.26270057111e-05,-5.06592277302e-05,1793196765736536832
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,743,712,675,662,633,878,784,800.529309919,649,629.470690081,650.470690081,0.412334159574,0.00460527837986,0.0799532756077,0.999999990062,0.000107633950029,-7.41039488917e-05,-5.29162926106e-05,1793196765753203456
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,712,675,661.891570485,633,878,784,801,649,629,650,0.413016216737,0.00458027607145,0.0799194074551,0.999999988647,6.6453317976e-05,-0.000123618856772,-5.48511451126e-05,1793196765769869824
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,743,712,675,661.302422818,633,878,784,801,649,629,650,0.413763301902,0.00456134739438,0.079899894358,0.999999987619,4.45580737037e-05,-0.000140576110666,-5.48999264782e-05,1793196765786536704
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.283269935,743,712,675,661.283269935,633,878,783.716730065,801,649,629,650.283269935,0.414538599566,0.0045538056424,0.0799038327183,0.99999998981,3.19670129865e-05,-0.000127618598348,-5.54290085332e-05,1793196765803203328
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.865318693,743,712,675,661.865318693,633,878,783.134681307,801,649,629,650.865318693,0.415343654441,0.00455827424161,0.0799325064892,0.999999994526,2.91895324795e-05,-8.31085033613e-05,-5.64646874574e-05,1793196765819869952
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,743.441555194,712,675.441555194,662,633,878,783.441555194,801,649,629,651,0.4161259735,0.00456885511962,0.0799381935708,0.999999993583,4.87436007839e-05,-8.61504027119e-05,-5.50953516084e-05,1793196765836536832
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743.984114134,712,675.984114134,661.984114134,633,878,784,801,649,629,650.984114134,0.416903118329,0.00458102050895,0.079937140746,0.999999990597,7.4400355954e-05,-0.000102231306625,-5.31020542475e-05,1793196765853203712
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,743.415213952,712,675.415213952,661.415213952,633,878,784,801,649,629,650.415213952,0.417738416308,0.00458428775516,0.0799423646527,0.999999992703,7.84637166061e-05,-7.38693333349e-05,-5.45925489747e-05,1793196765869870336
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743.162087567,712,675,661.162087567,633,878,784,800.837912433,649.162087567,629,650.162087567,0.418592639262,0.00458622399562,0.079951518763,0.999999994155,8.1371517708e-05,-4.39485896924e-05,-5.60064842336e-05,1793196765886536960
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743.762086934,712,675,661.762086934,633,878,784,800.237913066,649.762086934,629,650.762086934,0.419497991751,0.00458456425915,0.0799712910994,0.999999995022,8.11573447145e-05,-9.81651973521e-06,-5.72135788376e-05,1793196765903203328
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.653052774,743.653052774,712,675,662,633,878,784,800,650,629,651,0.42036006791,0.00458030576884,0.0799676471881,0.999999995267,7.75032146001e-05,-1.44595631764e-05,-5.70133709698e-05,1793196765919869696
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.078139811,743.078139811,712,675,662,633,878,784,800,650,629,651,0.421193708813,0.00457433973696,0.0799486173564,0.999999994882,7.15888203783e-05,-4.45802501745e-05,-5.58884784769e-05,1793196765936536320
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712,675,662,633,878,784,800,649.502850959,629,650.502850959,0.422080028626,0.00457794742798,0.0799599835922,0.999999995055,7.73339874745e-05,-2.81872178109e-05,-5.58064273127e-05,1793196765953203200
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.074031366,743,712,675,662.148062733,633,878.074031366,784,800.074031366,649.074031366,629.074031366,650.074031366,0.422972081566,0.00458333736164,0.0799762927969,0.999999994796,8.52825992883e-05,-5.15025836986e-06,-5.57534412062e-05,1793196765969870080
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.661555885,743,712,675,663.32311177,633,878.661555885,784,800.661555885,649.661555885,629.661555885,650.661555885,0.423846426151,0.0045906440737,0.0799937244502,0.999999993825,9.57938184462e-05,1.32225611154e-05,-5.47642931626e-05,1793196765986537216
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,712,675,663.506482321,633,878.753241161,784,801,649.753241161,630,651,0.424711405819,0.00459578062332,0.0799813811834,0.999999992867,0.000104853247715,-1.83161652745e-05,-5.41816745762e-05,1793196766003203840
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,712,675,662.342385213,633,878.171192606,784,801,649.171192606,630,651,0.425563660799,0.00459796841177,0.0799285805054,0.999999985345,0.000111940022144,-0.000117673444394,-5.41514375118e-05,1793196766019870464
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.594965352,743,712,675.405034648,662,633,878.405034648,784,801,649.405034648,629.594965352,651,0.426455175395,0.00459798396553,0.0799065983766,0.999999983034,0.000109041745551,-0.000137134656655,-5.68894706002e-05,1793196766036536832
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.02116371,743,712,675.97883629,662,633,878.97883629,784,801,649.97883629,629.02116371,651,0.427363048362,0.00459709440766,0.0798974575075,0.99999998535,0.000101982967872,-0.000123305331246,-6.07809671909e-05,1793196766053203456
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.567565668,743.567565668,712,676,662.567565668,633,878.432434332,784,800.432434332,650,629.567565668,651,0.428214366318,0.00459201878954,0.0799024883763,0.99999998556,8.8164532319e-05,-0.000132535633007,-5.95055903477e-05,1793196766069870080
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744,712,676,662.845847992,633,878,784,800.154152008,650,629.845847992,651,0.42908231662,0.00458822857965,0.0799142882842,0.999999986873,8.17510570088e-05,-0.000127213630569,-5.81972752683e-05,1793196766086536448
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744,712,676,662.266745313,633,878,784,800.733254687,650,629.266745313,651,0.430002087755,0.00458842377579,0.0799432522842,0.999999990556,9.64644450406e-05,-7.93409021729e-05,-5.73436261569e-05,1793196766103203072
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744,712,676,662.311208088,633,878.311208088,784,801,649.688791912,629.311208088,651,0.430926455479,0.00459055961471,0.0799774870783,0.999999992725,0.000102962956056,-2.71494715543e-05,-5.66690084629e-05,1793196766119869952
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744,712,676,662.888180006,633,878.888180006,784,801,649.111819994,629.888180006,651,0.431854748526,0.00459435271344,0.0800162229957,0.999999992763,0.000102446169174,2.87300189894e-05,-5.61472790647e-05,1793196766136537088
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.538416975,743.538416975,711.538416975,676,663,633,879,784,801.461583025,649,629.538416975,650.538416975,0.432659621034,0.0045982438962,0.0799864538635,0.999999993062,0.000100952653434,-2.31864738641e-05,-5.6091302761e-05,1793196766153203712
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,711.035321742,676,662.964678258,633,879,784,801.929356515,649,629,650,0.433435330554,0.00460188030406,0.079940095213,0.999999988493,9.95494141487e-05,-9.97104708094e-05,-5.62235578576e-05,1793196766169870336
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,711.627891087,676,662.372108913,633,879,784,800.744217827,649,629,650,0.434219032071,0.00460112530547,0.079891823314,0.9999999809,0.000103274703992,-0.000155629470613,-5.75590289759e-05,1793196766186536704
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,712,676.215499609,662.215499609,633,878.784500391,784,800.215499609,649.215499609,629.215499609,650,0.435028687584,0.00459920121961,0.0798768267058,0.999999978872,0.000103542163876,-0.000167717336924,-5.83545226601e-05,1793196766203203328
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,712,676.794734994,662.794734994,633,878.205265006,784,800.794734994,649.794734994,629.794734994,650,0.435882150251,0.00459530386386,0.0799179945248,0.999999987905,9.79732498288e-05,-0.000105823865296,-5.82386038114e-05,1793196766219869952
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,712,677,663,633,878.371825289,784,801.371825289,650,629.628174711,650.371825289,0.436713528465,0.00459111979101,0.0799523891454,0.999999992485,8.85194286248e-05,-6.28571471317e-05,-5.69573126306e-05,1793196766236536576
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,712,677,663,633,878.947738152,784,801.947738152,650,629.052261848,650.947738152,0.437532784907,0.00458677834503,0.0799830660882,0.999999995068,7.69332588207e-05,-3.02789547444e-05,-5.50363715754e-05,1793196766253203456
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.532396932,743,712,677,663,633,879,784,801.467603068,650,629,650.467603068,0.438290499125,0.00458147150695,0.0799990567785,0.999999995842,7.19502017526e-05,-2.64804834533e-07,-5.60357393534e-05,1793196766269870080
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.883367498,743,712,677,663,633,878.883367498,784,801.116632502,649.883367498,629,650,0.439031885022,0.0045767623729,0.0800076206338,0.999999995876,6.78978695255e-05,1.92797692368e-05,-5.71524756736e-05,1793196766286536960
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.304271077,743,712,677,663,633,878.304271077,784,801.695728923,649.304271077,629,650,0.439732881068,0.0045748052542,0.0799925478848,0.999999996233,6.49229272358e-05,-1.67429297145e-06,-5.75789350989e-05,1793196766303203840
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.274272677,743,712,676.725727323,663,633,878,784,802,649,629,650,0.440385747546,0.00457441076592,0.0799524016291,0.999999994124,6.67842592138e-05,-6.3576381245e-05,-5.70003055652e-05,1793196766319870464
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.852204512,743,712,676.147795488,663,633,878,784,802,649,629,650,0.440985327646,0.00457574633358,0.0798844954094,0.999999981144,7.40000395332e-05,-0.000170813800698,-5.53088980245e-05,1793196766336536832
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.572698415,743.427301585,712,676.427301585,663,633,878,784,802,649,629.427301585,650.427301585,0.441601721552,0.00457729573204,0.0798426985378,0.999999969445,7.05101926288e-05,-0.000229627361804,-5.83933823783e-05,1793196766353203456
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.001464052,744,712,677,662.998535948,633,878,783.998535948,801.998535948,649,630,651,0.442223931657,0.00457891617244,0.0798100820646,0.999999959144,6.33604542118e-05,-0.000271507690909,-6.30985211489e-05,1793196766369870080
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.591455638,744,712,677,662.408544362,633,878,783.408544362,801.408544362,649,630,651,0.442861779064,0.00457955947657,0.079861557056,0.9999999772,6.36789589076e-05,-0.000194912514129,-5.96234381679e-05,1793196766386536704
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.822296143,743.822296143,712,677,662,633,878.177703857,783,801,649,630,650.822296143,0.443477486575,0.00458258595076,0.0799043278413,0.99999998722,6.94186262231e-05,-0.000132209500908,-5.71032471271e-05,1793196766403203328
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.244476332,743.244476332,712,677,662,633,878.755523668,783,801,649,630,650.244476332,0.444043344277,0.00459097834327,0.0799275003469,0.999999989495,8.73645214877e-05,-0.000100785910037,-5.67330797061e-05,1793196766419869952
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.333559905,743,712,677,661.33288019,632.666440095,879,783.333559905,801,649,629.666440095,650.333559905,0.444560283936,0.00459553638961,0.079921659304,0.999999988214,8.84520727275e-05,-0.000112046493584,-5.6506093524e-05,1793196766436537088
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.911754834,743,712,677,660.176490332,632.088245166,879,783.911754834,801,649,629.088245166,650.911754834,0.445041346747,0.0045972823008,0.0798945395327,0.99999998348,7.71756026111e-05,-0.000154611932714,-5.63841173772e-05,1793196766453203712
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.503865906,743.496134094,712,677.496134094,660,632.496134094,879,784,801,649.496134094,629.496134094,650.503865906,0.44548370208,0.00460314528229,0.0798667726611,0.999999974487,8.51645034506e-05,-0.000201632861961,-5.58339697977e-05,1793196766469870336
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743.919264418,711.919264418,677.919264418,659.919264418,632.919264418,879,784,801,650,630,650.080735582,0.445916992411,0.00460934095628,0.0798408271229,0.999999963947,9.52293683938e-05,-0.00024488246364,-5.54003690386e-05,1793196766486536960
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743.34016679,711.34016679,677.34016679,659.34016679,632.34016679,879,784,801,650,630,650.65983321,0.446337360838,0.00461301298233,0.0798268436868,0.999999959975,9.66898014656e-05,-0.000259899006182,-5.61622184068e-05,1793196766503203328
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,711,677.238148387,658.761851613,632,879.238148387,784,801,650,630,650.761851613,0.446742742575,0.00461676987534,0.0798159545831,0.999999957202,0.000100923056581,-0.00026866028455,-5.68526928996e-05,1793196766519869952
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711,677.815349535,658.184650465,632,879.815349535,784,801,650,630,650.184650465,0.447126787668,0.00462064759342,0.0798094708933,0.999999956348,0.000109103988853,-0.00026851591836,-5.74415506583e-05,1793196766536536576
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+200,3.333333333,POSE1_TO_POSE2_PRESS,764.959119758,743.959119758,711,678,658,632,879.040880242,784,801.959119758,649.040880242,630,650.959119758,0.447798396401,0.00462861410261,0.0797851271126,0.999999944657,0.000132822001875,-0.000299685406532,-5.68532335833e-05,1793196766569870080
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,743,711.617509999,679,657,631,879.617509999,783.617509999,801,649.382490001,629,651,0.449614342015,0.00463575913939,0.079740630347,0.999999921009,0.000123772749581,-0.000372682475953,-6.14024321833e-05,1793196766703203072
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+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,711,678.992858221,655.007141779,631.007141779,879.007141779,783,801,650,629,650.007141779,0.45044729282,0.00464728526191,0.079726064451,0.999999905956,0.00014238082762,-0.000404935746377,-6.19922215294e-05,1793196766886536192
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,711,679,655,631,879.581291697,783,801.581291697,650,629.581291697,650.581291697,0.450465780384,0.00465006685865,0.0797258145184,0.999999905553,0.000146124990082,-0.000404599359146,-6.19784000458e-05,1793196766903202560
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,711,678.83181876,655,631,879.83181876,783,801.83181876,650,630,650.83181876,0.450481951528,0.00465080850524,0.0797258516253,0.999999905623,0.000147233418564,-0.000404055540374,-6.17761096154e-05,1793196766919869440
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711,678.24912456,655,631,879.24912456,783,801.24912456,650,630,650.24912456,0.450492699597,0.00464647634885,0.0797266377394,0.999999906887,0.000141717697438,-0.000402997556193,-6.11205518057e-05,1793196766936536064
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711,678,655,631,879,783,801,650,629.67217931,650.32782069,0.450497988728,0.00464595045306,0.0797250380106,0.999999906047,0.00014087148321,-0.000405408326715,-6.08663767488e-05,1793196766953202688
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711,678,655,631,879,783,801,650,629.099527569,650.900472431,0.450499200881,0.00464826724128,0.0797216564284,0.999999903629,0.000143512663542,-0.000410409717193,-6.09119720893e-05,1793196766969869568
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,711,678,655.053993591,631,879.053993591,783,802,650,629,651,0.450500038995,0.00464627358994,0.079719188386,0.999999902055,0.000141155511912,-0.000415196183146,-5.98124339588e-05,1793196767003204352
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711,678,655.64238482,631,879.64238482,783,802,650,629,651,0.450502427463,0.00464706741215,0.0797207955329,0.999999902815,0.000140965620741,-0.000413414183306,-5.99016723601e-05,1793196767019870720
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+229,3.816666667,POSE1_TO_POSE2_PRESS,764.807763889,743,711,678,655.192236111,631,880,783,801.192236111,650,629,651,0.45050316956,0.00464656845341,0.0797185205136,0.99999990173,0.000139557777319,-0.000416475225128,-6.01024751766e-05,1793196767053203456
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764.042620658,743,711,678.957379342,655,631,879.042620658,783,801.957379342,649.042620658,629,651,0.450504275813,0.00464539423292,0.0797171415653,0.999999901686,0.00013856741583,-0.000417022852969,-5.93240155625e-05,1793196767086536448
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711,679,655,631,879,783,802,649,629,651,0.450504188465,0.00464675773698,0.0797170942635,0.999999901159,0.000140714712135,-0.00041760140202,-5.90875745984e-05,1793196767103203328
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,711,678.871685659,655,631,879,783,801.871685659,649.128314341,629.128314341,650.871685659,0.450504506381,0.00464746729022,0.0797171434327,0.999999900934,0.000142096626092,-0.000417696100807,-5.89115691589e-05,1793196767119869952
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,711,678.287873935,655,631,879,783,801.287873935,649.712126065,629.712126065,650.287873935,0.450506505493,0.00464530641255,0.0797174452418,0.999999902003,0.000140033289547,-0.00041583351448,-5.88786064467e-05,1793196767136536576
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.292136653,743,711,678,655,631,879.292136653,783,801,650,630,650.292136653,0.450507603639,0.00464426197119,0.0797177700432,0.999999902456,0.000138481268769,-0.000415272744351,-5.88202053073e-05,1793196767153203200
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.868449749,743,711,678,655,631,879.868449749,783,801,650,630,650.868449749,0.45050782537,0.00464430354496,0.0797181172107,0.999999902313,0.000137426631059,-0.000415978318003,-5.87370588897e-05,1793196767169870336
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711,678,655,631,879.015672445,783,801.984327555,649.015672445,630,651,0.450505578395,0.00464357421313,0.0797159299234,0.999999901268,0.000136914876614,-0.000418615390368,-5.89872267196e-05,1793196767203203584
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711,678,655,631,879.604367251,783,801.395632749,649.604367251,630,651,0.45050782549,0.00464462441862,0.0797179332542,0.999999901645,0.000140030831353,-0.000416749868534,-5.8482877128e-05,1793196767219869952
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+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,711,678,655,631,880,783,801.771274028,649.228725972,630,651,0.450508989183,0.0046441949317,0.0797189856552,0.999999902346,0.000140226877149,-0.00041505867847,-5.80533503992e-05,1793196767253202944
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,743,711,677.651077083,655,631,879.651077083,783,801.651077083,649,630,651,0.450508982785,0.00464425994618,0.079718775393,0.999999902274,0.000140113696999,-0.000415255403593,-5.81711080929e-05,1793196767269869568
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+244,4.066666667,POSE1_TO_POSE2_PRESS,764.499125055,743,711,677.99825011,655,631,879.499125055,783,801,649.499125055,630,651,0.450509467205,0.00464582129483,0.0797187364465,0.999999902036,0.000141339663771,-0.000415377544706,-5.8410949957e-05,1793196767303203072
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+247,4.116666667,HOLD_POSE2,764,743,711,678,655,631,880,784,801,650,629,651,0.450507260914,0.00464607865139,0.0797152367391,0.999999900289,0.000140543192386,-0.000419880411963,-5.80518127377e-05,1793196767374746880
+248,4.133333333,HOLD_POSE2,764,743,711,678.576310287,655,631,879.423689713,783.423689713,801,650,629.576310287,651,0.450507653677,0.00464531915905,0.0797158501419,0.999999900518,0.000140640620066,-0.000419363988929,-5.7601163501e-05,1793196767391413504
+249,4.150000000,HOLD_POSE2,764,743,711,678.843791682,655,631,879,783,801.156208318,650,629.843791682,650.843791682,0.450508243913,0.00464466757051,0.0797164654852,0.999999900952,0.000140066210418,-0.000418548636362,-5.73939257303e-05,1793196767408080128
+250,4.166666667,HOLD_POSE2,764,743,711,678.253933587,655,631,879,783,801.746066413,650,629.253933587,650.253933587,0.450509382352,0.00464431553344,0.0797170862153,0.999999901951,0.000137626713759,-0.000416903425649,-5.78624222214e-05,1793196767424747008
+251,4.183333333,HOLD_POSE2,764,743,711,678,654.670037817,631,879,783.329962183,801.670037817,650,629,650.329962183,0.450509461352,0.00464456835753,0.0797171271069,0.999999901993,0.000137521707742,-0.00041682064379,-5.7987528855e-05,1793196767441413632
+252,4.200000000,HOLD_POSE2,764,743,711,678,654.09064915,631,879,783.90935085,801.09064915,650,629,650.90935085,0.450508739495,0.00464527841098,0.0797167296843,0.999999901313,0.000139181400434,-0.000417918940208,-5.78530586699e-05,1793196767458080256
+253,4.216666667,HOLD_POSE2,764.484195002,743,711,678,654.484195002,631,879.484195002,783.031609996,801.484195002,650,629,651,0.450509679544,0.00464521680532,0.0797169350495,0.999999901558,0.000137555906967,-0.000417829842474,-5.81510300732e-05,1793196767474746880
+254,4.233333333,HOLD_POSE2,764.940334872,743,711,678,655,631,880,782.059665128,802,650,629,651,0.450510702001,0.00464497857149,0.0797171774593,0.999999901893,0.000135687295183,-0.000417596155841,-5.84553114464e-05,1793196767491413504
+255,4.250000000,HOLD_POSE2,764.351845845,743,711,678,655,631,880,782.648154155,802,650,629,651,0.450509722838,0.00464444338154,0.0797167572785,0.999999901543,0.000137064412021,-0.000418032912498,-5.81046263629e-05,1793196767508080128
+256,4.266666667,HOLD_POSE2,764,743,711,678,655,631,879.766886648,783,801.766886648,649.766886648,629.233113352,651,0.450508917034,0.00464386791414,0.079716432787,0.999999901235,0.000137877758829,-0.000418560771404,-5.76840096425e-05,1793196767524747008
+257,4.283333333,HOLD_POSE2,764,743,711,678,655,631,879.187175726,783,801.187175726,649.187175726,629.812824274,651,0.450508368985,0.00464323256147,0.0797162505684,0.99999990099,0.000137852881006,-0.00041922408291,-5.71594172037e-05,1793196767541413632
+258,4.300000000,HOLD_POSE2,764,743,711,678.389729472,655,631,879,783,801.389729472,649.389729472,630,651,0.450508960384,0.00464288625289,0.079716386789,0.999999901328,0.000136806744117,-0.000418754433343,-5.72092481289e-05,1793196767558080000
+259,4.316666667,HOLD_POSE2,764,743,711,678.965296845,655,631,879,783,801.965296845,649.965296845,630,651,0.450510095114,0.00464267777152,0.0797166748538,0.99999990194,0.000135273631889,-0.000417744544715,-5.75329860107e-05,1793196767574746624
+260,4.333333333,HOLD_POSE2,764.541949673,743,711,679,655,631,879,783,801.458050327,650,629.458050327,651,0.450510268903,0.00464383285241,0.0797170636298,0.999999901948,0.000135851621672,-0.000417500020255,-5.78187649044e-05,1793196767591413504
+261,4.350000000,HOLD_POSE2,764.879407972,743,711,679,655,631,879,783,801.120592028,650,629,651,0.450510072807,0.00464470103269,0.0797170007886,0.999999901751,0.000136435032878,-0.000417755199011,-5.79929240354e-05,1793196767608080128
+262,4.366666667,HOLD_POSE2,764.293355092,743,711,679,655,631,879,783,801.706644908,650,629,651,0.450508687005,0.00464412414337,0.0797151698547,0.999999900919,0.00013651654712,-0.000419749585639,-5.77456542219e-05,1793196767624747008
+263,4.383333333,HOLD_POSE2,764,743,711,678.709170774,655,631,879,783,801.709170774,650,629,651,0.450508786403,0.00464383912093,0.0797152326273,0.999999900841,0.000136747306802,-0.000419909821065,-5.7385045218e-05,1793196767641413376
+264,4.400000000,HOLD_POSE2,764,743,711,678.126859249,655,631,879,783,801.126859249,650,629,651,0.450510374335,0.00464384662081,0.0797171933589,0.99999990152,0.000137127647059,-0.000418231786474,-5.69108425284e-05,1793196767658080000
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,679,655,631,879,783,801,649,629,650,0.450513787336,0.00464455327354,0.0797192882859,0.999999902451,0.0001413176191,-0.000414543812448,-5.72698606828e-05,1793196767690793216
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,679,655,631,879,783,801,649,629,650,0.450511614779,0.00464356241681,0.0797177043369,0.999999901776,0.000139204619235,-0.000416870971025,-5.73438000571e-05,1793196767707459072
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711,678.843231285,655,631,879,783,801.156768715,649.156768715,629,650.156768715,0.450510330773,0.00464278266604,0.0797167117137,0.999999901476,0.000137222924956,-0.000418245131401,-5.73439384485e-05,1793196767724124928
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,678.254808625,655,631,879,783,801.745191375,649.745191375,629,650.745191375,0.450511493345,0.0046425841836,0.079717347273,0.999999902231,0.000135602772835,-0.000416995264726,-5.71408699531e-05,1793196767740791040
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,677.670828282,655,631,878.670828282,783,801.670828282,650,629,651,0.450511830238,0.00464289958599,0.0797171638241,0.999999902208,0.000135345879209,-0.000417131173348,-5.71623169208e-05,1793196767757457664
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,764.036409632,743,712,676,660.036409632,633,878,784,800.036409632,649.963590368,629,651,0.425823288111,0.00440423055765,0.0797470460598,0.999999919733,-4.70463238917e-05,-0.000395860040458,4.01924384398e-05,1793196768840790784
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764.628883573,743,712,676,660.628883573,633,878,784,800.628883573,649.371116427,629,651,0.425040551044,0.00441227362357,0.0797484634373,0.999999918284,-4.29310029106e-05,-0.000399935730382,4.05087222211e-05,1793196768857457152
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,743,712,676,660.783617288,633,878,784,800.783617288,649,629,651,0.4242517711,0.00442790659521,0.0797479821546,0.999999916772,-2.53891677387e-05,-0.00040517659244,4.05436623677e-05,1793196768874123776
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,743,712,676,660.204458552,633,878,784,800.204458552,649,629,651,0.42345285986,0.0044562644102,0.0797443176769,0.999999914063,1.46628650917e-05,-0.000412370921853,4.01069163824e-05,1793196768890790400
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764.629030946,743,712,675.629030946,660,633,878,784,800.370969054,649.370969054,629.370969054,651,0.422706382449,0.00447439929286,0.0797645630797,0.999999928911,3.85708513334e-05,-0.00037292555338,4.0208355076e-05,1793196768907457280
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,764.532281617,743,712,675,661.064563234,633,878,784,801,650,630,651,0.421261805302,0.0044694685879,0.0798359732427,0.999999969437,3.21231736154e-05,-0.000241625458003,4.13774773897e-05,1793196768940790528
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.880351802,743,712,675,661.760703604,633,878.119648198,784,801,649.880351802,630,651,0.420521632141,0.00445257094839,0.0798620164096,0.999999979606,1.23131405927e-05,-0.000197157487691,4.20163558221e-05,1793196768957457152
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764.301112043,743,712,675,660.602224086,633,878.698887957,784,801,649.301112043,630,651,0.419733398249,0.00445034026109,0.0798396852395,0.999999970795,1.42999862629e-05,-0.000237578769627,4.19797255507e-05,1793196768974123776
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,743,712,675,660.277135198,633,878.722864802,784,800.722864802,649,630,651,0.418950001042,0.00445015689231,0.0798106230199,0.999999958132,1.28653591849e-05,-0.000286191813132,4.0810059768e-05,1793196768990790400
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,743,712,675,660.854307863,633,878.145692137,784,800.145692137,649,630,651,0.41817184027,0.00445219003125,0.0797742735027,0.999999940177,7.7265109801e-06,-0.00034367357697,3.84137251291e-05,1793196769007457024
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.997117035,743,711.997117035,675,661,633,877.002882965,784,801,649,630,651,0.416736220737,0.00446103182092,0.0798122825068,0.999999953076,1.01450380435e-05,-0.000303664580029,3.91527132962e-05,1793196769040790784
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.406604442,743,711.406604442,675,661,633,877.593395558,784,801,649,630,651,0.416011167909,0.00446485269561,0.0798130345578,0.999999951377,2.12257173124e-05,-0.000308430910199,4.08105051638e-05,1793196769057457408
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,743,711.180478841,674.819521159,660.819521159,633,878,784,800.819521159,649,630,651,0.415294944453,0.0044664263465,0.079806396712,0.999999947202,2.43979385112e-05,-0.000321414231225,4.11533247989e-05,1793196769074124032
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,743,711.759980337,674.240019663,660.240019663,633,878,784,800.240019663,649,630,651,0.414598241813,0.0044630315863,0.079783420462,0.999999937054,1.0085264915e-05,-0.000352564588462,3.85888581629e-05,1793196769090790400
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,743,712,674.337827239,660.337827239,633,878,784,800.337827239,649,630,651,0.413941159126,0.00445877682675,0.0797830139175,0.999999939572,7.62918620954e-07,-0.000345685490128,3.68307371859e-05,1793196769107457024
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,743,712,674.91450428,660.91450428,633,878,784,800.91450428,649,630,651,0.413312088486,0.00445391403274,0.0797985645531,0.999999950705,-5.03117761003e-06,-0.000311918895634,3.56427169182e-05,1793196769124123904
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.487414843,743,712,675,661,632.512585157,878,783.512585157,800.512585157,649,629.512585157,650.512585157,0.412673714753,0.00445530267905,0.0798016181327,0.999999951671,-1.00017813871e-05,-0.000308879791409,3.39225213809e-05,1793196769140791296
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.938218859,743,712,675,660.938218859,632.061781141,877.938218859,783,800,649,629.061781141,650.061781141,0.412033234369,0.00445778208803,0.0798005246233,0.999999949973,-1.31910065519e-05,-0.000314362517689,3.24859659381e-05,1793196769157458688
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,743,712,675,660,633,877,783.240444957,800,649,630,651,0.410773891471,0.00446172177036,0.0797752212596,0.999999933951,4.08076866028e-06,-0.000361664703276,3.57644369291e-05,1793196769190790656
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,743,712,675,660,633,877,783.817719557,800,649,630,651,0.410201228339,0.00446166854903,0.0797830250711,0.999999937801,4.17706375627e-06,-0.000350750793368,3.68086462523e-05,1793196769207457536
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,743,712,675,660.394258352,633,877.394258352,784,800,649.394258352,630,651,0.409673166849,0.00446372513785,0.0798059409326,0.999999950492,8.33522616495e-06,-0.000312334236375,3.73306020573e-05,1793196769224124160
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,743,712,675,660.970457641,633,877.970457641,784,800,649.970457641,630,651,0.409165687916,0.00446675535433,0.0798358306497,0.99999996507,1.4367844599e-05,-0.000261225854289,3.76115501818e-05,1793196769240790784
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,743,712,675,661,633,877.457493682,784,800,650,629.457493682,651,0.408644172182,0.00446487655714,0.0798393657719,0.999999965332,1.30512646818e-05,-0.000260176960344,3.83799518461e-05,1793196769257457664
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.300621921,743,712,674.300621921,660,632.300621921,877,784,800,649,630,650.699378079,0.407071296932,0.00446609681695,0.0797702224355,0.999999927106,1.22745835064e-05,-0.000379785400103,3.74318560117e-05,1793196769307457280
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.876001705,743,712,674.876001705,660,632.876001705,877,784,800,649,630,650.123998295,0.406613241858,0.00446544610461,0.0797564172402,0.999999920065,2.76618806644e-05,-0.000397156363125,3.70277011514e-05,1793196769324124416
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.549196005,743,712,674.549196005,660,633,877.450803995,784,800.450803995,649.450803995,630,650,0.406215282847,0.00446753634858,0.0797701565234,0.999999931283,2.02452787592e-05,-0.000368375161136,3.63889478592e-05,1793196769340791296
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,660,633,877.973805829,784,800.973805829,650,630,650.026194171,0.405834068982,0.00447043450507,0.0797912418617,0.999999945689,8.06366024054e-06,-0.000327537343652,3.57349641798e-05,1793196769357457664
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,660,633,877.382304357,784,800.382304357,650,630,650.617695643,0.405457953666,0.0044745185339,0.0798075653746,0.999999953913,2.82413536683e-05,-0.000300118264542,3.61431276874e-05,1793196769374124288
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.204480054,743,712,674.204480054,660,633,877,784,800,650,629.795519946,650.795519946,0.405086719077,0.00447683080778,0.079817438201,0.999999957825,3.93641763837e-05,-0.000285402900878,3.66800888544e-05,1793196769390791168
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.641172613,743,712,675,659.641172613,633,877.358827387,783.641172613,800,649.641172613,629.358827387,650.358827387,0.404381727044,0.00447572224032,0.079815614595,0.999999953534,3.0331241768e-05,-0.000300900549813,3.83475451409e-05,1793196769424124416
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.066182396,743,712,675,659.066182396,633,877.933817604,783.066182396,800,649.066182396,629.933817604,650.933817604,0.404050880393,0.00447598660053,0.0798169162111,0.999999951718,2.78175076869e-05,-0.000306992122467,3.93166307958e-05,1793196769440791040
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.521157763,743,712,674.478842237,660.042315527,633,877.478842237,783.521157763,800,649,629.478842237,650.478842237,0.403759738238,0.00447842901582,0.0798200560128,0.999999951248,5.06324150567e-05,-0.000305515959762,4.00045773337e-05,1793196769457457664
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.891683138,743,712,674,660.891683138,633,877,784,800,649,629.108316862,650,0.403479485363,0.00448071909239,0.0798239598091,0.999999951199,7.04594815634e-05,-0.000301644554727,4.06043509757e-05,1793196769474123776
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,660,633.842048952,877.842048952,784,800,649,630,650,0.402747003368,0.00447739382056,0.0798291888033,0.999999953449,4.34225004037e-05,-0.00029913546548,4.16450160658e-05,1793196769524124160
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,659.58240945,633.58240945,877.58240945,784,800.41759055,649,629.58240945,650.41759055,0.402542074652,0.0044749050196,0.0798265634329,0.999999952756,3.44998145747e-05,-0.000302691782727,4.09237916463e-05,1793196769540790784
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,659.007175673,633.007175673,877.007175673,784,800.992824327,649,629.007175673,650.992824327,0.402347504236,0.00447249316447,0.0798240560418,0.999999952577,2.62143157504e-05,-0.00030425936539,3.9810665037e-05,1793196769557457152
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.829949117,743,711.829949117,674,660,633,877,783.829949117,800.829949117,649.170050883,629.170050883,651,0.402043563428,0.00446931603371,0.0798333600195,0.999999958417,2.41404904201e-05,-0.000284592456851,3.98717234363e-05,1793196769590790400
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+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,659.643301623,633,877.643301623,784,800,650,629.643301623,651,0.401359588422,0.0044587944085,0.0798304013069,0.999999955912,-5.47475659609e-06,-0.000293454523138,4.5054038202e-05,1793196769690791424
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9f0891e697c21fd141b02fecc5bf40d9d175dc78
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,425 @@
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+413,6.883333333,pose2_to_pose3_retreat,0.578253359839,0.0100013497938,1.07001165928,0.548824593638,0.0186750121439,1.06966119503
+414,6.900000000,pose2_to_pose3_retreat,0.578252985184,0.0100013598506,1.0700116596,0.548824219192,0.0186750229033,1.06966119522
+415,6.916666667,pose2_to_pose3_retreat,0.5782526794,0.0100013696654,1.07001164241,0.548823913313,0.0186750324107,1.06966117835
+416,6.933333333,pose2_to_pose3_retreat,0.57825267803,0.0100013697373,1.07001164203,0.548823911939,0.0186750324659,1.06966117798
+417,6.950000000,pose2_to_pose3_retreat,0.578252625265,0.0100013725064,1.07001162739,0.54882385898,0.0186750345924,1.06966116366
+418,6.966666667,pose2_to_pose3_retreat,0.578252445076,0.0100013819629,1.07001157739,0.548823678131,0.0186750418543,1.06966111478
+419,6.983333333,pose2_to_pose3_retreat,0.578252288559,0.010001390177,1.07001153396,0.548823521041,0.0186750481621,1.06966107232
+420,7.000000000,pose2_to_pose3_retreat,0.578252210513,0.0100013339704,1.07001157566,0.54882344401,0.0186749953677,1.06966111321
+421,7.016666667,pose2_to_pose3_retreat,0.578252197805,0.0100013061612,1.07001160205,0.54882343187,0.0186749694639,1.06966113907
+422,7.033333333,pose2_to_pose3_retreat,0.578252182727,0.0100012731663,1.07001163336,0.548823417466,0.0186749387297,1.06966116975
+423,7.050000000,pose2_to_pose3_retreat,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213828,1.06966118707
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ba76aa980c9dc3e961eb928f4abef56e3cbaca30
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb6b560d09b538547a259e96f0f0a4ff4094aa67e76ffdd0e7a4f9e0e6b39074
+size 27000231
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..28540ad0967e749e2b95e630b6664721fabdbc6d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_04/franka_data.csv
@@ -0,0 +1,427 @@
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+0,0.000000000,BASELINE,765,743,712,674,661,634,878,784,800,649,629,651,0.400951474864,0.00446010550753,0.0798265717373,0.999999953299,6.66474337167e-05,-0.000295299875588,4.19342202063e-05,1793196770476647168
+1,0.016666667,BASELINE,764.41292858,743,712,674,661,634,878,784,800.58707142,649.58707142,629.58707142,651,0.400951528875,0.0044596768502,0.0798268851202,0.999999953382,6.93024916623e-05,-0.000294376860121,4.21376791241e-05,1793196770493313792
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+21,0.350000000,BASELINE,764,743,711.20260872,674,660,633,877.20260872,784,800.20260872,649.20260872,629.79739128,651,0.400955395166,0.0044600502847,0.0798307055916,0.999999955096,6.83692141689e-05,-0.000288730004948,4.20453715646e-05,1793196770826647296
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+27,0.450000000,BASELINE,765,743,712,674.684435852,660,633,877,784,800.684435852,649.684435852,630,651,0.40095491107,0.00445900307626,0.0798297881493,0.999999955038,6.54482463144e-05,-0.000289684774738,4.15036202351e-05,1793196770926646528
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+29,0.483333333,BASELINE,764.160251738,743,712,675,660.839748262,633.839748262,877.839748262,784,801,649.160251738,629.160251738,651,0.400953805926,0.00446062094673,0.0798295452578,0.999999954555,7.06455809751e-05,-0.000290082012468,4.18594423919e-05,1793196770959980288
+30,0.500000000,BASELINE,764,743,712,675,660.586014094,633.586014094,877.586014094,784,801,649,629.413985906,651,0.400953201541,0.00446024188596,0.0798290415176,0.999999954396,7.05540942939e-05,-0.000290662774027,4.17747829663e-05,1793196770976646912
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+39,0.650000000,BASELINE,764,743.36342961,712,674,660.36342961,633,877.63657039,784,801,649.36342961,629.36342961,650,0.400953051886,0.00446137356863,0.0798290016499,0.999999954452,7.09166258492e-05,-0.000290400123322,4.16541652967e-05,1793196771126647552
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+49,0.816666667,BASELINE,764.435356929,743.564643071,712,674.564643071,660,633,877,783.564643071,800.564643071,649.564643071,629.435356929,650,0.400951793702,0.00446191247426,0.0798282742481,0.999999953874,7.19784668159e-05,-0.00029213920778,4.15401976412e-05,1793196771293313536
+50,0.833333333,BASELINE,765,743,712,674,660,633,877,783,800,649.014087601,629.985912399,650,0.400952186783,0.00446103630931,0.0798293835947,0.999999954366,7.0586773974e-05,-0.000290790025161,4.15619595048e-05,1793196771309980160
+51,0.850000000,BASELINE,765,743,712,674,660,633,877,783,800,649.600966808,629.399033192,650,0.400952923804,0.00445978839871,0.0798293362941,0.999999954731,6.81952979873e-05,-0.000290069636882,4.17937766229e-05,1793196771326646784
+52,0.866666667,BASELINE,765,743,712,674,660,633,877.186134464,783.186134464,800,650,629.186134464,650.186134464,0.400953489261,0.00445937368043,0.079829218089,0.999999954962,6.68848691432e-05,-0.000289573472368,4.18188496816e-05,1793196771343313408
+53,0.883333333,BASELINE,765,743,712,674,660,633,877.767666307,783.767666307,800,650,629.767666307,650.767666307,0.40095369027,0.00446072887657,0.0798289492644,0.999999954919,6.78708620711e-05,-0.000289553616736,4.14047452754e-05,1793196771359980288
+54,0.900000000,BASELINE,764.655043655,743,712,674,660,633,877.655043655,784,800,649.655043655,630,651,0.400953188153,0.0044616421932,0.0798287536059,0.999999954551,6.95390571252e-05,-0.000290432717392,4.13707249984e-05,1793196771376646912
+55,0.916666667,BASELINE,764.080575862,743,712,674,660,633,877.080575862,784,800,649.080575862,630,651,0.400952218222,0.00446226151198,0.0798286066275,0.999999953962,7.16611449311e-05,-0.000291909924918,4.15895879228e-05,1793196771393313792
+56,0.933333333,BASELINE,764,743,712,674,660.506319752,633,877,784,800,649,630,651,0.400952957873,0.00446124003524,0.0798291244049,0.999999954407,6.96483139641e-05,-0.00029085607863,4.16832809673e-05,1793196771409980416
+57,0.950000000,BASELINE,764.093675466,743,712,674.093675466,661,633,877.093675466,784,800.093675466,649,630,651,0.400953800517,0.00446034767176,0.0798296268548,0.999999954916,6.79177671795e-05,-0.000289507386172,4.17321789804e-05,1793196771426647296
+58,0.966666667,BASELINE,764.672906362,743,712,674.672906362,661,633,877.672906362,784,800.672906362,649,630,651,0.400953731314,0.00446151207556,0.0798294877115,0.999999954907,7.11470636881e-05,-0.000288770757488,4.16547361214e-05,1793196771443314688
+59,0.983333333,BASELINE,765,743,712,674.74798642,660.74798642,633,877.74798642,784,800.74798642,649.25201358,629.74798642,651,0.400953663595,0.00446203435601,0.0798295578467,0.999999954947,7.21672770804e-05,-0.000288392932558,4.15626691089e-05,1793196771459981312
+60,1.000000000,BASELINE,765,743,712,674.169039567,660.169039567,633,877.169039567,784,800.169039567,649.830960433,629.169039567,651,0.400953597801,0.00446172362006,0.0798298994756,0.999999955058,7.03216819679e-05,-0.000288480578023,4.14516304007e-05,1793196771476647168
+61,1.016666667,BASELINE,765,743,712,674.405864125,660,633,877,784,800.405864125,650,629,651,0.400952881032,0.00446176179854,0.0798293238138,0.999999954726,7.047351694e-05,-0.000289586586466,4.1479943802e-05,1793196771493313536
+62,1.033333333,BASELINE,765,743,712,674.979100445,660,633,877,784,800.979100445,650,629,651,0.40095189581,0.00446194386404,0.0798283698752,0.99999995421,7.14490618208e-05,-0.000291112552308,4.15657239012e-05,1793196771509980160
+63,1.050000000,BASELINE,765,743,712,674.431751886,660,633,877.568248114,784,800.431751886,650,629.568248114,651,0.40095345945,0.00446122555671,0.079828859009,0.999999954629,7.0406204255e-05,-0.000289912831416,4.16518877807e-05,1793196771526646784
+64,1.066666667,BASELINE,765,743.154984211,712,674,660,633,878,784,800,649.845015789,629.845015789,651,0.400954566288,0.00446078419469,0.0798291908842,0.999999954935,6.98510875279e-05,-0.000288983642779,4.16957744077e-05,1793196771543313664
+65,1.083333333,BASELINE,765,743.733485095,712,674,660,633,878,784,800,649.266514905,629.266514905,651,0.400954161297,0.00446119272323,0.0798289438155,0.999999954842,7.08374936334e-05,-0.000289075555715,4.16240926677e-05,1793196771559980544
+66,1.100000000,BASELINE,764.689431247,743.689431247,712,674,660,633,878,784,800,649,629,651,0.40095400998,0.00446131830605,0.079829375927,0.99999995474,7.19486345703e-05,-0.00028914370804,4.17104582201e-05,1793196771576647424
+67,1.116666667,BASELINE,764.113558287,743.113558287,712,674,660,633,878,784,800,649,629,651,0.400954075366,0.00446120218169,0.0798303882302,0.999999954628,7.31663305274e-05,-0.000289191562796,4.19318361077e-05,1793196771593314048
+68,1.133333333,BASELINE,764.470997828,743,712,674,660,633,878,784,800.470997828,649.470997828,629,651,0.400953923695,0.0044615986753,0.0798300053075,0.999999954657,7.19912240167e-05,-0.000289408321338,4.17858525291e-05,1793196771609980160
+69,1.150000000,BASELINE,765,743,712,674,660,633.056969211,878,784,800.886061578,649.943030789,629,651,0.400953749542,0.00446196893147,0.0798294169423,0.999999954707,7.04594306308e-05,-0.00028963927561,4.16114312752e-05,1793196771626646528
+70,1.166666667,BASELINE,765,743,712,674,660,633.636359866,878,784,799.727280268,649.363640134,629,651,0.400953858145,0.00446094391924,0.0798300873457,0.999999954654,7.10464856949e-05,-0.000289619954723,4.20037060919e-05,1793196771643313408
+71,1.183333333,BASELINE,765,743,712,674,660,633.785307547,878,784,799.429384907,649,629,651,0.400953662766,0.00446013015772,0.0798302687871,0.999999954628,7.05336190461e-05,-0.000289812797754,4.21564472069e-05,1793196771659980032
+72,1.200000000,BASELINE,765,743,712,674,660,633.208758204,878,784,800.582483592,649,629,651,0.400952955036,0.00445967245198,0.0798296260996,0.999999954643,6.81668715419e-05,-0.000290363235912,4.19054624098e-05,1793196771676646912
+73,1.216666667,BASELINE,765,743,712,674,660,633,878,784,801,649,629,650.63218886,0.400952788774,0.00445968260045,0.0798295904346,0.999999954832,6.72901106443e-05,-0.000289926872307,4.18306569571e-05,1793196771693313536
+74,1.233333333,BASELINE,765,743,712,674,660,633,878,784,801,649,629,650.055608197,0.400952929849,0.00445995830289,0.0798298993154,0.999999955122,6.72590659595e-05,-0.000288930400206,4.18558508768e-05,1793196771709980160
+75,1.250000000,BASELINE,765,743,712,673.468111323,660,633.531888677,877.468111323,784,801,649,629,650.531888677,0.400952408052,0.00445981155291,0.0798291207639,0.99999995486,6.74206856863e-05,-0.000289838835613,4.1569136782e-05,1793196771726646784
+76,1.266666667,BASELINE,765,743,712,673.118458535,660,633.881541465,877.118458535,784,801,649,629,651,0.400952450931,0.00445965247152,0.0798288511249,0.999999954801,6.73705023079e-05,-0.000290088607953,4.13148738138e-05,1793196771743313152
+77,1.283333333,BASELINE,765,743,712,673.696904124,660,633.303095876,877.696904124,784,801,649,629,651,0.400954961256,0.00445962060392,0.0798310083657,0.999999955759,6.64180095095e-05,-0.000286991176154,4.13159015742e-05,1793196771759979776
+78,1.300000000,BASELINE,765,743,712,674,660,633,878,784,800.725915974,649,629.274084026,651,0.400956095484,0.00446023011368,0.0798316162562,0.999999956092,6.66401777327e-05,-0.000285795071262,4.11936841964e-05,1793196771776646656
+79,1.316666667,BASELINE,765,743,712,674,660,633,878,784,800.150129338,649,629.849870662,651,0.400955714951,0.00446154563036,0.0798305186732,0.999999955743,6.81553739335e-05,-0.000286691884209,4.0935802656e-05,1793196771793313280
+80,1.333333333,BASELINE,765,743,712,674,660.42601499,633,878,784,800,649,629.57398501,651,0.400955561848,0.00446082928148,0.0798306617018,0.99999995564,6.75687428207e-05,-0.000287180263011,4.10119056338e-05,1793196771809979904
+81,1.350000000,BASELINE,765,743,712,674,660.997657538,633,878,784,800,649,629,650.997657538,0.400955482879,0.00445939828455,0.0798312355049,0.999999955621,6.62460884924e-05,-0.000287526626975,4.12066303966e-05,1793196771826646784
+82,1.366666667,BASELINE,765,743,712,674,660.407030498,633,878,784,800,649,629,650.407030498,0.400953876654,0.00445846733281,0.0798301042515,0.999999955357,6.6252320321e-05,-0.000288385281581,4.16086514178e-05,1793196771843313664
+83,1.383333333,BASELINE,765,743,712,674,660,633,878,784,800,649,629.179554366,650,0.400952638788,0.00445808815916,0.0798291673764,0.9999999551,6.60950510199e-05,-0.000289275013979,4.18421939556e-05,1793196771859980288
+84,1.400000000,BASELINE,765,743,712,674,660,633,878,784,800,649,629.757177905,650,0.40095221757,0.00445893226858,0.0798286614347,0.999999954863,6.55753023164e-05,-0.000290233645513,4.17022224529e-05,1793196771876646912
+85,1.416666667,BASELINE,765,743,712,674,660.332792007,632.667207993,877.667207993,784,800,649,630,650.332792007,0.400952465654,0.00445904476091,0.0798292029815,0.999999955028,6.46302894054e-05,-0.000289905492901,4.14875675142e-05,1793196771893313536
+86,1.433333333,BASELINE,765,743,712,674,660.906948686,632.093051314,877.093051314,784,800,649,630,650.906948686,0.400953199164,0.00445862663192,0.0798305042424,0.999999955484,6.33768443707e-05,-0.000288644071923,4.12187467908e-05,1793196771909980160
+87,1.450000000,BASELINE,765,743,712,673.516046422,660.516046422,632.483953578,877,784,800,649,629.516046422,651,0.400954046525,0.00445940922332,0.0798305555358,0.999999955593,6.50948538831e-05,-0.000287915280932,4.10048975561e-05,1793196771926646528
+88,1.466666667,BASELINE,765,743,712,673.063049768,660,633,877.063049768,784,800,649,629,651,0.400954795205,0.00446044058168,0.0798303862283,0.999999955612,6.72391063131e-05,-0.000287381195803,4.0833443545e-05,1793196771943313408
+89,1.483333333,BASELINE,765,743,712,673.655069683,660,633,877.655069683,784,800,649,629,651,0.400954531235,0.00446161065435,0.0798303944236,0.999999955479,6.81377315754e-05,-0.000287616356825,4.09284732079e-05,1793196771959980032
+90,1.500000000,BASELINE,764.759968745,743,712,674,660,633,877.759968745,784,800.240031255,649.240031255,629.240031255,650.759968745,0.400953988854,0.00446152225701,0.079830016274,0.999999955296,6.78799136223e-05,-0.000288292832354,4.10911531729e-05,1793196771976646656
+91,1.516666667,BASELINE,764.184860475,743,712,674,660,633,877.184860475,784,800.815139525,649.815139525,629.815139525,650.184860475,0.400953057819,0.00445967707013,0.0798290987973,0.999999955037,6.60077327391e-05,-0.000289585370751,4.13482710869e-05,1793196771993313792
+92,1.533333333,BASELINE,764.781887024,743.390943512,712,674,660,633,877,784,800.609056488,649.609056488,629.609056488,650.390943512,0.400952793311,0.00446016614588,0.0798292260334,0.999999954996,6.71073415962e-05,-0.000289466042005,4.13891164785e-05,1793196772009980416
+93,1.550000000,BASELINE,765.934154222,743.967077111,712,674,660,633,877,784,800.032922889,649.032922889,629.032922889,650.967077111,0.400952844537,0.00446176096253,0.0798298481503,0.999999955055,6.96146881962e-05,-0.000288677911379,4.13275135181e-05,1793196772026646784
+94,1.566666667,BASELINE,764.886237878,744,712,674,660,633,877.556881061,784,800.556881061,649,629.556881061,651,0.400952497351,0.00446100099905,0.0798294734699,0.999999954833,6.88221592648e-05,-0.000289616988173,4.14607288173e-05,1793196772043313408
+95,1.583333333,BASELINE,764.14420272,743.85579728,712,674,660,633.14420272,878,784,800.85579728,649,630,651,0.400952117927,0.00446017084728,0.07982894348,0.999999954562,6.79167216453e-05,-0.000290753895206,4.15388752426e-05,1793196772059979776
+96,1.600000000,BASELINE,764.721579071,743.278420929,712,674,660,633.721579071,878,784,800.278420929,649,630,651,0.400951714197,0.0044595585701,0.0798281284313,0.999999954198,6.72728953317e-05,-0.000292170610957,4.14161302275e-05,1793196772076646400
+97,1.616666667,BASELINE,765,743,712,674,660.297918227,633.702081773,878,784.297918227,800,649.297918227,630,651,0.400952447123,0.00445980575445,0.0798285046107,0.999999954454,6.74280953611e-05,-0.000291250071313,4.14560685469e-05,1793196772093313280
+98,1.633333333,BASELINE,765,743,712,674,660.873291396,633.126708604,878,784.873291396,800,649.873291396,630,651,0.400954238632,0.00446085336602,0.0798299901959,0.999999955282,6.83274385764e-05,-0.000288152816631,4.16475158812e-05,1793196772109980160
+99,1.650000000,BASELINE,764.551072057,743,712,674,660.551072057,633,877.551072057,784.551072057,800.448927943,649.551072057,630,651,0.400955466165,0.0044611551026,0.0798311785843,0.999999955835,6.81148972094e-05,-0.000286279966705,4.16326126112e-05,1793196772126647040
+100,1.666666667,BASELINE,764.025361419,743,712,674.025361419,660.025361419,633,877,784,801,649,629.974638581,650.974638581,0.400956444171,0.00446128164242,0.0798321999153,0.999999956272,6.76515464664e-05,-0.000284872049757,4.1552363305e-05,1793196772143313664
+101,1.683333333,BASELINE,764.617955568,743,712,674.617955568,660.617955568,633,877,784,801,649,629.382044432,650.382044432,0.400955403567,0.00446220100805,0.0798313620698,0.999999955859,6.86017479305e-05,-0.000286128935592,4.13139867914e-05,1793196772159980544
+102,1.700000000,BASELINE,765,743,712,674.794363293,660.794363293,633.205636707,877,783.794363293,801,649.205636707,629.205636707,650.205636707,0.400954401187,0.00446214679872,0.0798306561102,0.999999955509,6.89021334803e-05,-0.000287290422817,4.12196816203e-05,1793196772176647168
+103,1.716666667,BASELINE,765,743,712,674.215596918,660.215596918,633.784403082,877,783.215596918,801,649.784403082,629.784403082,650.784403082,0.400953468162,0.00446032602873,0.0798301894588,0.999999955278,6.80234220681e-05,-0.000288278808267,4.13867952304e-05,1793196772193313536
+104,1.733333333,BASELINE,764.639890514,743,711.639890514,674,660,634,877,783.360109486,801,650,629.639890514,651,0.400953539958,0.0044601321186,0.0798302234677,0.999999955288,6.83011675351e-05,-0.000288158116273,4.15120983784e-05,1793196772209980160
+105,1.750000000,BASELINE,764.066000619,743,711.066000619,674,660,634,877,783.933999381,801,650,629.066000619,651,0.40095420827,0.00446090400004,0.0798305546955,0.999999955442,6.92654480815e-05,-0.000287379016196,4.16125805975e-05,1793196772226646784
+106,1.766666667,BASELINE,764.521036848,743,711.521036848,674.521036848,660,634,877,784,801,649.478963152,629,651,0.400953662508,0.00446041088261,0.079830411762,0.99999995546,6.8060677063e-05,-0.000287628970612,4.1441352668e-05,1793196772243313152
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,712,674,661,633,878,784,800,649,629,651,0.400951250266,0.00446108547847,0.0798298562184,0.999999954929,6.8999589564e-05,-0.000289193731647,4.18095875468e-05,1793196772285715456
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660.423739868,633,877.423739868,784,800.576260132,649,629.576260132,650.423739868,0.400953343108,0.00446044433106,0.0798300479301,0.999999955416,6.74443790719e-05,-0.000287946357776,4.13018795933e-05,1793196772302381824
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.844558808,743,712,674,660.155441192,633,877,784,801,649.155441192,630,650,0.400954565077,0.00446031523189,0.0798301457471,0.999999955626,6.70475672748e-05,-0.000287350254779,4.10140801269e-05,1793196772319048192
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.257262541,743,712,674,660.742737459,633,877,784,801,649.742737459,630,650,0.40095336754,0.00446160873257,0.0798299827009,0.99999995507,6.98690806578e-05,-0.000288563547249,4.13372421275e-05,1793196772335714560
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.325529684,743,712,674.325529684,660.674470316,633,877,784,801,649.674470316,629.674470316,650.325529684,0.400953010606,0.00446218712594,0.0798297915727,0.999999954919,7.06005818316e-05,-0.000288907000627,4.13558988112e-05,1793196772352380928
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.904810957,743,712,674.904810957,660.095189043,633,877,784,801,649.095189043,629.095189043,650.904810957,0.400953308925,0.00446220809046,0.0798295785543,0.999999955088,6.97029106218e-05,-0.000288572411156,4.11371924597e-05,1793196772369047552
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.51623909,743,712,674.51623909,660.48376091,633,877,784,800.51623909,649,629.48376091,650.51623909,0.400954944276,0.00446137664904,0.0798309342396,0.999999955536,6.89081130761e-05,-0.00028716150752,4.14384179424e-05,1793196772385714432
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.061971298,743,712,674,660.938028702,633,877.061971298,784,800.061971298,649,629.938028702,650,0.400957572687,0.0044605073025,0.0798328245207,0.999999956185,6.84436997972e-05,-0.000284957435708,4.17708010017e-05,1793196772402381312
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.634624107,743,712,674,660.365375893,633,877.634624107,784,800.634624107,649,629.365375893,650,0.400966218016,0.0044607068209,0.0798365782953,0.999999958019,7.0535160491e-05,-0.000277961215589,4.15174515302e-05,1793196772419047936
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.787178843,743,712,674,660,633,877.787178843,784,800.787178843,649,629,650.212821157,0.400983686538,0.00446091268162,0.0798442907889,0.999999961742,7.06669527499e-05,-0.000264254173805,4.11415428488e-05,1793196772435714560
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.19920878,743,712,674,660,633,877.19920878,784,800.19920878,649,629,650.80079122,0.401016708078,0.0044611297222,0.0798589814844,0.999999968417,6.73443538695e-05,-0.000238717681909,4.0549593847e-05,1793196772452381184
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,743,712,674.384302979,660,633,877.384302979,784,800.384302979,649,629.384302979,651,0.401064613144,0.004460302836,0.079875684369,0.999999975632,6.58557294611e-05,-0.000206887611316,3.99624334447e-05,1793196772469047808
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,743,712,674.96553027,660,633,877.96553027,784,800.96553027,649,629.96553027,651,0.40112014482,0.00445894102147,0.0798934183398,0.999999982329,6.53068688497e-05,-0.000171832586246,3.93777267283e-05,1793196772485714432
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.539790888,743,712,674.460209112,660.539790888,633,878,784,800.460209112,649,629.460209112,651,0.401189520012,0.0044593659977,0.0799067575155,0.999999986471,6.1490942937e-05,-0.00014794261184,3.72863651356e-05,1793196772502381056
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.885840391,743,712,674.114159609,660.885840391,633,877.885840391,784,800.114159609,649.114159609,629.114159609,651,0.401261579637,0.00446022051568,0.0799177991949,0.999999989366,5.85291945733e-05,-0.000128912766206,3.49710085607e-05,1793196772519047424
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.309254508,743,712,674.690745492,660.309254508,633,877.309254508,784,800.690745492,649.690745492,629.690745492,651,0.401340977868,0.00446235868225,0.0799206567184,0.999999989663,5.9861778386e-05,-0.000126718594854,3.21330723486e-05,1793196772535714304
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,743,712,674.725761464,660,633.274238536,877.274238536,784,800.725761464,649.725761464,629.725761464,651,0.401430940756,0.00446403799569,0.0799230437996,0.999999990128,5.93797727689e-05,-0.00012406596248,2.87284548066e-05,1793196772552381184
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,743,712,674.134278107,660,633.865721893,877.865721893,784,800.134278107,649.134278107,629.134278107,651,0.401533125052,0.00446518649823,0.0799248866633,0.999999990776,5.67986124295e-05,-0.000120882973029,2.46682887332e-05,1793196772569048064
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,633.556074829,877.556074829,784,800,649.443925171,629,651,0.401658376301,0.00446723312575,0.0799299773756,0.999999991984,5.43551169384e-05,-0.000112679428593,1.95267627033e-05,1793196772585714688
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.018346252,743,712,674.018346252,660.018346252,633,877.018346252,784,800.018346252,649.981653748,629.018346252,651,0.401791492238,0.00446948995166,0.0799360266957,0.999999993264,5.17459938441e-05,-0.000102941974411,1.4041869422e-05,1793196772602381056
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.59636953,743,712,674.59636953,660.59636953,633,877.59636953,784,800.59636953,649.40363047,629.59636953,651,0.401957862539,0.00447011240492,0.0799422205135,0.999999994875,4.28507681773e-05,-9.13922408301e-05,7.77054745124e-06,1793196772619047680
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,712,674.822134498,661,633,878,784,800.822134498,649,630,651,0.402134153844,0.00447104222475,0.0799487256751,0.999999996299,3.33529852521e-05,-7.93032428182e-05,1.03850668407e-06,1793196772635714048
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,712,674.232601095,661,633,878,784,800.232601095,649,630,651,0.402333407189,0.0044726834413,0.0799559514379,0.999999997549,2.24605909088e-05,-6.59661243773e-05,-6.75986219321e-06,1793196772652380672
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660.649590384,633,877.649590384,784,800,649,630,651,0.402540051183,0.00447519388211,0.0799548988695,0.99999999739,1.53285761034e-05,-6.90614164841e-05,-1.46532582206e-05,1793196772669047296
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660.070830239,633,877.070830239,784,800,649,630,651,0.40275151144,0.0044782707682,0.0799484515833,0.999999996254,1.06470770228e-05,-8.28651737307e-05,-2.26085811161e-05,1793196772685713920
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.494923041,743,712,674.505076959,660,633,877.505076959,784,800,649,629.494923041,651,0.402992114552,0.00448092136357,0.079940937731,0.999999995086,2.30034115845e-05,-9.31365683859e-05,-2.5002226472e-05,1793196772702381056
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,743,712,675,660.080326182,633,878,784,800,649,629.080326182,651,0.403245011523,0.0044846850468,0.0799345116769,0.999999993936,3.51752769934e-05,-0.000101054447173,-2.60430039345e-05,1793196772719047936
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,743,712,675,660.653978016,633,878,784,800,649,629.653978016,651,0.403548452909,0.00449564988142,0.0799356798031,0.999999994466,3.16225264806e-05,-9.75433607461e-05,-2.35382868394e-05,1793196772735714560
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.235396889,743,712,675,660.764603111,633,878,784,800,649,629.764603111,650.764603111,0.403873188401,0.00450343145987,0.0799394533592,0.999999995484,1.12551701389e-05,-9.13986280576e-05,-2.34983030364e-05,1793196772752381184
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.828622464,743,712,675,660.171377536,633,878,784,800,649,629.171377536,650.171377536,0.404230293212,0.00450637414457,0.07994718745,0.999999995728,-3.46722023174e-05,-8.12504687711e-05,-2.72049800648e-05,1793196772769047552
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,743,712,674.58882298,660.41117702,633,878,784,800.41117702,649,629,650,0.404613309683,0.00451417627145,0.0799476705627,0.999999996553,-1.50712976966e-05,-7.64528442011e-05,-2.86502554424e-05,1793196772785714176
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,743,712,674.010603584,660.989396416,633,878,784,800.989396416,649,629,650,0.405006852864,0.00452395256688,0.0799452079351,0.999999996364,3.11507434244e-05,-7.38288967883e-05,-2.91768268582e-05,1793196772802380800
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,743,712,674,661,633,878,784,801,649.558629582,629,650.558629582,0.405424185935,0.00453314076558,0.0799401164037,0.999999994741,5.36750507781e-05,-8.12809590933e-05,-3.20953480848e-05,1793196772819047424
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.867619899,743,712,674,661,633,878,783.867619899,801,649.867619899,629,651,0.405855415531,0.0045422061638,0.079934834815,0.999999993166,6.63275403116e-05,-8.97201828166e-05,-3.49224376551e-05,1793196772835714048
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.277675281,743,712,674,661,633,878,783.277675281,801,649.277675281,629,651,0.40633314151,0.00455088508012,0.0799290660522,0.999999993137,4.63887835921e-05,-0.000100920870535,-3.72790510206e-05,1793196772852380928
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660.690733223,633,878,783.309266777,801,649,629.309266777,651,0.406827247099,0.00456049969883,0.0799250536221,0.999999991884,5.13836466085e-05,-0.000109777671447,-3.92516008868e-05,1793196772869047808
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660.106461029,633,878,783.893538971,801,649,629.893538971,651,0.407335917777,0.0045709463614,0.0799226029532,0.999999989287,7.8549917401e-05,-0.000116550248519,-4.08826350399e-05,1793196772885714688
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.469584701,743.469584701,712,674.469584701,660.469584701,633,877.530415299,784,800.530415299,649,629.530415299,650.530415299,0.407859139398,0.00458158774731,0.079911398703,0.999999985793,8.56860238105e-05,-0.000139100662925,-4.14960409328e-05,1793196772902381056
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,743.956021657,712,675,660.956021657,633,877.043978343,783.956021657,800,649,629,650,0.408391949359,0.00459232359182,0.0798999366693,0.99999998193,9.00371692432e-05,-0.000162065355087,-4.20535873228e-05,1793196772919047680
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,743.37943737,712,675,660.37943737,633,877.62056263,783.37943737,800,649,629,650,0.409001616855,0.00460367796336,0.0799089731024,0.999999981549,0.00011470944967,-0.000147472793638,-4.46805774885e-05,1793196772935714304
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.798240454,743,712,675,660.403519091,633,878,783.201759546,800.201759546,649,629,650,0.409643542631,0.00461290990921,0.0799275561014,0.999999984061,0.000127258236035,-0.000116255894072,-4.65646863777e-05,1793196772952380928
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.208165914,743,712,675,661.583668171,633,878,783.791834086,800.791834086,649,629,650,0.410347554025,0.00461805694372,0.0799645128264,0.999999990705,0.000116473628921,-5.30430877025e-05,-4.70190141722e-05,1793196772969047552
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.374499736,743.374499736,712,674.625500264,661.625500264,633,878,784,800.625500264,649,629,650.374499736,0.411034196275,0.00461692734712,0.0799814903835,0.999999991224,0.000121252929449,-2.70550066655e-05,-4.60259550523e-05,1793196772985714432
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.953127024,743.953127024,712,674.046872976,661.046872976,633,878,784,800.046872976,649,629,650.953127024,0.411711371149,0.00461237656412,0.0799875779488,0.999999989746,0.00013451560726,-2.13569074709e-05,-4.42439727345e-05,1793196773002381312
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.470289381,743.470289381,712,674.529710619,661,633,878,784,800,649,629,650.470289381,0.412379526897,0.00458874190199,0.079950036076,0.999999991438,9.31649316595e-05,-7.92352127638e-05,-4.65392018999e-05,1793196773019047680
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,712,675,661,633,877.894023777,784,800,649,629.105976223,650.105976223,0.413059996368,0.0045651098582,0.0799136201151,0.999999988599,5.18220796945e-05,-0.000132968225642,-4.93620719976e-05,1793196773035714304
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,743,712,675,661,633,877.318369252,784,800,649,629.681630748,650.681630748,0.413798562552,0.00454894481345,0.0798992385775,0.999999987797,3.18493965039e-05,-0.000143492589111,-5.29305852388e-05,1793196773052381184
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,743,712,675.263692017,661.263692017,633,877,784,800.263692017,649,629.736307983,651,0.414570918804,0.00454599959918,0.0799043878031,0.99999998991,2.49465742265e-05,-0.000128492389133,-5.52071326157e-05,1793196773069047808
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,712,675.85368118,661.85368118,633,877,784,800.85368118,649,629.14631882,651,0.41538508758,0.00455941283382,0.0799337047374,0.999999994499,3.4216625349e-05,-8.19076460205e-05,-5.58849790918e-05,1793196773085714176
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,712,676,662,633,877.434556701,784,801,649,629.434556701,650.565443299,0.416172203335,0.00457137932647,0.0799387245802,0.999999993395,5.48863699165e-05,-8.50409626649e-05,-5.44641334326e-05,1793196773102381056
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.012374097,743,712,675.987625903,662,633,878,784,800.987625903,649,629.987625903,650.012374097,0.416952067668,0.00458271819769,0.0799359416362,0.999999990162,7.88636831276e-05,-0.000103471717531,-5.24456116164e-05,1793196773119047936
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.587803221,743,712,675.412196779,662,633,878,784,800.412196779,649,629.412196779,650.587803221,0.417807943856,0.00458720903948,0.0799427230603,0.999999992534,8.22758289555e-05,-7.1887405762e-05,-5.47250530823e-05,1793196773135714560
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.833569569,743.166430431,712,675,662,633,878,784,800.166430431,649.166430431,629,650.833569569,0.418664679137,0.00459012156956,0.0799529365401,0.99999999392,8.58543262757e-05,-3.99124646308e-05,-5.65394552584e-05,1793196773152381184
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.246866539,743.753133461,712,675,662,633,878,784,800.753133461,649.753133461,629,650.246866539,0.419523583764,0.00458904852315,0.0799718166976,0.999999994304,8.98528967758e-05,-6.95110243596e-06,-5.71795332462e-05,1793196773169048064
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.336509589,743.663490411,712,675,662,633,878,783.663490411,801,650,629.336509589,650.336509589,0.420387865756,0.00458158773766,0.0799679664538,0.999999994959,8.19063461212e-05,-1.32412981033e-05,-5.65538593267e-05,1793196773185714432
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.91746894,743.08253106,712,675,662,633,878,783.08253106,801,650,629.91746894,650.91746894,0.421256053977,0.004569486724,0.0799476042246,0.999999995202,6.52825328113e-05,-4.8044899463e-05,-5.50087085702e-05,1793196773202381056
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743,712,675,662,633,878,783.495392922,801,649.504607078,630,650.504607078,0.422155395423,0.00457258334146,0.0799620797249,0.999999995683,7.04978401103e-05,-2.57939803979e-05,-5.47603364829e-05,1793196773219047680
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743,712,675.072244171,662.072244171,633,878,784,801,649,629.927755829,650.072244171,0.423057407857,0.00457843661452,0.0799815269502,0.999999995362,7.92950046834e-05,3.02755543791e-06,-5.45893948482e-05,1793196773235714048
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743,712,675.645144111,662.645144111,633,878,784,801,649,629.354855889,650.645144111,0.423942181735,0.00458595442819,0.0799954523193,0.99999999464,8.78543159128e-05,1.19139531106e-05,-5.34670022365e-05,1793196773252380672
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.774905831,743.225094169,712,676,662.774905831,633,878,784,801,649,629.225094169,650.774905831,0.42479964692,0.00459242929078,0.0799833521096,0.999999993649,9.73587729776e-05,-1.96502797126e-05,-5.32584100451e-05,1793196773269047552
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.183481965,743.816518035,712,676,662.183481965,633,878,784,801,649,629.816518035,650.183481965,0.425612668689,0.00459720680292,0.0799288965512,0.999999985788,0.00010840140919,-0.000117045924584,-5.45369826166e-05,1793196773285714176
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.398488805,744,712,676,662.398488805,633,878.398488805,784,801,649.398488805,629.601511195,650.398488805,0.426515481315,0.00459731079101,0.079906380992,0.999999983286,0.000105897456671,-0.000137463010842,-5.75904150516e-05,1793196773302381056
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.976207776,744,712,676,662.976207776,633,878.976207776,784,801,649.976207776,629.023792224,650.976207776,0.427458679544,0.00459531274614,0.0798982312382,0.999999985783,9.730059148e-05,-0.000123257086852,-6.14421345383e-05,1793196773319047936
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+171,2.850000000,POSE1_TO_POSE2_PRESS,764.872888568,743,712,676,662.745777136,633,879,784,800.872888568,649.872888568,629.127111432,651,0.429218514899,0.00458408650004,0.0799210100181,0.999999987837,8.12419937958e-05,-0.000120682948308,-5.62345083064e-05,1793196773352381184
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.299063635,743,712,676,661.598127269,633,879,784,800.299063635,649.299063635,629.700936365,651,0.43013568429,0.00458674098542,0.0799523450098,0.999999991519,9.47882760364e-05,-6.94385830413e-05,-5.61737818361e-05,1793196773369047552
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+174,2.900000000,POSE1_TO_POSE2_PRESS,764.878916838,743,712,676,662.757833675,633,878.121083162,784,800,649.878916838,629.121083162,651,0.431939702228,0.00458970973812,0.0800179863092,0.999999993644,9.38766858554e-05,2.94012499892e-05,-5.5089847322e-05,1793196773402380544
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+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,712,676.811810667,662,633,879,783,801,649,630,651,0.435210421357,0.0045975574777,0.0798819268353,0.99999998001,9.86337628183e-05,-0.000163703473779,-5.8758641903e-05,1793196773469048064
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,712,676.236795237,662,633,879,783,801,649,630,651,0.436054649748,0.00459295285071,0.0799227194381,0.999999988514,9.27792600332e-05,-0.000104613603924,-5.84815921507e-05,1793196773485714688
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,712,676,662.349863609,633,879,783,801.349863609,649.349863609,630,651,0.43687611563,0.00458932414078,0.0799577699969,0.999999992993,8.51283876622e-05,-5.91261854096e-05,-5.72021908801e-05,1793196773502381312
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,712,676,662.944674224,633,879,783,801.944674224,649.944674224,630,651,0.437681644943,0.00458637869155,0.0799888004254,0.999999995302,7.62198388827e-05,-2.31621380569e-05,-5.52210218975e-05,1793196773519047936
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.52267646,743,712,676,662.47732354,633,879,783.52267646,801.47732354,649.47732354,629.47732354,651,0.438480180295,0.00458521387569,0.0800036104554,0.999999995397,7.74171630048e-05,7.78267989755e-06,-5.61403240296e-05,1793196773535714304
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.901834964,743,712,676.098165036,662.098165036,633,879,784,801,649.098165036,629.098165036,650.901834964,0.439259454835,0.00458371312726,0.0800105236467,0.999999995012,7.71679284581e-05,2.69763656284e-05,-5.73865050869e-05,1793196773552380928
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.330156654,743,712,676.669843346,662.669843346,633,879,784,801,649.669843346,629.669843346,650.330156654,0.439949281801,0.0045797111172,0.0799873691838,0.999999996132,6.49418441858e-05,-8.03033031081e-06,-5.87746315515e-05,1793196773569047552
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+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,712,677,662,633,879,784,801,650,630,651,0.441803693415,0.00457427674656,0.0798318584359,0.999999965924,6.75262283967e-05,-0.000245475913208,-5.77467134957e-05,1793196773619047936
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.004644573,743,712,677.004644573,662,633,879,783.995355427,801,650,630,651,0.442442650066,0.00457564270327,0.0798154085516,0.999999962331,5.44521904543e-05,-0.000261579371981,-6.28384306836e-05,1793196773635714560
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.579347122,743,712,677.579347122,662,633,879,783.420652878,801,650,630,651,0.443123306588,0.00457861988082,0.0798756570849,0.999999981409,6.25795846306e-05,-0.000172339165767,-5.97140474146e-05,1793196773652381184
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.842456197,743,711.842456197,677.842456197,661.842456197,633,879,783,801,650,630,651,0.443767276975,0.00458206061408,0.0799217955146,0.999999990154,7.280517939e-05,-0.000105497209433,-5.71108228996e-05,1793196773669047552
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.254718193,743,711.254718193,677.254718193,661.254718193,633,879,783,801,650,630,651,0.444311071165,0.00458676714816,0.0799294044534,0.999999989515,8.87601914542e-05,-9.98166212023e-05,-5.59306917418e-05,1793196773685714176
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711.329481452,677,660.341037095,632.670518548,879,783,801,650,630,651,0.444821205261,0.00459052456574,0.0799148185301,0.999999986967,8.38712065483e-05,-0.000126015004054,-5.61427514379e-05,1793196773702380800
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711.188516048,677.188516048,658.188516048,632,879,783.188516048,801.811483952,649,629.188516048,650.811483952,0.447462137088,0.00461732610122,0.0798011975011,0.999999954006,0.000104946486132,-0.000278503285122,-5.83883097237e-05,1793196773802380800
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743.94879309,711.94879309,678.94879309,654.94879309,631,879,783,801.94879309,650,629.05120691,651,0.450992856406,0.00464450690911,0.0797193679067,0.99999990122,0.000139026861423,-0.000417801427398,-6.06017694696e-05,1793196774269047296
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743.360415258,711.360415258,678.360415258,654.360415258,631,879,783,801.360415258,650,629.639584742,651,0.450992765946,0.00464386750227,0.0797178696011,0.999999900241,0.000138376304142,-0.000420396867511,-6.0299330667e-05,1793196774285713920
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,711,678,654,631,879.224470462,783,801,650,629.775529538,650.775529538,0.450993377156,0.00464328889043,0.0797171079381,0.999999899813,0.000136925170142,-0.000421886875951,-6.03103410329e-05,1793196774302380544
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711,678,654,631,879.80383502,783,801,650,629.19616498,650.19616498,0.450995097727,0.00464280639724,0.0797175109278,0.999999900259,0.000134208301931,-0.000421629165756,-6.08169233445e-05,1793196774319047168
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711,678.382057061,654.382057061,631,879.617942939,783,801,649.617942939,629.382057061,650.382057061,0.450996327053,0.00464321888845,0.0797183388778,0.99999990073,0.000133604353393,-0.00042074194361,-6.05493217583e-05,1793196774335714048
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711,678.959694213,654.959694213,631,879.040305787,783,801,649.040305787,629.959694213,650.959694213,0.450997304905,0.0046440895341,0.0797193843706,0.999999901214,0.000134082036624,-0.000419532465933,-5.98854051212e-05,1793196774352380672
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711,678.465682775,655,631,879,783,801,649,629.465682775,651,0.450997595474,0.00464360427503,0.0797188675672,0.999999900831,0.000133946763576,-0.000420472614533,-5.99904125326e-05,1793196774369047296
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.111585643,743,711,678,654.888414357,631,879,783,801,649.111585643,629,651,0.450997843066,0.00464348780317,0.0797182800803,0.999999900343,0.000134563819645,-0.00042141652992,-6.0114752005e-05,1793196774385713920
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.701154123,743,711,678,654.298845877,631,879,783,801,649.701154123,629,651,0.450998127392,0.00464538672117,0.0797178918043,0.999999899681,0.000138600467427,-0.000421685875935,-6.00748355066e-05,1793196774402380544
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.714328583,743,711,678,654.285671417,631,879,783,801,649.714328583,629.285671417,651,0.450998905445,0.00464512419679,0.0797180363313,0.999999899763,0.000139173865558,-0.000421329624057,-5.9890081432e-05,1793196774419047424
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.135003541,743,711,678,654.864996459,631,879,783,801,649.135003541,629.864996459,651,0.451000191021,0.00464263983541,0.0797187285488,0.999999900614,0.0001361872447,-0.000420330293917,-5.95564427376e-05,1793196774435714048
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711,678,655,631,879,783,801,649.441224186,629.558775814,650.558775814,0.451000271507,0.00464179955084,0.0797177722735,0.999999900689,0.000134873958099,-0.000420609039812,-5.93292619772e-05,1793196774452380672
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.016849982,743,711,678,655,631,879,783,801.016849982,650,629,650.016849982,0.451000013139,0.00464146017124,0.0797163944036,0.999999900539,0.000134062745874,-0.000421249981649,-5.91384841971e-05,1793196774469047040
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.603955338,743,711,678,655,631,879,783,801.603955338,650,629,650.603955338,0.451000678782,0.00464116699859,0.0797176998417,0.999999900782,0.000133036463158,-0.000421006359391,-5.90849934147e-05,1793196774485713920
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.811425986,743,711,678,654.811425986,631,879,783,802,650,629.188574014,650.811425986,0.451001175882,0.00464119562919,0.0797184304555,0.999999900954,0.000132699492819,-0.000420702559202,-5.90955411926e-05,1793196774502380544
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.23196192,743,711,678,654.23196192,631,879,783,802,650,629.76803808,650.23196192,0.451001323616,0.00464189131719,0.0797179695316,0.99999990098,0.000133791379818,-0.000420274017791,-5.92388328004e-05,1793196774519047168
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,743,711,677.653716317,654,631,879,783,801.653716317,649.653716317,629.653716317,650,0.451000925237,0.00464261640255,0.0797179474747,0.999999900855,0.000133969017486,-0.000420475210487,-5.95164692144e-05,1793196774535714048
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,711,677.076284075,654,631,879,783,801.076284075,649.076284075,629.076284075,650,0.45100016232,0.00464336111097,0.079718218367,0.99999990063,0.000133536382595,-0.000421096758354,-5.98837824106e-05,1793196774552380928
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,742.502216648,711,677.497783352,654.497783352,631,879,783,801,649,629,650,0.450999973189,0.00464192304304,0.0797179195261,0.99999990042,0.000132225423671,-0.000422107328296,-5.91801411312e-05,1793196774569048320
+245,4.083333333,POSE1_TO_POSE2_PRESS,764.073461278,742.073461278,711,678,654.926538722,631,879,783,801,649.073461278,629.073461278,650,0.450999901808,0.00464041498468,0.0797174768758,0.999999900208,0.000131072719831,-0.00042306757101,-5.84543048856e-05,1793196774585715456
+246,4.100000000,POSE1_TO_POSE2_PRESS,764.664082416,742.664082416,711,678,654.335917584,631,879,783,801,649.664082416,629.664082416,650,0.451000044501,0.00464075327223,0.0797166323501,0.999999899994,0.000131975331223,-0.000423256637339,-5.8719857196e-05,1793196774602381568
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,743,711,678,654,631,879,783,801.249593607,649.750406393,629.750406393,650.249593607,0.451000484685,0.00464120367127,0.0797166478005,0.999999899975,0.00013324727076,-0.000422899261479,-5.87508217966e-05,1793196774619048192
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,743,711,678,654,631,879,783,801.828365589,649.171634411,629.171634411,650.828365589,0.451001317215,0.00464180192941,0.0797177974368,0.999999900211,0.000135006301583,-0.000421821206319,-5.84723986968e-05,1793196774635715072
+249,4.150000000,HOLD_POSE2,765,743,711,678,654,631,879,783,801,650,629,651,0.451000824281,0.0046410014068,0.079717169697,0.999999900375,0.000131339928068,-0.000422658366362,-5.79653833101e-05,1793196774669646336
+250,4.166666667,HOLD_POSE2,764.427085486,743,711,678,654.572914514,631,879,783,801.572914514,649.427085486,629,651,0.450999918514,0.00464071100486,0.0797163350932,0.999999900011,0.000129856858234,-0.000423948707428,-5.81534989827e-05,1793196774686312960
+251,4.183333333,HOLD_POSE2,764.151430567,743,711,678,654.848569433,631,879,783,801.848569433,649.151430567,629.151430567,651,0.450999639357,0.00464042084487,0.079715918768,0.999999899881,0.00012899191581,-0.000424505324514,-5.82647374222e-05,1793196774702979584
+252,4.200000000,HOLD_POSE2,764.746351836,743,711,678,654.253648164,631,879,783,801.253648164,649.746351836,629.746351836,651,0.45100119533,0.00464013139336,0.0797167274442,0.99999990044,0.000129937266465,-0.000422913103864,-5.81508275837e-05,1793196774719646208
+253,4.216666667,HOLD_POSE2,764.667923586,743,711,678,654,631,879,783,801.332076414,650,630,651,0.451002878683,0.0046412659305,0.079718059082,0.999999900969,0.000131655821498,-0.000421120443946,-5.81995644359e-05,1793196774736312832
+254,4.233333333,HOLD_POSE2,764.089034399,743,711,678,654,631,879,783,801.910965601,650,630,651,0.45100465671,0.00464345883425,0.0797197794063,0.99999990147,0.000133949053589,-0.00041917880946,-5.83691869671e-05,1793196774752979456
+255,4.250000000,HOLD_POSE2,764,743,711,678,654,631,879,783,801.514611877,650,629.514611877,651,0.451003733731,0.00464111707458,0.0797184452076,0.999999901029,0.000132009477633,-0.00042082127333,-5.85240050885e-05,1793196774769646080
+256,4.266666667,HOLD_POSE2,764,743,711,678,654,631,879,783,801,650,629,651,0.451002396229,0.00463845291528,0.0797168122129,0.999999900455,0.000129644318924,-0.0004229015993,-5.86143032865e-05,1793196774786312448
+257,4.283333333,HOLD_POSE2,764,743,711,678,654,631,879,783,801,650,629,651,0.451001725142,0.00464016571427,0.0797174155059,0.999999900307,0.00013027756421,-0.000423119063412,-5.81653023515e-05,1793196774802979328
+258,4.300000000,HOLD_POSE2,764.235121176,743,711,678,654,631,879,783,801,650,629.235121176,651,0.451001964369,0.00464172981652,0.0797178300427,0.999999900345,0.000131569961201,-0.000422662715248,-5.79273819768e-05,1793196774819645952
+259,4.316666667,HOLD_POSE2,764.814066581,743,711,678,654,631,879,783,801,650,629.814066581,651,0.451003534775,0.00464307647524,0.0797179685563,0.99999990065,0.00013382625399,-0.00042122103265,-5.79981306101e-05,1793196774836312576
+260,4.333333333,HOLD_POSE2,764.608813777,743,711,678,654,631,879,783,801,649.608813777,630,651,0.4510040352,0.00464298058113,0.079718146622,0.999999900885,0.000133439612085,-0.000420751165014,-5.82502855325e-05,1793196774852979200
+261,4.350000000,HOLD_POSE2,764.032557848,743,711,678,654,631,879,783,801,649.032557848,630,651,0.451004029419,0.00464220221721,0.0797183433999,0.999999901086,0.000131802601337,-0.000420741061672,-5.85882635459e-05,1793196774869645824
+262,4.366666667,HOLD_POSE2,764,743,711,678,654,631,879,783,801,649.540735957,630,650.459264043,0.451003961392,0.00464088585619,0.0797177506041,0.999999901127,0.000131359851597,-0.000420851684297,-5.80890558008e-05,1793196774886312704
+263,4.383333333,HOLD_POSE2,764,743,711,678,654,631,879,783,801,649.882214362,629.882214362,650.117785638,0.451003813794,0.00463969315339,0.079717217938,0.999999901113,0.000130978708146,-0.000421067224603,-5.76341191969e-05,1793196774902979328
+264,4.400000000,HOLD_POSE2,764,743,711,678,654,631,879,783,801,649.289298326,629.289298326,650.710701674,0.451003360253,0.00463912922633,0.0797171185531,0.999999900915,0.000130557594262,-0.000421676825733,-5.75599933699e-05,1793196774919645952
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,743,711,678,654,631,879,783,801,649,629,650,0.451003070884,0.00464071534366,0.0797169018737,0.999999900237,0.000131129488869,-0.000422953759906,-5.86543274122e-05,1793196774956594688
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.424875853,743,711,678,654,631,879,783,801,649,629.575124147,650.575124147,0.451003815117,0.00464008274782,0.0797176384178,0.999999900982,0.000129552629193,-0.000421741091293,-5.81937898504e-05,1793196774973261312
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.846345155,711,678,654.153654845,630.846345155,879,782.846345155,801,649,629.846345155,650.846345155,0.451004078335,0.00464008225654,0.0797181487203,0.999999901262,0.000129240090957,-0.000421208381055,-5.79280443824e-05,1793196774989927936
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.25818119,711,678,654.74181881,630.25818119,879,782.25818119,801,649,629.25818119,650.25818119,0.451002981321,0.00464186924662,0.0797180192511,0.999999900232,0.000132502833025,-0.000422598474309,-5.8213136899e-05,1793196775006594560
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.325068971,742,711,678,654.674931029,630.325068971,879,782.325068971,801,649,629,650,0.451003844722,0.00464228897547,0.0797188836832,0.999999900506,0.000133162112029,-0.000421723182405,-5.83639497402e-05,1793196775023261440
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.904474496,742,711,678,654.095525504,630.904474496,879,782.904474496,801,649,629,650,0.451006241966,0.00464163894812,0.0797205257517,0.999999901798,0.000131784420575,-0.000419075435003,-5.84097010754e-05,1793196775039928064
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.519605325,742.480394675,711,678,654.480394675,631,879.480394675,783,801.480394675,649,629,650.480394675,0.451004961031,0.00464121505007,0.0797188542382,0.999999901024,0.000132153338318,-0.000420834747118,-5.8181135915e-05,1793196775056595200
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711,678,654.944345215,631,879.944345215,782.944345215,801.944345215,649.055654785,629,650.944345215,0.451003292799,0.00464080038923,0.0797169145232,0.999999900072,0.000132702013904,-0.000422958717224,-5.79042465821e-05,1793196775073262592
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711,678,654.368823589,631,879.368823589,782.368823589,801.368823589,649.631176411,629,650.368823589,0.451004789573,0.00464005502018,0.0797185799496,0.999999901311,0.000131708968976,-0.000420362117137,-5.76818167084e-05,1793196775089928960
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711,678,654,631,879,782.212321092,801,649.787678908,629,650,0.451003325333,0.00463948806208,0.0797179636164,0.999999901047,0.000130877767016,-0.000421262623052,-5.75798104686e-05,1793196775106595328
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711,678,654,631,879,782.803499262,801,649.196500738,629,650,0.450996577578,0.00463923945326,0.0797132758045,0.999999898077,0.000130335351138,-0.000428403222261,-5.76926832619e-05,1793196775123261952
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711,678,654,631,879,783,800.614264456,649,629,650,0.450985556646,0.00464031738157,0.0797067515902,0.999999893566,0.000131666634787,-0.000438378034788,-5.79392256519e-05,1793196775139928576
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,711,678,654,631,879,783,800.03648008,649,629,650,0.450972408198,0.00464205576211,0.0796993130732,0.999999888191,0.000133930790158,-0.000449763937368,-5.82523190563e-05,1793196775156594944
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,711,678.537810224,654,631,879,783,800.537810224,649.537810224,629,650,0.450938581674,0.00464174262809,0.0796827993307,0.99999987608,0.000133023344132,-0.00047623825866,-5.78109086582e-05,1793196775173261568
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711,678.888044001,654.111955999,631,879,783,801,650,629,650.111955999,0.450899280578,0.00464137242573,0.0796645714931,0.999999861632,0.000132192256381,-0.000505945476617,-5.72807402064e-05,1793196775189928448
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711,678.313522285,654.686477715,631,879,783,801,650,629,650.686477715,0.450843118037,0.00464133767062,0.0796417885243,0.999999841204,0.000132559774538,-0.000544808675776,-5.65939406158e-05,1793196775206595072
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711,678.270278821,654.729721179,631,879,783,801.270278821,650,629.270278821,651,0.450785424739,0.0046406460771,0.0796239066194,0.999999825698,0.00013324103503,-0.000572470752827,-5.59212010832e-05,1793196775223261696
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,711,678.865226643,654.134773357,631,879,783,801.865226643,650,629.865226643,651,0.450725892643,0.00463916546478,0.0796119120569,0.999999817359,0.00013429917466,-0.00058667762258,-5.52653511288e-05,1793196775239928064
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,743,711.098590002,675.901409998,660.098590002,632.098590002,878,783,800.098590002,649,629.098590002,650.098590002,0.42165775639,0.00446369418196,0.0798160063562,0.999999961794,2.60710058628e-05,-0.000271731083405,4.35156874995e-05,1793196776223261184
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,743,711.685817556,675.314182444,660.685817556,632.685817556,878,783,800.685817556,649,629.685817556,650.685817556,0.420931055859,0.00446894457941,0.0798548415744,0.999999977247,3.24181156449e-05,-0.000206449391954,4.28193071907e-05,1793196776239928064
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,743,712,675,660.730447786,632.730447786,878,783.269552214,801,649.269552214,630,651,0.420170863527,0.00446689836802,0.0798618005642,0.999999979279,2.98957023685e-05,-0.000196855544048,4.23869596498e-05,1793196776256594944
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,743,712,675,660.150732306,632.150732306,878,783.849267694,801,649.849267694,630,651,0.41937213353,0.00445645623183,0.0798320808131,0.999999967374,1.71674729521e-05,-0.000251339540014,4.2258424475e-05,1793196776273261568
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.004724597,743,712,675,660.004724597,633,878.995275403,783,800,649,629.995275403,651,0.417816383296,0.00444415251478,0.0797667145156,0.999999935365,-3.3437404996e-06,-0.000357345581176,3.95291760688e-05,1793196776306594816
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.580409167,743,712,675,660.580409167,633,878.419590833,783,800,649,629.419590833,651,0.417110098584,0.00444819972503,0.0797976032793,0.99999994851,-4.63497315556e-06,-0.000318478526478,3.91111984293e-05,1793196776323261440
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.252636863,743,712,675,660.252636863,633,878,783,800.747363137,649,629.747363137,651,0.415666250787,0.00446499229284,0.0798084928447,0.999999948726,1.89929697479e-05,-0.000317077778649,4.06043492428e-05,1793196776356594432
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,743,712,675,659.669602444,633,878,783.330397556,801,649,630,651,0.414961180038,0.00446898973558,0.0797949837398,0.999999942018,2.23199771492e-05,-0.000337459046293,3.98441103287e-05,1793196776373261312
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.485938223,743,712,675,659.485938223,633,877.514061777,784.485938223,800.514061777,649,630,651,0.413638414738,0.00445890910658,0.0797896006974,0.999999943685,3.26005276e-06,-0.000333519421063,3.72157714534e-05,1793196776406594816
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.938421196,743,712,675,660.061578804,633,877,784.876842392,800,649,629.938421196,650.938421196,0.413008441781,0.00444973470425,0.0798040474354,0.999999952403,-7.21410861845e-06,-0.000306202199895,3.7185315682e-05,1793196776423261184
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764.362682271,743,712,675,660.637317729,633,877,783.725364542,800,649,629.362682271,650.362682271,0.412363692019,0.00444999305482,0.0798003330799,0.999999949357,-1.64168217382e-05,-0.0003158448192,3.54758066228e-05,1793196776439928064
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.21846722,743.21846722,712,675,660.78153278,633,877.21846722,783.21846722,800,649,629.21846722,650.21846722,0.411722577587,0.00445226174161,0.0797926523856,0.999999944509,-1.67170180416e-05,-0.00033090564851,3.47048442167e-05,1793196776456594944
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.808826952,743.808826952,712,675,660.191173048,633,877.808826952,783.808826952,800,649,629.808826952,650.808826952,0.411087651573,0.00445795258477,0.07977821987,0.999999936287,-1.86263158143e-06,-0.000355189790602,3.55315517505e-05,1793196776473261568
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.031906022,743.031906022,712,675,659.031906022,633,877.031906022,784,800.968093978,649,629.031906022,650.031906022,0.4099339828,0.00446546240667,0.0797912420976,0.99999994263,8.30449171466e-06,-0.000336595657536,3.70603535672e-05,1793196776506595072
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,743,712,674.455495578,659.544504422,633,877.544504422,784,801,649,629,650,0.409424809558,0.00446405095516,0.0798190899645,0.999999957904,1.00856152144e-05,-0.000287507435772,3.78146170848e-05,1793196776523261696
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,743,712,675,660,633,878,784,800.706159417,649,630,651,0.407852255031,0.00446177141142,0.0798190476121,0.99999995411,1.80945436284e-06,-0.000300610787011,3.7552626205e-05,1793196776573261824
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,743.975436626,711.975436626,674,659.024563374,633,877,783.024563374,800,649.024563374,629.024563374,651,0.406410760714,0.00446540721185,0.0797579152847,0.99999992273,2.36010394223e-05,-0.000390676854377,3.681507556e-05,1793196776623261696
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,743.403673887,711.403673887,674,659.596326113,633,877,783.596326113,800,649.596326113,629.596326113,651,0.406035866347,0.00446321825954,0.0797815775001,0.999999939024,7.38549394012e-06,-0.000347170606282,3.70119664831e-05,1793196776639928320
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,743,711.175803183,674.175803183,660,633,877,784,800,649.824196817,630,651,0.40565992144,0.0044635385101,0.0798021045898,0.999999951205,4.23985858657e-06,-0.000310154862438,3.71018231223e-05,1793196776656594688
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,743,711.773806521,674.773806521,660,633,877,784,800,649.226193479,630,651,0.405281453662,0.00446988473741,0.0798151025149,0.999999957109,3.24822699362e-05,-0.000288726397441,3.69346316683e-05,1793196776673261312
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,743,712,675,660,633,877,783.641639078,800,649.358360922,630,651,0.404913650228,0.00447469734714,0.0798178695916,0.999999957027,3.90722944832e-05,-0.000288122825691,3.7469919977e-05,1793196776689927936
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.508826488,743,712,674.491173512,659.491173512,633,877,783.508826488,800,649.491173512,630,650.491173512,0.404226604885,0.00447883659024,0.0798176094253,0.999999952974,3.3190124784e-05,-0.000302409103385,3.87160268844e-05,1793196776723261696
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.914930907,743,712,674,659.170138186,633,877.085069093,784,800.085069093,649,630,650.085069093,0.403911405141,0.00447879839483,0.0798216106162,0.99999995275,3.78821279657e-05,-0.000302557105348,3.90302866888e-05,1793196776739928064
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.840715976,743,712,674,660.159284024,633,877.159284024,784,801,649,629.159284024,651,0.403102917978,0.00447633255419,0.0798296906683,0.999999954359,5.38772046105e-05,-0.000294336171188,4.17799988304e-05,1793196776789928192
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.58474413,743,712,674.41525587,659.58474413,633,877.41525587,784,800.58474413,649,629.41525587,651,0.40286911518,0.00447339276111,0.0798291781854,0.999999954187,3.91574819808e-05,-0.000297315493901,4.11966074976e-05,1793196776806594816
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,743,712,675,659,633,877.423004737,784,800,649,630,651,0.402460530364,0.00446775264669,0.0798282045436,0.99999995378,2.0625334908e-05,-0.000300727237688,3.97210325165e-05,1793196776839928064
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.16346394,743,712,674.83653606,659,633,877.16346394,784,800.16346394,649,629.83653606,651,0.402284756496,0.00446571071566,0.07982985888,0.999999955025,1.84881066119e-05,-0.000296716401202,3.95956095915e-05,1793196776856594688
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.900413598,633,878,784,800.099586402,649,629.900413598,651,0.401838925413,0.00445969586611,0.0798456309965,0.999999962355,1.17209356545e-05,-0.000270824082822,4.25151781387e-05,1793196776906594816
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,660,633,878,784,800.473834436,649,629.526165564,650.526165564,0.401719084895,0.00445977286702,0.0798465211505,0.999999962765,9.27352173658e-06,-0.00026930421472,4.31187098633e-05,1793196776923261696
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.952482213,743,712,674,659.952482213,633,878,784,800.952482213,649,629.047517787,650.047517787,0.401604789197,0.00445960991604,0.0798459202312,0.999999962666,6.31220055416e-06,-0.000269644865452,4.38229443744e-05,1793196776939928064
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,633,877.776149512,784,800.223850488,649,630,650.776149512,0.40140761439,0.0044457063859,0.0798332552214,0.999999956629,-1.73883455172e-05,-0.000290086581723,4.78405997312e-05,1793196776973261312
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,633,877.193785919,784,800.806214081,649,630,650.193785919,0.401323008166,0.0044552751474,0.0798277102497,0.999999954882,-2.1054462491e-05,-0.000296718053325,4.18534426726e-05,1793196776989928448
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.382879127,743,712,674,659.382879127,633,877,784,800.617120873,649,630,650,0.401251365638,0.00446043405113,0.079824375244,0.999999953789,-1.02383480373e-05,-0.0003011880952,4.00468159052e-05,1793196777006595072
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..14c1b15803ac4db5947b0124e9c3030aa830526f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,427 @@
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+420,7.000000000,pose2_to_pose3_retreat,0.578252791915,0.0100013008405,1.07001167411,0.548824026034,0.0186749641263,1.06966120617
+421,7.016666667,pose2_to_pose3_retreat,0.578252596018,0.0100013636592,1.07001169021,0.54882382882,0.0186750223315,1.06966121868
+422,7.033333333,pose2_to_pose3_retreat,0.578252389446,0.010001429901,1.07001170719,0.548823620859,0.0186750837085,1.06966123188
+423,7.050000000,pose2_to_pose3_retreat,0.578252256308,0.0100013513007,1.07001168641,0.54882348916,0.0186750101427,1.06966121485
+424,7.066666667,pose2_to_pose3_retreat,0.578252188751,0.0100012789756,1.0700116619,0.548823423207,0.0186749434614,1.06966119546
+425,7.083333333,pose2_to_pose3_retreat,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213828,1.06966118707
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd84155964f164aef48e35b5af1a59482df4b308
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8862b9853aaae5d9c92006770e529014ddce408c1c668744eb00d8a8ea5890a3
+size 27128319
diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5b964ff58b0ab9c0fce9b34bbb2974bc465ad886
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_05/franka_data.csv
@@ -0,0 +1,429 @@
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+39,0.650000000,BASELINE,765,743,711.301100285,674.698899715,660,633,877.698899715,784,800,649.301100285,629,650.301100285,0.400953874236,0.00445942214133,0.0798289811407,0.999999954992,6.83863295489e-05,-0.00028920080563,4.12536489158e-05,1793196778394639360
+40,0.666666667,BASELINE,765,743,711.282471858,674.717528142,660,633,877.717528142,784,800.282471858,649.282471858,629.282471858,650.282471858,0.40095307137,0.00445847189162,0.0798284437658,0.999999954766,6.7281309488e-05,-0.000290220503206,4.1384454944e-05,1793196778411306496
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+51,0.850000000,BASELINE,765,743,712,674,660,633,877.662464784,784,800.662464784,649,629.662464784,651,0.400953121118,0.00445879491596,0.0798279999747,0.999999955072,6.48869725764e-05,-0.000289750792231,4.11033376842e-05,1793196778594639872
+52,0.866666667,BASELINE,765,743,712,674,660,633,877.754614664,784,800.754614664,649.245385336,629.754614664,650.754614664,0.400953828256,0.0044586069587,0.0798286551554,0.999999955238,6.46649582523e-05,-0.000289209847195,4.12340833019e-05,1793196778611306496
+53,0.883333333,BASELINE,765,743,712,674,660,633,877.163370825,784,800.163370825,649.836629175,629.163370825,650.163370825,0.400953630973,0.00445685065805,0.0798282768787,0.999999954984,6.54622983652e-05,-0.000289873255158,4.14741681198e-05,1793196778627972864
+54,0.900000000,BASELINE,765,743,712,674,660,633.415817292,877.415817292,784,800,650,629.415817292,650.415817292,0.400953195807,0.00445721252412,0.0798280206453,0.999999954794,6.66054144769e-05,-0.000290252626657,4.15775489567e-05,1793196778644639488
+55,0.916666667,BASELINE,765,743,712,674,660,633.990402271,877.990402271,784,800,650,629.990402271,650.990402271,0.400952669813,0.00445838315033,0.0798278110104,0.999999954628,6.78805550347e-05,-0.000290523547114,4.16287333662e-05,1793196778661306112
+56,0.933333333,BASELINE,765,743,712,674,660,633.430134821,877.430134821,784,800,649.430134821,630,651,0.400952723057,0.00445804404949,0.0798279957488,0.999999954689,6.74277048179e-05,-0.000290438431993,4.14887585173e-05,1793196778677972736
+57,0.950000000,BASELINE,765,743,712,674,660.151516233,633,877.151516233,784,800.151516233,649,629.848483767,651,0.400952916168,0.00445761068543,0.0798283837985,0.999999954823,6.69909096386e-05,-0.000290093076244,4.13869350749e-05,1793196778694639360
+58,0.966666667,BASELINE,765,743,712,674,660.739228019,633,877.739228019,784,800.739228019,649,629.260771981,651,0.40095348361,0.00445697978289,0.0798293378684,0.999999955154,6.66848420398e-05,-0.000289015933418,4.14042932157e-05,1793196778711306240
+59,0.983333333,BASELINE,765,743,712,674,660.67781393,633,877.67781393,784,801,649,629.32218607,651,0.400952646341,0.00445730892477,0.0798285863625,0.999999954808,6.75637412428e-05,-0.000290026540092,4.12729746099e-05,1793196778727972608
+60,1.000000000,BASELINE,765,743,712,674,660.098647464,633,877.098647464,784,801,649,629.901352536,651,0.400950688654,0.00445840381227,0.0798264744641,0.999999953914,6.93877875339e-05,-0.000292702366659,4.10230692243e-05,1793196778744639232
+61,1.016666667,BASELINE,765,743,712,674.478037431,660,633,877,784,800.521962569,649,630,651,0.400951650842,0.00445794262681,0.079827173302,0.999999954323,6.71324941934e-05,-0.000291823697954,4.10508100362e-05,1793196778761306624
+62,1.033333333,BASELINE,765,743,712,675,660,633,877,783.944847243,800.055152757,649,629.944847243,651,0.400953153623,0.00445734481217,0.079828382984,0.999999954945,6.45606672478e-05,-0.000290263558415,4.11064186292e-05,1793196778777974016
+63,1.050000000,BASELINE,765,743,712,675,660,633,877,783.358682361,800.641317639,649,629.358682361,651,0.400954089894,0.00445850721776,0.0798289554648,0.999999955111,6.70043521515e-05,-0.000289167914386,4.0881551357e-05,1793196778794640128
+64,1.066666667,BASELINE,765,743,712,674.775231899,660,633.224768101,877,783.224768101,800.775231899,649,629,651,0.400953895316,0.00445889383451,0.0798287661409,0.999999955058,6.75881860695e-05,-0.000289234754289,4.07347108449e-05,1793196778811306240
+65,1.083333333,BASELINE,765,743,712,674.196061423,660,633.803938577,877,783.803938577,800.196061423,649,629,651,0.400951917677,0.00445805722867,0.0798273756441,0.999999954664,6.52395058324e-05,-0.000291134537026,4.07108987874e-05,1793196778827972864
+66,1.100000000,BASELINE,765,743,712,674,660,633.618118986,877,784,800.381881014,649,629.381881014,651,0.400951979132,0.00445829785145,0.0798273717081,0.999999954472,6.72852743989e-05,-0.000291290354593,4.09718256877e-05,1793196778844639744
+67,1.116666667,BASELINE,765,743,712,674,660,633.040805034,877,784,800.959194966,649,629.959194966,651,0.40095308412,0.00445908976103,0.0798280773639,0.999999954371,7.15799635466e-05,-0.00029055367358,4.1378471724e-05,1793196778861306624
+68,1.133333333,BASELINE,765,743,712,674,660,633,877,784,800.46591671,649.53408329,630,651,0.400952954114,0.00445967160619,0.0798288719922,0.99999995471,6.97609500573e-05,-0.000289852494331,4.12237819545e-05,1793196778877973248
+69,1.150000000,BASELINE,765,743,712,674,660,633,877.111590357,784,800,649.888409643,629.888409643,651,0.400952997363,0.00445991644435,0.0798295173561,0.999999955041,6.76339847754e-05,-0.000289239063122,4.10529975639e-05,1793196778894639872
+70,1.166666667,BASELINE,765,743,712,674,660,633,877.701103012,784,800,649.298896988,629.298896988,651,0.400954184919,0.00445878636514,0.0798294944644,0.999999955212,6.61795762798e-05,-0.000288989877622,4.09961307193e-05,1793196778911306240
+71,1.183333333,BASELINE,765,743.285391221,712,674,660,633,877.714608779,784,800,649,629,651,0.400953363988,0.004458066114,0.0798286234054,0.999999954853,6.56131291654e-05,-0.000290350911733,4.10425732183e-05,1793196778927972864
+72,1.200000000,BASELINE,765,743.86430618,712,674,660,633,877.13569382,784,800,649,629,651,0.400950477336,0.00445776736926,0.0798268800097,0.999999953944,6.59599466268e-05,-0.000293368050287,4.11952689597e-05,1793196778944639488
+73,1.216666667,BASELINE,764.55927131,743.55927131,712,674,660,633.44072869,877,784,800.44072869,649,629,651,0.400951421316,0.00445758029076,0.0798277087689,0.999999954428,6.53810182707e-05,-0.000291841308705,4.12073412331e-05,1793196778961305856
+74,1.233333333,BASELINE,764.016352759,743,712,674,660,633.983647241,877.016352759,784,800.983647241,649,629,651,0.400953460484,0.0044574427154,0.0798292622668,0.999999955302,6.45614813981e-05,-0.000289020575524,4.11785629056e-05,1793196778977972480
+75,1.250000000,BASELINE,764.590771074,743,712,674,660,633.409228926,877.590771074,784,800.409228926,649,629,651,0.400952852299,0.00445782782733,0.0798286747932,0.999999955115,6.52029763455e-05,-0.000289514712175,4.12249247734e-05,1793196778994639872
+76,1.266666667,BASELINE,764.829843223,743,712,674,660,633,878,784,800,649,629,650.829843223,0.400952183026,0.00445842376005,0.0798281438328,0.999999954884,6.59943135524e-05,-0.000290128895157,4.12561131459e-05,1793196779011306752
+77,1.283333333,BASELINE,764.238151687,743,712,674,660,633,878,784,800,649,629,650.238151687,0.400951362416,0.00445954196579,0.0798277528744,0.999999954542,6.71568596836e-05,-0.000291040472676,4.12497117364e-05,1793196779027973376
+78,1.300000000,BASELINE,764.34594898,743,712,674,660,633,877.65405102,784,800,649,629.34594898,650.34594898,0.400952153714,0.00445855100882,0.0798279505187,0.999999954727,6.55482651474e-05,-0.000290779060009,4.12009931162e-05,1793196779044639744
+79,1.316666667,BASELINE,764.924936258,743,712,674,660,633,877.075063742,784,800,649,629.924936258,650.924936258,0.400954030827,0.00445613927674,0.0798285446578,0.999999955257,6.20729736085e-05,-0.000289727497155,4.11237687583e-05,1793196779061306112
+80,1.333333333,BASELINE,765,743,712,674.500267138,660,633,877,784,800,649,629.499732862,651,0.400953832506,0.00445655047666,0.0798283935256,0.9999999552,6.28903488861e-05,-0.000289743612137,4.11606775134e-05,1793196779077972480
+81,1.350000000,BASELINE,764.924764213,743,712,674.924764213,660,633,877,784,800,649,629.075235787,651,0.40095340301,0.00445753054453,0.0798282528994,0.999999955081,6.44666512665e-05,-0.000289803969107,4.11876599458e-05,1793196779094639104
+82,1.366666667,BASELINE,764.348581198,743,712,674.348581198,660,633,877,784,800,649,629.651418802,651,0.400953492712,0.0044594984998,0.0798289214015,0.999999955135,6.68386106721e-05,-0.000289099960482,4.1035349727e-05,1793196779111305728
+83,1.383333333,BASELINE,764.233453238,743,712,674,660,633,877.233453238,784,800,649,630,651,0.400953531401,0.00446022133569,0.0798290310681,0.999999955096,6.80800029767e-05,-0.000288966805708,4.08904029052e-05,1793196779127972864
+84,1.400000000,BASELINE,764.824449449,743,712,674,660,633,877.824449449,784,800,649,630,651,0.400953491963,0.00445903722173,0.0798282848559,0.99999995492,6.75898869036e-05,-0.00028970793634,4.07567333979e-05,1793196779144640256
+85,1.416666667,BASELINE,765,743,712,674.406707475,660,633,878,784,800.813414951,649,630,651,0.400952434227,0.00445877762616,0.0798277092136,0.999999954634,6.78992116843e-05,-0.000290617375973,4.078834297e-05,1793196779161306880
+86,1.433333333,BASELINE,765,743,712,674.985273064,660,633,878,784,801.970546127,649,630,651,0.4009509462,0.00445890869471,0.0798272056475,0.9999999543,6.85463478322e-05,-0.000291597936134,4.08897927977e-05,1793196779177973248
+87,1.450000000,BASELINE,765,743,712,675,660,633.559744569,877.440255431,784,801.440255431,649,630,651,0.400952184318,0.00445868366336,0.0798283072564,0.999999954515,6.83459742098e-05,-0.000290841645432,4.13454103317e-05,1793196779194639616
+88,1.466666667,BASELINE,764.862472641,743,712,675,660,633.862472641,877,784,800.862472641,649.137527359,630,651,0.400952993836,0.00445849854151,0.0798289293236,0.999999954715,6.80012881321e-05,-0.000290193655321,4.16376497623e-05,1793196779211306240
+89,1.483333333,BASELINE,764.273468506,743,712,675,660,633.273468506,877,784,800.273468506,649.726531494,630,651,0.400952162586,0.0044584749686,0.0798278395104,0.999999954818,6.72555199787e-05,-0.00029005012057,4.13631814301e-05,1793196779227972864
+90,1.500000000,BASELINE,764.310361782,743,712,674.689638218,660,633,877.310361782,784,800.620723565,649.689638218,629.689638218,651,0.400952522363,0.0044580775048,0.0798280512521,0.999999955003,6.65313840314e-05,-0.000289596677201,4.12444091612e-05,1793196779244639488
+91,1.516666667,BASELINE,764.889707969,743,712,674.110292031,660,633,877.889707969,784,801.779415937,649.110292031,629.110292031,651,0.40095391438,0.00445735599717,0.0798293910257,0.999999955258,6.58259963267e-05,-0.000288874642185,4.12605755979e-05,1793196779261306112
+92,1.533333333,BASELINE,765,743,712,674,660,633,877.534020596,784,801.534020596,649,629.465979404,651,0.400952078178,0.00445808980464,0.0798281314627,0.999999954606,6.62855872459e-05,-0.000291026676073,4.11954485502e-05,1793196779277972736
+93,1.550000000,BASELINE,765,743,712,674,660.041168288,633,877.041168288,784,801,649,630,651,0.400949877719,0.00445903726701,0.0798265619329,0.999999953875,6.69837235866e-05,-0.00029338120221,4.11204181477e-05,1793196779294639616
+94,1.566666667,BASELINE,765,743,712,674,660.61173288,633,877.61173288,784,801,649,630,651,0.400952754322,0.00445833174394,0.0798288660643,0.999999954945,6.72268415094e-05,-0.000289649305847,4.11638448072e-05,1793196779311306752
+95,1.583333333,BASELINE,764.809388299,743,712,674,660.809388299,633.190611701,878,784,801,649,630,651,0.400953833655,0.00445841580021,0.0798298984318,0.99999995537,6.7786161971e-05,-0.000288042257608,4.11996272613e-05,1793196779327973888
+96,1.600000000,BASELINE,764.212801266,743,712,674,660.212801266,633.787198734,878,784,801,649,630,651,0.400951085066,0.00446018154606,0.0798282221265,0.99999995444,6.9018948117e-05,-0.000290960827605,4.1219128673e-05,1793196779344640000
+97,1.616666667,BASELINE,764,743,712.371787183,674.371787183,660.743574366,633.628212817,878,784,801,649.371787183,630,651,0.400951280627,0.00446045360794,0.0798280242881,0.999999954566,6.90688549021e-05,-0.000290521457479,4.11693511349e-05,1793196779361306368
+98,1.633333333,BASELINE,764,743,712.949722631,674.949722631,661.899445262,633.050277369,878,784,801,649.949722631,630,651,0.40095310866,0.00445989745301,0.0798286462289,0.999999955277,6.84628795954e-05,-0.000288220179175,4.1081159858e-05,1793196779377972992
+99,1.650000000,BASELINE,764.52515338,743,712.47484662,675,660.949693241,633,877.47484662,784,801,650,630,651,0.400952959269,0.00446044728053,0.0798290974449,0.999999955099,6.95453396826e-05,-0.000288581947816,4.10669716205e-05,1793196779394639360
+100,1.666666667,BASELINE,765,743,712,675,660,633,877,784,800.900008728,650,629.900008728,651,0.40095272148,0.00446076973327,0.0798293122127,0.999999954919,7.0034298805e-05,-0.000289095579978,4.09923967216e-05,1793196779411305984
+101,1.683333333,BASELINE,765,743,712,675,660,633,877,784,800.326846965,650,629.326846965,651,0.400952956989,0.00445951753967,0.0798284850584,0.999999955137,6.69534340821e-05,-0.000289127093413,4.05986974122e-05,1793196779427972608
+102,1.700000000,BASELINE,765,743,712,674.744258302,660,633,877,784,800.255741698,650,629.255741698,651,0.400952779598,0.00445921227162,0.0798283987409,0.999999955169,6.64669598379e-05,-0.000289149882918,4.0463618828e-05,1793196779444639488
+103,1.716666667,BASELINE,765,743,712,674.14916068,660,633,877,784,800.85083932,650,629.85083932,651,0.400952054309,0.00446016352459,0.0798292954753,0.999999954956,6.9423106981e-05,-0.000289161096218,4.06717165182e-05,1793196779461306368
+104,1.733333333,BASELINE,765,743,712,674,660.431762483,633,877.431762483,784,800.568237517,649.568237517,629.568237517,651,0.400953582607,0.00445974569392,0.0798299135381,0.999999955367,6.855750243e-05,-0.000287912368679,4.08988268342e-05,1793196779477972992
+105,1.750000000,BASELINE,765,743,712,674,660.992051438,633.007948562,877.992051438,784,800.007948562,649,629,650.992051438,0.400955806181,0.00445887963072,0.0798304163704,0.999999955966,6.64208102254e-05,-0.000286296108799,4.1124518825e-05,1793196779494639360
+106,1.766666667,BASELINE,765,743,712,674,660.415574944,633.584425056,877.415574944,784,800.584425056,649,629,650.415574944,0.400953843944,0.0044587080824,0.0798293443379,0.999999955442,6.48022277973e-05,-0.000288535326061,4.07938935869e-05,1793196779511306240
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,743,712,675,660,634,878,784,800,650,629,650,0.400949903247,0.00445872531603,0.07982647498,0.999999954025,6.64697592753e-05,-0.000292984912197,4.11254867635e-05,1793196779551738368
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,743,712,674.420622134,660.579377866,633.420622134,878,784,800.579377866,650,629.579377866,650.579377866,0.400951947246,0.00445810903361,0.0798280805759,0.999999954826,6.50391592875e-05,-0.000290568067243,4.10801453973e-05,1793196779568405504
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,743.157907836,712,674,660.842092164,633.157907836,877.842092164,784,801,650,630,650.842092164,0.40095293139,0.00445772493415,0.0798289431164,0.999999955216,6.42766836602e-05,-0.000289394502447,4.10763523563e-05,1793196779585072384
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,743.73419144,712,674,660.26580856,633.73419144,877.26580856,784,801,650,630,650.26580856,0.400951107453,0.00445795600172,0.0798278369369,0.99999995453,6.5284398798e-05,-0.00029151499969,4.11826413198e-05,1793196779601738752
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,743.691809857,712,674.308190143,660.308190143,633.691809857,877,784,800.691809857,649.691809857,630,650.308190143,0.400951338868,0.00445917213958,0.0798281601442,0.999999954462,6.75920318899e-05,-0.000291227398242,4.11571189891e-05,1793196779618405376
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,743.119767373,712,674.880232627,660.880232627,633.119767373,877,784,800.119767373,649.119767373,630,650.880232627,0.400953329943,0.00446123163049,0.0798297070997,0.999999954912,7.10125700642e-05,-0.000288878139301,4.1018748401e-05,1793196779635071744
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,743,712,674.528022811,661,633.471977189,877.471977189,784,800.471977189,649,630,651,0.400952793888,0.00446027177748,0.079829135186,0.999999954841,6.92395507155e-05,-0.000289542127301,4.11031835258e-05,1793196779651738112
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.938240537,743.061759463,712,674,660.938240537,634,878,784,800.938240537,649.061759463,630,650.938240537,0.400952056111,0.00445858523177,0.0798283510394,0.999999954732,6.63768163373e-05,-0.000290567546871,4.12369695025e-05,1793196779668404480
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.40344881,743.59655119,712,674,660.40344881,634,878,784,800.40344881,649.59655119,630,650.40344881,0.400954898969,0.0044574567588,0.0798302389562,0.999999955445,6.57015344795e-05,-0.000288249627045,4.12968395235e-05,1793196779685071360
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.153129373,743.846870627,712,674.153129373,660,633.846870627,878,784,800.153129373,649.846870627,630,650,0.400960690063,0.00445698540601,0.0798336145609,0.99999995683,6.57229400226e-05,-0.00028339679361,4.13050399487e-05,1793196779701737984
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.776629353,743.223370647,712,674.776629353,660,633.223370647,878,784,800.776629353,649.223370647,630,650,0.400975537311,0.00445853254286,0.0798415599262,0.999999960194,6.78843745449e-05,-0.00027075741489,4.11545258108e-05,1793196779718404864
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,743,712,674.626509001,660,633,878,784,800.626509001,649.373490999,629.626509001,650.373490999,0.401004225065,0.00445829377713,0.0798527058659,0.99999996557,6.67775357724e-05,-0.000250466612226,4.08383646458e-05,1793196779735071488
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,743,712,674.044518047,660,633,878,784,800.044518047,649.955481953,629.044518047,650.955481953,0.401040639233,0.0044570580381,0.0798656385151,0.999999971628,6.38461958212e-05,-0.00022590442945,4.04297316149e-05,1793196779751738624
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633,878,784,800.542778933,649.457221067,629,651,0.401101931722,0.00445824400736,0.0798839861632,0.999999979666,6.32012834629e-05,-0.000187494504603,3.89754615969e-05,1793196779768404992
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,743,712,674.127757801,660,633,877.872242199,784,800.872242199,649,629.127757801,651,0.401166481092,0.00445932046074,0.0799007581748,0.999999985375,6.2596879186e-05,-0.000154694754434,3.74331749919e-05,1793196779785071104
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,743,712,674.703076406,660,633,877.296923594,784,800.296923594,649,629.703076406,651,0.401235221169,0.00445931056516,0.0799104391862,0.999999986872,6.14709429686e-05,-0.000145566665948,3.58859553024e-05,1793196779801737984
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,743,712,674.72290853,660,633,877,784,800,649.27709147,630,651,0.401313247416,0.00445998092154,0.0799167294129,0.99999998824,6.0463619883e-05,-0.000136952445299,3.32955916935e-05,1793196779818404608
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,743,712,674.150283798,660,633,877,784,800,649.849716202,630,651,0.40140117787,0.00446137680399,0.079919403181,0.999999989481,5.95828042816e-05,-0.000128886293456,2.95926579288e-05,1793196779835070976
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633,877,784,800,649.564747409,629.564747409,651,0.40150406926,0.00446279178716,0.0799223039886,0.999999990359,5.68327330674e-05,-0.00012411669478,2.54426219138e-05,1793196779851737856
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633,877,784,800.025018574,649.025018574,629.025018574,651,0.401613744419,0.00446424081115,0.0799254610868,0.999999991131,5.34437232689e-05,-0.000120150954349,2.10866581599e-05,1793196779868404736
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,743,712,674,660,633,877,784,800.606667844,649.606667844,629.606667844,651,0.40175590582,0.00446629598167,0.0799325228762,0.999999992766,5.06378166392e-05,-0.000107971624605,1.5688719548e-05,1793196779885071616
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,743,712,674.185662335,660.185662335,633,877.185662335,784,801,650,629.814337665,650.814337665,0.401908173699,0.00446828272751,0.0799397700498,0.999999994334,4.57962790792e-05,-9.55969618596e-05,9.78023266614e-06,1793196779901738240
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,743,712,674.759111799,660.759111799,633,877.759111799,784,801,650,629.240888201,650.240888201,0.402081550644,0.00447012655657,0.0799474044288,0.999999995893,3.6702983018e-05,-8.28143147072e-05,2.80538020929e-06,1793196779918404864
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,743,712,674.662435457,660.662435457,633,877.662435457,784,801,649.662435457,629.337564543,650.337564543,0.40227118664,0.00447160572267,0.0799533417456,0.999999996993,2.70732162875e-05,-7.25038582406e-05,-4.82982240433e-06,1793196779935071232
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,743,712,674.080358565,660.080358565,633,877.080358565,784,801,649.080358565,629.919641435,650.919641435,0.402472599776,0.00447282074808,0.0799580498089,0.999999997724,1.70548601056e-05,-6.39841132517e-05,-1.29433454276e-05,1793196779951737856
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.49651259,743,712,674,660.50348741,633,877.50348741,784,801,649,629.49651259,651,0.402689590351,0.00447578332291,0.0799520063835,0.999999996853,1.15506484014e-05,-7.57579288319e-05,-2.05470792294e-05,1793196779968404480
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.086462547,743,712,674,660.913537453,633,878,784,800.913537453,649,629.086462547,651,0.402914820039,0.00447928704616,0.0799445775484,0.999999995542,1.52145761022e-05,-8.96003555244e-05,-2.56007051558e-05,1793196779985071104
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.662897291,743,712,674,660.337102709,633,878,784,800.337102709,649,629.662897291,651,0.403172601034,0.00448427123651,0.0799390562964,0.999999992954,6.67359387602e-05,-9.67460108533e-05,-1.66659060149e-05,1793196780001737984
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.760871296,743,712,674.239128704,660,633,877.760871296,783.760871296,800,649.239128704,630,651,0.40345467366,0.00449095093966,0.0799362699795,0.9999999934,5.55577757424e-05,-9.95789022804e-05,-1.402047139e-05,1793196780018404864
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.184926312,743,712,674.815073688,660,633,877.184926312,783.184926312,800,649.815073688,630,651,0.403770961389,0.00450001879712,0.0799373358592,0.99999999419,-4.39335905299e-05,-9.63372017843e-05,-2.0233699256e-05,1793196780035071744
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,743,712,674.599244714,660,633,877,783.400755286,800,649.599244714,630,651,0.404119552215,0.00450458754855,0.0799416763492,0.999999994042,-5.96879699012e-05,-8.81138408272e-05,-2.42759155281e-05,1793196780051738368
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,743,712,674.008958351,660,633,877,783.991041649,800,649.008958351,630,651,0.404483420288,0.00450702851639,0.0799475655161,0.99999999598,-3.58402204871e-05,-7.75344801456e-05,-2.72913849792e-05,1793196780068404992
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.570652398,743,712,674,660.570652398,633.570652398,877.570652398,784,800.570652398,649.570652398,630,651,0.404893581365,0.00451710657639,0.0799478256332,0.999999997066,5.09480273966e-06,-7.06299426656e-05,-2.92022946758e-05,1793196780085071360
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,743.14891403,712,674,660.85108597,633.85108597,877.85108597,784,801,649.85108597,629.85108597,650.85108597,0.405308340325,0.00452686108344,0.0799457017357,0.999999996259,4.10476058979e-05,-6.9469405637e-05,-3.11540172911e-05,1793196780101737984
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,743.723787075,712,674,660.276212925,633.276212925,877.276212925,784,801,649.276212925,629.276212925,650.276212925,0.40573421058,0.00453535344528,0.0799370066441,0.999999993948,6.19958788909e-05,-8.45772290891e-05,-3.32711711274e-05,1793196780118404608
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.70356881,743.70356881,712,674,660,633,877.29643119,784,801,649,629,650.29643119,0.406183850563,0.00454359770767,0.0799289707859,0.999999992387,6.1406524627e-05,-0.00010108480036,-3.51851924036e-05,1793196780135071488
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.132986033,743.132986033,712,674,660,633,877.867013967,784,801,649,629,650.867013967,0.406655473802,0.00455161251859,0.0799215446123,0.999999991415,4.08983015298e-05,-0.00011888691692,-3.69113486899e-05,1793196780151738368
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.454435446,743,712,674,660.454435446,633,878,784,800.545564554,649,629,651,0.407167454775,0.00456368766811,0.0799208343358,0.999999989878,6.31697202144e-05,-0.000121349557963,-3.90883841822e-05,1793196780168404736
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.95403601,743,712,674.04596399,661,633,878,784,800,649,629,650.95403601,0.407693383787,0.00457670192177,0.0799210654244,0.999999987283,9.49211671545e-05,-0.000121328662952,-4.12633643496e-05,1793196780185071360
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.374239983,743,712,674.625760017,661,633,878,784,800,649,629,650.374239983,0.408238863138,0.00458629191641,0.0799085255887,0.9999999847,8.57822610665e-05,-0.00014660502812,-4.18230768917e-05,1793196780201737984
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.202349134,743,712,675,660.797650866,633,878,784,800,649,629,650.202349134,0.408811009776,0.0045959030739,0.0799053172668,0.999999982919,9.17491266167e-05,-0.000154654513435,-4.27376449735e-05,1793196780218404864
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.773099644,743,712,675,660.226900356,633,878,784,800,649,629,650.773099644,0.409431707441,0.00460555276039,0.0799190981093,0.999999982554,0.000125217899712,-0.000131340352976,-4.42982709824e-05,1793196780235072256
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,743,712,674.640958864,660.359041136,633,878,784,800.359041136,649,629,650.640958864,0.410113376753,0.00461509510599,0.0799490879156,0.999999987307,0.000129724503713,-8.03980036114e-05,-4.57642190506e-05,1793196780251738880
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,743,712,674.044993146,660.955006854,633,878,784,800.955006854,649,629,650.044993146,0.410835280099,0.00462456661894,0.0799897737158,0.999999992198,0.00011511950822,-1.12243259344e-05,-4.71676906929e-05,1793196780268404736
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.930284055,743,712,674.534857973,661.534857973,633,878,784,800.465142027,649,629.534857973,650.534857973,0.411504401043,0.00463180688153,0.079983434883,0.999999988655,0.000140192067909,-2.76894007508e-05,-4.7646685853e-05,1793196780285071360
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.112168599,743,712,675,661.887831401,633,878,784,800,649,629.887831401,651,0.412172023464,0.00463045422557,0.0799674390488,0.99999998567,0.000151768441466,-5.74280146818e-05,-4.82558533325e-05,1793196780301737728
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.68445592,743,712,675,661.31554408,633,878,784,800,649,629.31554408,651,0.412851179621,0.00459460059357,0.079927582099,0.999999987905,9.46920067445e-05,-0.000112928037587,-4.97086695575e-05,1793196780318404608
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,743,712,675,661,633,877.741726194,784,800,649,629,651,0.413564947512,0.00456231548686,0.0799043488302,0.99999998758,4.74874251482e-05,-0.000141282468915,-5.12203044703e-05,1793196780335071232
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,712,675,661,633,877.166027128,784,800,649,629,651,0.41432125422,0.00453441618624,0.0799015464944,0.999999989243,1.24156019712e-05,-0.000136274266485,-5.28042295382e-05,1793196780351737856
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,712,675,661,633,877.423669324,784,800.423669324,649.423669324,629.423669324,651,0.4151287254,0.00453632476372,0.0799222892642,0.999999993454,1.24779649387e-05,-0.000100282158902,-5.36665360605e-05,1793196780368404224
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,712,675,661,633,878,784,801.018419409,650,629.981580591,651,0.415955123648,0.00455039939934,0.079951112124,0.999999996684,2.71202450886e-05,-5.44173019892e-05,-5.41790364823e-05,1793196780385071104
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,712,675,661,633,878,784,801.594430233,650,629.405569767,651,0.416726783279,0.00456707334236,0.0799356774688,0.999999993209,5.20894817912e-05,-8.98038214898e-05,-5.29552374982e-05,1793196780401737984
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,712,675,661,633,878,784,801.659965003,649.829982501,629,651,0.417531248873,0.00458029120683,0.0799314569127,0.999999991134,7.23073424329e-05,-9.87954592472e-05,-5.23715990855e-05,1793196780418404608
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,712,675,661,633,878,784,800.510806287,649.255403143,629,651,0.418413777218,0.00458528522526,0.0799539206506,0.999999994269,8.12191563998e-05,-4.49796633251e-05,-5.33112425856e-05,1793196780435071232
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.328491314,743,712,675.328491314,661.328491314,633,878,784,800,649.328491314,629,650.671508686,0.419280322772,0.0045863175799,0.079968425802,0.999999994834,8.47507508655e-05,-1.29463024994e-05,-5.4606035501e-05,1793196780451737856
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.919839638,743,712,675.919839638,661.919839638,633,878,784,800,649.919839638,629,650.080160362,0.420134078939,0.00458417983194,0.0799765625335,0.999999994894,8.39771218934e-05,1.65686653755e-06,-5.61850171347e-05,1793196780468404480
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743,711.500347201,676,662,633,878,784,800.499652799,650,629.499652799,650,0.421007288229,0.00457299602908,0.0799628387523,0.99999999559,7.27452203646e-05,-2.2540520309e-05,-5.49493948319e-05,1793196780485071104
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743,711,675.922674467,662,633,878,783.922674467,801,650,629.922674467,650.077325533,0.421888083192,0.00456290611169,0.0799514432133,0.99999999564,6.29387049624e-05,-4.35725263994e-05,-5.34805210281e-05,1793196780501737728
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743,711,675.347138338,662,633,878,783.347138338,801,650,629.347138338,650.652861662,0.422798098134,0.00456900375851,0.0799771352406,0.999999995908,7.28824473498e-05,-5.00798868018e-06,-5.33525192775e-05,1793196780518404352
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.771661879,743,711.228338121,675,662,633,878,783.228338121,801,649.771661879,629,651,0.423690674885,0.0045764834114,0.0799901936993,0.999999995216,8.16231647188e-05,8.65351369936e-06,-5.32117059058e-05,1793196780535070976
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.196276022,743,711.803723978,675,662,633,878,783.803723978,801,649.196276022,629,651,0.424556747723,0.00458606355585,0.0799840505876,0.999999994553,8.85354237549e-05,-1.55347334494e-05,-5.30514204008e-05,1793196780551737600
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743.390331314,712,675.390331314,661.609668686,633,878.390331314,784,801,649,629.390331314,651,0.425406536597,0.00459220355405,0.0799500085578,0.999999991474,9.16946648054e-05,-7.52618256025e-05,-5.45940510649e-05,1793196780568404480
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743.982748295,712,675.982748295,661.017251705,633,878.982748295,784,801,649,629.982748295,651,0.426247894743,0.00459656248972,0.0799015224618,0.999999982294,9.29108604081e-05,-0.000153388390904,-5.70183298059e-05,1793196780585071104
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.561919155,744,712,676,662.12383831,633,878.438080845,784,801,649.561919155,630,651,0.427188278819,0.00459124833922,0.0798985217599,0.999999984118,9.0194634917e-05,-0.000141632376254,-5.97478169867e-05,1793196780601737728
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.860565614,743.860565614,712,676,663,633.139434386,878,784,801,650,630,651,0.428116522156,0.00458575926689,0.0799003767714,0.999999986044,8.55711917642e-05,-0.000129851110147,-6.10618922669e-05,1793196780618404352
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.286968502,743.286968502,712,676,663,633.713031498,878,784,801,650,630,651,0.42899771382,0.00458062894788,0.0799131031302,0.999999987494,7.5376431802e-05,-0.000126385770455,-5.79402348413e-05,1793196780635070976
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.294508193,743,711.705491807,676,662.705491807,633.705491807,878,784,801,650,630,650.705491807,0.42989719036,0.00457892466645,0.0799400794228,0.999999991258,7.633887183e-05,-9.21056755511e-05,-5.63350777751e-05,1793196780651737856
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+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743.05378557,712,677,662.94621443,633,879,783.05378557,801.05378557,650,629.94621443,651,0.436725189321,0.00458819131147,0.0799579238771,0.999999992914,8.38474765253e-05,-6.19245554587e-05,-5.74991973959e-05,1793196780785071104
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743.526629114,712,677,662.473370886,633,879,783,801,650,630,651,0.437555363055,0.00458181489306,0.0799870050335,0.999999995596,7.30341092528e-05,-1.77695515423e-05,-5.61966108371e-05,1793196780801737728
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+185,3.083333333,POSE1_TO_POSE2_PRESS,764.258052466,743.258052466,712,677,663,633,878.741947534,783.258052466,801.741947534,649.741947534,630,651,0.439885177508,0.00457283517565,0.079996844445,0.999999996569,5.91285584016e-05,2.93769340519e-06,-5.79448101703e-05,1793196780851737856
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+187,3.116666667,POSE1_TO_POSE2_PRESS,764.569606439,744,712,676.569606439,662.569606439,633,878.430393561,784,801.430393561,649.430393561,630,650.569606439,0.441159191639,0.00457354095603,0.0798838965482,0.999999981968,5.3207121346e-05,-0.000171746340179,-6.11309371882e-05,1793196780885071360
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+190,3.166666667,POSE1_TO_POSE2_PRESS,764.160893706,743,711.839106294,677.160893706,661.839106294,633,878.160893706,783.160893706,801.839106294,649,629.839106294,650.160893706,0.443114305987,0.00457909753629,0.0798622621786,0.999999977923,5.57259897353e-05,-0.000193433713793,-6.0264006124e-05,1793196780935071232
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.735846831,743,711.264153169,677.735846831,661.264153169,633,878.735846831,783.735846831,801.264153169,649,629.264153169,650.735846831,0.443776932386,0.00457847818486,0.079910704872,0.999999988298,7.18472152704e-05,-0.000122360611322,-5.71913788487e-05,1793196780951737856
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765,743,711,678.941417928,654.058582072,631,879,782.058582072,801,649.941417928,629.941417928,650.941417928,0.45144677097,0.00463841436341,0.0796949867252,0.999999884395,0.000123990003226,-0.000460169520622,-6.38742924765e-05,1793196781535072768
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,743,711,678.366112292,654.633887708,631,879,782.633887708,801,649.366112292,629.366112292,650.366112292,0.451450154315,0.00463186559229,0.0796953923262,0.999999886082,0.000115406444637,-0.000458949690694,-6.23053750119e-05,1793196781551738880
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.791898598,743,711,678,654.791898598,631,879,783,801,649,629,650,0.451452264149,0.00462931050643,0.0796947738731,0.999999886358,0.000112156594637,-0.000459252232193,-6.15764996917e-05,1793196781568404992
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.219595963,743,711,678,654.219595963,631,879,783,801,649,629,650,0.451452145193,0.00463374482653,0.0796923632087,0.999999884244,0.000118241344663,-0.000462219097757,-6.23177942127e-05,1793196781585071616
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711,678,654,631,879,783,801,649.368129514,629,650.368129514,0.451452960937,0.00463477583579,0.0796922310834,0.999999883855,0.000120390841052,-0.000462556223676,-6.19575443834e-05,1793196781601738240
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711,678,654,631,879,783,801,649.965457266,629,650.965457266,0.451454358628,0.00463368793614,0.0796935175816,0.999999884555,0.000120090239723,-0.000461256067857,-6.09114706144e-05,1793196781618404864
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711.541696759,678,654,631,879,783,801,650,629.541696759,651,0.451453914145,0.00463148098777,0.079692320148,0.999999884267,0.000116024591844,-0.000462923106985,-6.08757049119e-05,1793196781635071488
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,711.883336176,678,654,631,879,783,801,650,630,651,0.451453533,0.00463043769821,0.0796913967937,0.999999883862,0.000113675121252,-0.000464369088853,-6.09519430737e-05,1793196781651737856
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,711.30828309,678,654,631,879,783,801,650,630,651,0.451453844988,0.00463423646949,0.0796921493722,0.999999883293,0.000118976757402,-0.000464230923408,-6.12246109317e-05,1793196781668404480
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,711,678,654,631,879,783,801,649.726960406,630,651,0.451454228022,0.00463412674032,0.0796920828631,0.99999988306,0.000119790948603,-0.000464572667031,-6.08425003746e-05,1793196781685071104
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711,678,654,631,879,783,801,649.138392414,630,651,0.451454693157,0.00462950029351,0.0796910698052,0.999999883226,0.000115419385929,-0.000465469000322,-5.9703718698e-05,1793196781701737728
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711,678.444371136,654,631,879,783,801,649.444371136,630,651,0.451454588429,0.00463000220071,0.0796911678053,0.999999883076,0.000114044864093,-0.000466092227308,-5.99936924795e-05,1793196781718404864
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711,678.97487128,654,631,878.97487128,782.97487128,801,650,629.97487128,651,0.451454341951,0.00463205829201,0.0796915588885,0.999999882814,0.000113797591448,-0.000466623860617,-6.0695427984e-05,1793196781735072512
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711,678.398969347,654,631,878.398969347,782.398969347,801,650,629.398969347,651,0.451454828328,0.0046336241209,0.0796908874513,0.999999882144,0.000118063307988,-0.00046698813527,-6.07951955591e-05,1793196781751738624
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.176477197,743,711,678,654,631,878.352954395,782.176477197,801,650,629,650.823522803,0.451455289774,0.00463389782087,0.0796904170919,0.999999881995,0.000119457354628,-0.000466950534295,-6.07959497227e-05,1793196781768404736
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.750896844,743,711,678,654,631,879.501793689,782.750896844,801,650,629,650.249103156,0.451455695001,0.00463125786986,0.0796904001477,0.999999883043,0.000114376007188,-0.000466006734798,-6.05734362865e-05,1793196781785071616
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.665986738,743,711,678,654,630.665986738,879.665986738,783,801.334013262,650,629.334013262,650,0.451456043808,0.0046313808116,0.0796908571367,0.999999883387,0.000113358713477,-0.000465522219363,-6.05335143717e-05,1793196781801738496
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.076211007,743,711,678,654,630.076211007,879.076211007,783,801.923788993,650,629.923788993,650,0.451456349412,0.00463361937088,0.0796916770284,0.999999883203,0.00011545336953,-0.000465389389485,-6.06334074499e-05,1793196781818405376
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,743,711,678,654,630.503487589,879,783,801.496512411,649.496512411,630,650.503487589,0.451456913262,0.00463283110492,0.0796915839063,0.999999883121,0.000116432430476,-0.000465355307346,-6.03873179133e-05,1793196781835071744
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,743,711,678,654.081159258,631,879,782.918840742,801.081159258,649,629.918840742,651,0.451457318633,0.0046318208672,0.079691368268,0.999999883077,0.00011678924924,-0.000465385565402,-6.01855589647e-05,1793196781851738368
+246,4.100000000,POSE1_TO_POSE2_PRESS,764,743,711,678,654.655600144,631,879,782.344399856,801.655600144,649,629.344399856,651,0.451456527854,0.00463219152317,0.0796912314704,0.999999883179,0.000114370316877,-0.000465717814838,-6.05652958893e-05,1793196781868404992
+247,4.116666667,POSE1_TO_POSE2_PRESS,764,742.764221147,711,677.764221147,655,630.764221147,879,782.235778853,802,649,629,651,0.451456820403,0.00463269707199,0.0796916507164,0.999999883404,0.000114238213297,-0.000465251922184,-6.06840711055e-05,1793196781885071360
+248,4.133333333,POSE1_TO_POSE2_PRESS,764,742.175452119,711,677.175452119,655,630.175452119,879,782.824547881,802,649,629,651,0.451458734826,0.00463340457221,0.0796929024288,0.99999988381,0.000117529775586,-0.000463591111913,-6.04121543453e-05,1793196781901737984
+249,4.150000000,POSE1_TO_POSE2_PRESS,764,742.406856764,711,677.406856764,654.593143236,630.406856764,879,783,802,649,629,650.593143236,0.451457517346,0.00463250321993,0.0796915863634,0.999999882983,0.000117870957692,-0.000465344911865,-5.9957402142e-05,1793196781918404864
+250,4.166666667,POSE1_TO_POSE2_PRESS,764,742.986423294,711,677.986423294,654.013576706,630.986423294,879,783,802,649,629,650.013576706,0.45145497038,0.0046309189134,0.079689180282,0.999999881626,0.000116959709954,-0.000468548206152,-5.94250367267e-05,1793196781935072000
+251,4.183333333,HOLD_POSE2,764,743,711,678,655,631,879,782,802,649,629,651,0.451457888749,0.00463303807401,0.0796911324679,0.999999883007,0.000117384716175,-0.000465531708373,-5.90451822288e-05,1793196781964680448
+252,4.200000000,HOLD_POSE2,764,743,711,678,654.42120816,631,879,782,801.42120816,649,629,651,0.45145846731,0.00463253255493,0.0796914178485,0.999999883248,0.000117732403804,-0.000464896378633,-5.92830273556e-05,1793196781981346816
+253,4.216666667,HOLD_POSE2,764,743,711,678,654,631,879,782.161430728,801,649.161430728,629,651,0.451458826974,0.00463196137955,0.0796916095038,0.999999883411,0.000117814247353,-0.000464514327662,-5.93624054541e-05,1793196781998013184
+254,4.233333333,HOLD_POSE2,764,743,711,678,654,631,879,782.754352586,801,649.754352586,629,651,0.451458601541,0.00463121471017,0.0796915506385,0.999999883368,0.000117185511501,-0.000464809269982,-5.90182142025e-05,1793196782014679808
+255,4.250000000,HOLD_POSE2,764,743,711,678,654,630.661707943,879,783,801.338292057,650,629.338292057,650.661707943,0.45145942921,0.00463214765293,0.0796923484171,0.999999883685,0.000118496406418,-0.000463807457465,-5.89246237687e-05,1793196782031346688
+256,4.266666667,HOLD_POSE2,764,743,711,678,654,630.084122272,879,783,801.915877728,650,629.915877728,650.084122272,0.451461001798,0.00463426868294,0.0796937521496,0.999999884246,0.00012117931484,-0.000461888374935,-5.90082978646e-05,1793196782048013312
+257,4.283333333,HOLD_POSE2,764.490584202,743,711,678,654,630,879,782.509415798,802,650,629.509415798,650.490584202,0.451459443713,0.00463414013841,0.0796919685163,0.999999883404,0.000120857035091,-0.00046379732386,-5.8963976596e-05,1793196782064680192
+258,4.300000000,HOLD_POSE2,764.934906924,743,711,678,654,630.065093076,879,782.065093076,801.934906924,650,629,651,0.451457532127,0.00463361171066,0.0796898855165,0.999999882381,0.000119942289986,-0.000466240247988,-5.89253227475e-05,1793196782081347072
+259,4.316666667,HOLD_POSE2,764.35809287,743,711,678,654,630.64190713,879,782.64190713,801.35809287,650,629,651,0.451457037119,0.00463295442636,0.0796897206438,0.999999881849,0.000118397366232,-0.000467750801748,-5.91027560133e-05,1793196782098013440
+260,4.333333333,HOLD_POSE2,764.224808904,743,711,678.224808904,654,631,879,783,801,650,629.224808904,650.775191096,0.451457003625,0.00463239566553,0.0796896077576,0.999999881667,0.000117630745557,-0.000468341485258,-5.90359875149e-05,1793196782114680064
+261,4.350000000,HOLD_POSE2,764.817677506,743,711,678.817677506,654,631,879,783,801,650,629.817677506,650.182322494,0.451457725725,0.00463199820851,0.0796895799845,0.999999882063,0.0001181383717,-0.000467426146571,-5.856940909e-05,1793196782131346688
+262,4.366666667,HOLD_POSE2,764.600375337,743,711,678.600375337,654,631,879.399624663,783,801.399624663,649.600375337,630,650,0.451458499578,0.0046318672425,0.0796908313464,0.999999882702,0.000117533742306,-0.000466183896335,-5.87781715389e-05,1793196782148013312
+263,4.383333333,HOLD_POSE2,764.023278316,743,711,678.023278316,654,631,879.976721684,783,801.976721684,649.023278316,630,650,0.451459296415,0.00463185462447,0.0796926507691,0.999999883446,0.000116435162928,-0.00046479646538,-5.92868512157e-05,1793196782164679936
+264,4.400000000,HOLD_POSE2,764,743,711,678,654,630.449978665,879.449978665,783,801.449978665,649.550021335,629.449978665,650.550021335,0.451460149899,0.00463119545491,0.0796921265853,0.999999883879,0.000114157333769,-0.000464424389706,-5.93245913752e-05,1793196782181346560
+265,4.416666667,HOLD_POSE2,764,743,711,678,654,630.12707973,879,783,801,649.87292027,629.12707973,650.87292027,0.45146093354,0.00463108175418,0.0796918382258,0.999999884256,0.000112952538836,-0.00046389814969,-5.93913248276e-05,1793196782198013184
+266,4.433333333,HOLD_POSE2,764,743,711,678,654,630.718454281,879,783,801,649.281545719,629.718454281,650.281545719,0.451461453308,0.00463306025218,0.0796927713708,0.999999884487,0.000115849245401,-0.000462652732852,-5.96363087084e-05,1793196782214680064
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711,678,654,631,879,783,801,650,630,650,0.451459783664,0.00463227867109,0.0796909031894,0.999999883054,0.000117429190295,-0.000465397998242,-5.92257265974e-05,1793196782251307520
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,678,654,631,879,783,801,650,629.428888185,650.571111815,0.451460605092,0.00463088286599,0.0796906221213,0.99999988334,0.000116775161807,-0.000464928609577,-5.93682764674e-05,1793196782267974144
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,678,654,631,879.143805728,783,801,649.856194272,629.143805728,650.856194272,0.451460733594,0.00463029098109,0.0796902790779,0.999999883279,0.000116514171776,-0.000465110400176,-5.94926298216e-05,1793196782284640768
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,678,654,631,879.721270741,783,801,649.278729259,629.721270741,650.278729259,0.451458772519,0.00463212339049,0.0796897491421,0.999999882166,0.000117438424897,-0.000467255881105,-5.95621099572e-05,1793196782301307136
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,678,654,631,879.693562522,783,801,649,629.693562522,650.306437478,0.451458100939,0.00463262664848,0.079689867361,0.999999881775,0.000118016903752,-0.000467961741346,-5.94428822312e-05,1793196782317974016
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711,678,654,631,879.101209885,783,801,649,629.101209885,650.898790115,0.451458632494,0.00463188976908,0.0796905903272,0.999999882061,0.000118272765015,-0.000467324393113,-5.91475845285e-05,1793196782334640896
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711,678,654,631,879,783,801,649,629.477969936,651,0.451459934477,0.00463227464761,0.0796918639167,0.999999883212,0.000117147473506,-0.000465108478417,-5.93799364893e-05,1793196782351307264
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.05392113,743,711,678,654,631,879,783,801,649.05392113,630,650.94607887,0.451461186949,0.00463271438556,0.0796929984046,0.999999884354,0.000115883062465,-0.000462931699355,-5.96505843267e-05,1793196782367973888
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.624942158,743,711,678,654,631,879,783,801,649.624942158,630,650.375057842,0.451460442105,0.00463146340467,0.0796917107764,0.999999883751,0.000116013937329,-0.000464249789573,-5.92457462817e-05,1793196782384640512
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.795902756,743,711,678,654,631,879,783,801,650,629.795902756,650.204097244,0.45145894904,0.00463057729469,0.0796904189498,0.999999883024,0.000115867938224,-0.000465892189952,-5.89214770927e-05,1793196782401307136
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.201179807,743,711,678,654,631,879,783,801,650,629.201179807,650.798820193,0.451456023944,0.00463038951843,0.079689119088,0.999999882055,0.000115192024594,-0.000468155293741,-5.8751410259e-05,1793196782417973760
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.382788134,743,711,678.382788134,654,631,879,783,801,650,629,651,0.451446330539,0.00463064575107,0.079683728439,0.99999987815,0.000116190150126,-0.000476182748508,-5.87426114967e-05,1793196782434640384
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.961258151,743,711,678.961258151,654,631,879,783,801,650,629,651,0.451433177164,0.00463112896173,0.079676246573,0.999999872642,0.000118044046983,-0.000487156948528,-5.88162531992e-05,1793196782451307264
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711,679,654,631,879.111176001,782.888823999,801,650,629.111176001,651,0.451365537773,0.0046372291809,0.0796446466075,0.999999845441,0.000123209005232,-0.000538979063186,-5.86372201564e-05,1793196782484640512
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,711,679,654,631,879.686983445,782.313016555,801,650,629.686983445,651,0.451313826224,0.00463592335607,0.0796258190454,0.999999826264,0.000123100490163,-0.000573562093193,-5.7835650188e-05,1793196782501307136
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,711,678,654,631,879,782.405411703,801,649,629,650,0.451007370568,0.00463106210757,0.0796067378092,0.999999810862,0.000125425075024,-0.000600128460602,-4.88858052165e-05,1793196782584640512
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.706521633,743,711.706521633,678.293478367,656,631,879.293478367,783,801.293478367,649.293478367,629.293478367,651,0.448144261862,0.00461060851337,0.0796237357318,0.999999819874,0.00017287525596,-0.000574097466593,2.79055744894e-05,1793196782834640640
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,764.640170924,743,712,676,661,633,878,784,801,649.359829076,629.640170924,650,0.424418937032,0.00438542247634,0.0797424640274,0.999999911021,-8.02135951365e-05,-0.00041193972784,4.27680854992e-05,1793196783467973888
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.060434971,743,712,676,661,633,878,784,801,649.939565029,629.060434971,650,0.42360192717,0.00441121625707,0.0797368143481,0.999999908239,-4.87306700788e-05,-0.000423717822608,4.0124758795e-05,1793196783484640768
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764.513716005,743,712,675.486283995,659.972567991,633,878,784,801,649.486283995,629,650,0.422857471745,0.00445551365931,0.0797580152149,0.999999927017,4.83886199014e-06,-0.000380021404832,3.90780078001e-05,1793196783501307392
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.912039578,743,712,675,659.175920844,633,878.087960422,784,801,649,629,650.087960422,0.422121159843,0.00449404834045,0.0797860923193,0.999999945013,5.25511402546e-05,-0.000325156931488,3.85375030604e-05,1793196783517973760
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.333650256,743,712,675,660.332699488,633,878.666349744,784,801,649,629,650.666349744,0.421383174261,0.00448844615321,0.0798350857985,0.999999968017,5.32745837691e-05,-0.000244020033425,3.97836366636e-05,1793196783534640384
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764.249595425,743,712,675,660.750404575,633,878.750404575,784,801,649,629.249595425,650.750404575,0.420634164947,0.00447736427065,0.0798583466675,0.999999976922,4.36123864407e-05,-0.000206376503869,4.07805901121e-05,1793196783551307008
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.839461684,743,712,675,660.160538316,633,878.160538316,784,801,649,629.839461684,650.160538316,0.419870127157,0.00445881197725,0.0798465265343,0.999999972947,1.97915538648e-05,-0.000228027036791,4.14378390131e-05,1793196783567973888
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,743,712,675,659.578475117,633,878,784,800.578475117,649.421524883,630,650,0.419083566246,0.00445146153618,0.0798144313934,0.999999959405,6.38821346535e-06,-0.000281980149527,4.04469230334e-05,1793196783584640256
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,743,712.000667159,675,659.000667159,633,878,784,800,649.999332841,630,650,0.418288663393,0.0044483023507,0.0797748139765,0.999999938718,-3.11203743346e-06,-0.000347916839805,3.88406915685e-05,1793196783601306880
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,743,712.577066717,675,659.577066717,633,878,784,800,649.422933283,630,650,0.417562952067,0.00444734762686,0.079786238719,0.999999944276,-5.98105553536e-06,-0.000331605271123,3.80818934421e-05,1793196783617973760
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.84668892,743,712.84668892,675,660.15331108,633,878.15331108,784,800.15331108,649,629.84668892,650.15331108,0.416835090121,0.00444999701,0.0797986618296,0.999999948969,-3.33255550953e-06,-0.000317200462318,3.78796820522e-05,1793196783634640384
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.270872126,743,712.270872126,675,660.729127874,633,878.729127874,784,800.729127874,649,629.270872126,650.729127874,0.416101301174,0.00446257885045,0.0798138363175,0.999999951678,1.45215176158e-05,-0.000308050436135,3.92113523121e-05,1793196783651307008
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,743,712,675,660.373629626,633,878.686814813,784,800.686814813,649,629,651,0.415387869295,0.0044706346886,0.0798078735732,0.9999999475,2.1690892694e-05,-0.0003209326549,3.91309570364e-05,1793196783667973632
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,743,712,675,659.190875515,633,878.095437758,784,800.095437758,649,629,651,0.414692519961,0.00447467023037,0.0797831353357,0.999999936658,1.93694087905e-05,-0.000353385376173,3.77962713386e-05,1793196783684640256
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,743,712,675,659.482668655,633,877.517331345,783.517331345,800,649.482668655,629,651,0.414049018507,0.00446786003607,0.0797913879766,0.999999943788,9.08094738699e-06,-0.00033317480104,3.653918082e-05,1793196783701307648
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,743,712,675,660.058058036,633,877.058058036,783.058058036,800.058058036,650,629,651,0.413414864571,0.00445935045515,0.0798048732245,0.999999952791,-2.63288416036e-06,-0.000305238855293,3.52202221357e-05,1793196783717975040
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,743,712,675,660.631996868,633,877.631996868,783.631996868,800.631996868,650,629,651,0.412775112636,0.00445428626115,0.0798084412097,0.999999954745,-1.33890065711e-05,-0.000298708948004,3.3218845106e-05,1793196783734641152
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.211482248,743,712,675,660.788517752,633,878,784,801,650,629.211482248,651,0.412131158638,0.00445274265279,0.0798044264456,0.99999995189,-1.79180124525e-05,-0.00030794739911,3.26636267367e-05,1793196783751307008
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.800879137,743,712,675,660.199120863,633,878,784,801,650,629.800879137,651,0.411479695702,0.00445749026269,0.0797868614564,0.999999939696,-1.13192817114e-05,-0.000345363598761,3.46926658014e-05,1793196783767973632
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.614534117,659.614534117,633,877.614534117,783.614534117,801,650,629.614534117,651,0.410865346835,0.00446212528951,0.0797813658021,0.99999993553,-7.89206967487e-07,-0.000357311740683,3.56048969811e-05,1793196783784640512
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.032401479,659.032401479,633,877.032401479,783.032401479,801,650,629.032401479,651,0.410269933706,0.00446670287628,0.0797820279853,0.999999935822,1.17466611066e-05,-0.000356265946859,3.59473270017e-05,1793196783801307136
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,659.53855389,633,877,783,801,649.46144611,629.53855389,651,0.409752869215,0.00446858729165,0.0798062382041,0.999999949836,1.23611437409e-05,-0.000314415917057,3.62922366586e-05,1793196783817974272
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,743.109780897,712,674,660,633,877.109780897,783,800.890219103,649,630,651,0.409240060442,0.00446968967225,0.0798300252134,0.999999961741,1.2624854545e-05,-0.000273894235638,3.66265731908e-05,1793196783834641152
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,743.684952439,712,674,660,633,877.684952439,783,800.315047561,649,630,651,0.408725716058,0.0044681497276,0.0798461343032,0.999999968165,1.43802860713e-05,-0.000249199316054,3.69154681988e-05,1793196783851308288
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,743.729972996,712,674.270027004,659.729972996,633.270027004,878,783.270027004,800.270027004,649,630,651,0.408196569899,0.00446685481635,0.0798402137049,0.999999965008,1.14630469785e-05,-0.000261652117481,3.72954742669e-05,1793196783867974656
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,743.132904483,712,674.867095517,659.132904483,633.867095517,878,783.867095517,800.867095517,649,630,651,0.407649496693,0.00446585667585,0.0798076119874,0.999999948371,2.88653210968e-06,-0.000319096148702,3.77858288356e-05,1793196783884641024
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,743,712,675,659,633.552229295,877.552229295,784,800.552229295,649.447770705,630,651,0.407146913767,0.0044657006241,0.0797781977993,0.999999931211,1.74023709256e-05,-0.000368568743598,3.78549749485e-05,1793196783901307904
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.976263809,743,712,675,659.023736191,633,877,784,800,650,630,651,0.406661363897,0.00446577076654,0.0797517364051,0.999999913736,3.67549363654e-05,-0.000412008808201,3.77564201994e-05,1793196783917974784
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.400665203,743,712,675,659.599334797,633,877,784,800,650,630,651,0.40627565133,0.00446549397964,0.0797727071202,0.999999931414,1.48314646354e-05,-0.000368260594645,3.65628955532e-05,1793196783934640896
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,743,712,674.825140135,660,633,877,784,800,649.825140135,630,651,0.405891308454,0.00446797285666,0.0797910523743,0.999999944508,5.69302678178e-06,-0.000331187910883,3.55917690854e-05,1793196783951307264
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,743,712,674.249783577,660,633,877,784,800,649.249783577,630,651,0.405510102755,0.00447676326943,0.0798033843052,0.999999951183,2.58372624805e-05,-0.000309404778735,3.51300207422e-05,1793196783967974400
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,659.664188167,633,877,784,800.335811833,649.335811833,629.664188167,651,0.405136359928,0.00448176026736,0.0798105919732,0.999999953283,3.8767902579e-05,-0.00030107413294,3.58464199792e-05,1793196783984641536
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,659.070737322,633,877,784,800.929262678,649.929262678,629.070737322,651,0.40476834267,0.00448384691119,0.0798138682443,0.999999952309,4.61641846335e-05,-0.000303064399684,3.74667086479e-05,1793196784001308672
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.506138823,743,712,674.506138823,659,633,877,784,800.493861177,650,629.506138823,651,0.40442968212,0.00448205707118,0.0798152562518,0.999999951719,3.73288358825e-05,-0.00030615024495,3.79453629665e-05,1793196784017974784
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.919123733,659.080876267,633,877.080876267,784,800.080876267,650,630,651,0.404100785843,0.00448034545215,0.0798169195263,0.999999951246,3.18899035083e-05,-0.000308259014617,3.83187375936e-05,1793196784034640896
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.343748285,659.656251715,633,877.656251715,784,800.656251715,650,630,651,0.403807300291,0.00448231960111,0.079821828256,0.999999951348,6.06480459192e-05,-0.000303487173008,3.89930224623e-05,1793196784051307264
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.762013006,743,712,674,660,633,877.762013006,784,801,649.762013006,630,651,0.403526048763,0.00448373757073,0.0798258586183,0.999999951931,7.43686716422e-05,-0.00029840686661,3.94961220047e-05,1793196784067973888
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.170839401,743,712,674,660,633,877.170839401,784,801,649.170839401,630,651,0.40326295326,0.00448433013756,0.0798285854314,0.999999954161,6.57727419187e-05,-0.000292868781001,3.97451725124e-05,1793196784084640512
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.410899377,743,712,674,660,633,877.410899377,784,801,649,630,651,0.403016000185,0.004480745071,0.0798283314985,0.999999953446,5.30466039836e-05,-0.000297755149468,4.045619599e-05,1793196784101307392
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.988803478,743,712,674,660,633,877.988803478,784,801,649,630,651,0.402775607998,0.00447546205951,0.0798268660799,0.999999951311,3.86417966814e-05,-0.000306878402172,4.13549823751e-05,1793196784117974272
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.436532936,743,712,674,659.436532936,633,878,784,801,649.563467064,630,651,0.402578526301,0.00447466713239,0.0798291634541,0.999999953037,3.05898518023e-05,-0.000302339250755,3.97760277376e-05,1793196784134641664
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.141565016,743,712,674.141565016,659.141565016,633,877.858434984,784,800.858434984,649.858434984,630,651,0.402390477747,0.00447378174385,0.0798317900215,0.999999954998,2.39787153471e-05,-0.000296555025142,3.85180992914e-05,1793196784151308544
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.730723909,743,712,674.730723909,659.730723909,633,877.269276091,784,800.269276091,649.269276091,630,651,0.402228284325,0.00447232998041,0.0798352223654,0.999999957648,2.15262176689e-05,-0.000287687633805,3.84299549194e-05,1793196784167974400
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.68555599,743,712,674.371111981,660,633.31444401,877.31444401,783.68555599,800.31444401,649.31444401,630,650.68555599,0.402076701539,0.00446922039739,0.0798404625169,0.999999960624,1.83625882763e-05,-0.000277263753335,3.92421629485e-05,1793196784184640768
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.106414178,743,712,673.212828357,660,633.893585822,877.893585822,783.106414178,800.893585822,649.893585822,630,650.106414178,0.401934050729,0.00446471526781,0.0798472244743,0.999999963808,1.46003305689e-05,-0.000265529625083,4.08122842811e-05,1793196784201307392
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.940747739,660,633.529626131,878,783.470373869,801,650,630,650.470373869,0.401803732533,0.00446347707435,0.0798474595968,0.999999963678,1.45302764221e-05,-0.000265856503663,4.18658596338e-05,1793196784217974272
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.046640644,743,712,674.953359356,659.953359356,633,878,784,801,650,629.953359356,651,0.401677397768,0.0044630292159,0.0798456765622,0.999999962607,1.50488120362e-05,-0.000269694540441,4.27087782109e-05,1793196784234640896
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.62300524,743,712,674.37699476,659.37699476,633,878,784,801,650,629.37699476,651,0.401564774627,0.00446320517853,0.0798376591056,0.999999959091,1.28125699979e-05,-0.000282574835783,4.24797846043e-05,1793196784251307520
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,659,633,877.796595362,784,800.796595362,650,629,650.796595362,0.401460901309,0.00446484422452,0.0798311987285,0.99999995618,1.05583615605e-05,-0.000292848806536,4.20571506638e-05,1793196784267974144
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,659,633,877.208566462,784,800.208566462,650,629,650.208566462,0.401373573315,0.0044692498611,0.0798276826826,0.999999954654,8.27018002781e-06,-0.000298194395008,4.12683561167e-05,1793196784284641024
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,743,712,674.374166348,659.374166348,633,877,784,800,649.625833652,629.374166348,650.374166348,0.401296062343,0.00446910112777,0.0798249712994,0.999999953524,-4.10795290843e-07,-0.000302247357507,3.99779558522e-05,1793196784301307648
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,743,712,674.953988214,659.953988214,633,877,784,800,649.046011786,629.953988214,650.953988214,0.401223947169,0.00446644914593,0.0798227021885,0.99999995249,-1.26054839414e-05,-0.000305589845258,3.84118547505e-05,1793196784317974272
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,743,712,674.470323098,659.470323098,633,877,784,800.529676902,649,630,651,0.401171179461,0.00446298645082,0.0798205794888,0.999999951087,4.10014908432e-05,-0.000307588190753,3.91817272598e-05,1793196784334640640
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,659,633,877,784,801,649,630,650.895608316,0.401122395834,0.00446026188545,0.079818599213,0.999999947314,8.95708659594e-05,-0.000309420058893,4.01156408213e-05,1793196784351307520
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diff --git a/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5193db198f3f983554f3ce6371db3e232356a491
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_17.5/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,429 @@
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+414,6.900000000,pose2_to_pose3_retreat,0.578253842907,0.0100013361837,1.07001168793,0.54882507727,0.0186750001726,1.06966121684
+415,6.916666667,pose2_to_pose3_retreat,0.578253826174,0.0100013376952,1.0700116875,0.548825060522,0.0186750016372,1.06966121652
+416,6.933333333,pose2_to_pose3_retreat,0.578253739737,0.010001345503,1.07001168527,0.548824974007,0.0186750092033,1.06966121489
+417,6.950000000,pose2_to_pose3_retreat,0.578253645895,0.0100013539798,1.07001168285,0.548824880079,0.0186750174177,1.06966121312
+418,6.966666667,pose2_to_pose3_retreat,0.578253454072,0.0100013713071,1.0700116779,0.548824688083,0.0186750342085,1.06966120949
+419,6.983333333,pose2_to_pose3_retreat,0.578253245338,0.0100013901621,1.07001167252,0.54882447916,0.0186750524798,1.06966120554
+420,7.000000000,pose2_to_pose3_retreat,0.578253129399,0.0100014006349,1.07001166953,0.548824363116,0.0186750626283,1.06966120335
+421,7.016666667,pose2_to_pose3_retreat,0.578252829582,0.0100013840251,1.07001164125,0.548824063271,0.0186750458269,1.06966117267
+422,7.033333333,pose2_to_pose3_retreat,0.578252460889,0.0100013411289,1.07001159591,0.54882369467,0.0186750030276,1.06966112208
+423,7.050000000,pose2_to_pose3_retreat,0.578252403717,0.0100013344771,1.07001158888,0.548823637512,0.0186749963908,1.06966111423
+424,7.066666667,pose2_to_pose3_retreat,0.578252374172,0.0100013308713,1.07001159252,0.548823607961,0.0186749927684,1.06966111798
+425,7.083333333,pose2_to_pose3_retreat,0.578252373193,0.0100013307435,1.070011593,0.548823606981,0.0186749926388,1.06966111849
+426,7.100000000,pose2_to_pose3_retreat,0.578252290141,0.0100013198954,1.07001163401,0.548823523855,0.0186749816411,1.069661162
+427,7.116666667,pose2_to_pose3_retreat,0.578252174217,0.0100012545436,1.07001165103,0.548823409336,0.0186749213828,1.06966118707
diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5ab690729c470a18bdee0802ee95aff9bfc2258d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3ebf107dd46f095705f2e731d7e906c61b11a53a550b43c907c32c50a1b23d6
+size 24695474
diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..125cdef7939880dea08052fc4a0f1d41166cf496
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_01/franka_data.csv
@@ -0,0 +1,391 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,743,711,669,660,632,876,782,798,649,624,647,0.4008314257,-0.0054398782913,0.059880589441,0.999999953105,-5.34110889577e-06,-0.000304012000283,-3.65817867063e-05,1793189853471919104
+1,0.016666667,BASELINE,764.421821484,742.421821484,711.578178516,669,660,632,876.578178516,781.421821484,798,649,624.578178516,647,0.40080165911,-0.00544009082488,0.0598654776374,0.999999943411,-8.35878855286e-06,-0.000334199204577,-3.76584760944e-05,1793189853488585728
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+3,0.050000000,BASELINE,764.734807503,742.734807503,712,669,660,632,876.265192497,781.734807503,798,649.734807503,625,646.265192497,0.400766845438,-0.00544024862951,0.0598498215934,0.999999931455,-1.01913747849e-05,-0.000368127727165,-3.83133529031e-05,1793189853521918976
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+7,0.116666667,BASELINE,764.940350285,742.940350285,712,669,660,632,876,781.940350285,797,649,625,647,0.40076288786,-0.00544025926951,0.0598472479607,0.999999929361,-8.29425902348e-06,-0.000373864640577,-3.78729604278e-05,1793189853588585728
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+9,0.150000000,BASELINE,764.217663429,742.217663429,711.782336571,669.217663429,660,632,876,781.217663429,797.217663429,649,625,647,0.400761848385,-0.00544067594608,0.059845438196,0.999999928806,-1.08039613802e-05,-0.00037528074268,-3.78959376699e-05,1793189853621918976
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+21,0.350000000,BASELINE,765.183694902,742,712,669.183694902,660,632,876,782,798.183694902,650,625,647,0.4007642032,-0.00544215303375,0.0598490211254,0.999999930627,-1.06683106988e-05,-0.00037043524765,-3.75571264432e-05,1793189853821920256
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+23,0.383333333,BASELINE,765.664604952,742,712,669.664604952,660,632,876,782,798.664604952,650,625,647,0.400762970246,-0.00544189728522,0.0598481214014,0.999999930029,-1.18408915931e-05,-0.000371988923235,-3.77509306709e-05,1793189853855252224
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+27,0.450000000,BASELINE,764.333699958,742,711.666300042,669,660,632,876.666300042,781.666300042,798,649.333699958,624,647,0.400761671033,-0.00544179698589,0.0598474361009,0.999999929445,-1.31808713319e-05,-0.000373517140392,-3.76912804616e-05,1793189853921918720
+28,0.466666667,BASELINE,764.243340598,742,712,669,660,632,876.756659402,782,798,649,624.243340598,647,0.400762286031,-0.00544132126482,0.0598480059861,0.999999929734,-1.20449204996e-05,-0.000372782906292,-3.76781992867e-05,1793189853938585600
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+48,0.800000000,BASELINE,765.15823239,742,711.15823239,669.15823239,660,632,876.15823239,781,797.15823239,649,624,647,0.400759689726,-0.00544024476343,0.059846742233,0.999999928345,-7.66880412815e-06,-0.000376588257407,-3.78568775781e-05,1793189854271918848
+49,0.816666667,BASELINE,765,742,711.416714829,669,659.583285171,632,876,781,797,649.416714829,624,647,0.400760347654,-0.00544002903919,0.0598468084508,0.999999928542,-7.58575474813e-06,-0.000376056440707,-3.79537738267e-05,1793189854288585728
+50,0.833333333,BASELINE,765,742,711.991550366,669,659.008449634,632,876,781,797,649.991550366,624,647,0.400762317701,-0.00544004037204,0.0598473969848,0.999999929186,-8.41752491903e-06,-0.000374315748183,-3.80094363828e-05,1793189854305252352
+51,0.850000000,BASELINE,765,742,712,669,659.582740675,632,876.582740675,781.582740675,797.582740675,649.417259325,624.582740675,646.417259325,0.400761772379,-0.00544042241611,0.0598469456345,0.999999929094,-9.66371119922e-06,-0.000374528968876,-3.80242292186e-05,1793189854321918720
+52,0.866666667,BASELINE,765,742,712,669,660,632,876.829652178,782,798,649.170347822,624.829652178,646.170347822,0.400761219613,-0.005441008793,0.0598465701613,0.999999928919,-1.07083685111e-05,-0.000374978640414,-3.79165850937e-05,1793189854338585600
+53,0.883333333,BASELINE,765,742,712,669,660,632,876.251213515,782,798,649.748786485,624.251213515,646.748786485,0.40076073891,-0.00544207142734,0.059846413627,0.999999928573,-1.12554253969e-05,-0.000375924929915,-3.75170876133e-05,1793189854355252224
+54,0.900000000,BASELINE,765,742,712,669,660,632,875.675544924,782,798.324455076,650,624.324455076,647,0.400760939715,-0.00544219413419,0.0598466527775,0.999999928479,-1.27132257334e-05,-0.000376124444782,-3.75710584803e-05,1793189854371919104
+55,0.916666667,BASELINE,765,742,712,669,660,632,875.102002967,782,798.897997033,650,624.897997033,647,0.40076166372,-0.00544159525079,0.0598471956986,0.999999928574,-1.48702114245e-05,-0.000375750654459,-3.79731608164e-05,1793189854388585728
+56,0.933333333,BASELINE,765,742,712,669,660,632,875.484907043,782,798.515092957,650,625,646.515092957,0.400759813296,-0.00544047423688,0.0598464589165,0.999999927943,-1.1406265112e-05,-0.000377537037977,-3.8067803997e-05,1793189854405252352
+57,0.950000000,BASELINE,765,742.073374177,712,669.073374177,660.073374177,632,876.073374177,782,798,650,625,646.073374177,0.400757926748,-0.00543949670134,0.059845663712,0.999999927356,-7.6724392441e-06,-0.000379184247947,-3.80632006966e-05,1793189854421918976
+58,0.966666667,BASELINE,765,742.652639095,712,669.652639095,660.652639095,632,876.652639095,782,798,650,625,646.652639095,0.400759630763,-0.0054402871341,0.0598463743193,0.999999928297,-1.04612240076e-05,-0.000376650109952,-3.78328855841e-05,1793189854438585600
+59,0.983333333,BASELINE,765,742.769131644,711.769131644,670,660.769131644,632,877,782,797.769131644,649.769131644,625,647,0.400760630017,-0.00544061305094,0.059846799031,0.999999928761,-1.1990188616e-05,-0.000375373593529,-3.7789475309e-05,1793189854455252480
+60,1.000000000,BASELINE,765,742.19245357,711.19245357,670,660.19245357,632,877,782,797.19245357,649.19245357,625,647,0.400760573636,-0.0054402431856,0.0598467955095,0.999999928529,-1.16321126542e-05,-0.000375980824537,-3.80260232842e-05,1793189854471919104
+61,1.016666667,BASELINE,765,742,711.382708865,669.617291135,660,632,876.617291135,782,797.382708865,649.382708865,624.617291135,647,0.400760695632,-0.00544090862209,0.0598466561873,0.999999928524,-1.19523814669e-05,-0.000375999828817,-3.78603385922e-05,1793189854488585728
+62,1.033333333,BASELINE,765,742,711.9571121,669.0428879,660,632,876.0428879,782,797.9571121,649.9571121,624.0428879,647,0.400760906975,-0.0054420926291,0.059846448844,0.999999928633,-1.26124252219e-05,-0.000375724197208,-3.74931802729e-05,1793189854505252352
+63,1.050000000,BASELINE,765.545464217,742,712,669,660,632,876,782,798,649.454535783,624,647,0.400759603562,-0.00544190947885,0.0598461147836,0.999999928285,-1.09727447162e-05,-0.000376689676399,-3.76185308934e-05,1793189854521918976
+64,1.066666667,BASELINE,765.867711603,742,712,669,660.132288397,632,876,781.867711603,798.132288397,649.132288397,624,647,0.400759039241,-0.0054413732625,0.0598460987958,0.999999928164,-9.53706886949e-06,-0.000377033585043,-3.77721514327e-05,1793189854538585856
+65,1.083333333,BASELINE,765.289825351,742,712,669,660.710174649,632,876,781.289825351,798.710174649,649.710174649,624,647,0.400761376164,-0.00544001937018,0.0598471886389,0.999999928946,-9.41361062987e-06,-0.000374946479783,-3.78871347367e-05,1793189854555253504
+66,1.100000000,BASELINE,765,742,711.712628896,669,660.712628896,632.287371104,876,781.287371104,799,650,624,647,0.400762415944,-0.00543908242969,0.0598477727723,0.999999929323,-9.46020539111e-06,-0.000373926612733,-3.79820383731e-05,1793189854571920640
+67,1.116666667,BASELINE,765,742,711.136126499,669,660.136126499,632.863873501,876,781.863873501,799,650,624,647,0.400762150635,-0.005438564995,0.0598478480982,0.999999929298,-9.67789475937e-06,-0.000373980521006,-3.80567393441e-05,1793189854588587264
+68,1.133333333,BASELINE,765,742,711,669.448486086,660,632.551513914,876,782,798.551513914,649.551513914,624,647,0.400761312763,-0.00543979518157,0.0598475030809,0.999999928942,-1.16026161586e-05,-0.000374894127991,-3.78965529738e-05,1793189854605253888
+69,1.150000000,BASELINE,765,742,711.035155066,670,660,632,876,781.964844934,798,649,624.035155066,647,0.400760284929,-0.00544150500298,0.0598469666352,0.999999928463,-1.38574959771e-05,-0.000376112739436,-3.76928226818e-05,1793189854621920768
+70,1.166666667,BASELINE,765,742,711.614844092,670,660,632,876,781.385155908,798,649,624.614844092,647,0.400759056111,-0.00544227647035,0.0598454776759,0.999999927776,-1.30530497767e-05,-0.000377939455467,-3.79392655163e-05,1793189854638587392
+71,1.183333333,BASELINE,765,742,712,669.806544937,660,632,876,781.193455063,798,649,624.806544937,647,0.400758297574,-0.00544238759333,0.059844530346,0.99999992738,-1.21975356212e-05,-0.000378993409878,-3.81539451307e-05,1793189854655254016
+72,1.200000000,BASELINE,765,742,712,669.230068303,660,632,876,781.769931697,798,649,624.230068303,647,0.400758470148,-0.00544119130098,0.0598446553872,0.999999927565,-1.12409119059e-05,-0.000378517374314,-3.83057368074e-05,1793189854671920896
+73,1.216666667,BASELINE,765,742,712,669.343896107,659.656103893,632,876,781.656103893,798,649,624,647,0.40075811198,-0.0054412286481,0.0598445777218,0.999999927463,-1.15614258915e-05,-0.000378799761402,-3.80927176572e-05,1793189854688587520
+74,1.233333333,BASELINE,765,742,712,669.916191982,659.083808018,632,876,781.083808018,798,649,624,647,0.400757401319,-0.00544208532115,0.0598443654281,0.999999927168,-1.27301552749e-05,-0.000379585857497,-3.76374081484e-05,1793189854705253888
+75,1.250000000,BASELINE,765,742,712,669.494044897,659.505955103,632,876,781,798,649,624.505955103,647,0.400758802069,-0.00544096912176,0.0598455262328,0.999999927894,-1.13942443489e-05,-0.000377670397998,-3.80373084936e-05,1793189854721920768
+76,1.266666667,BASELINE,765,742,711.903649229,669.096350771,660,632,876,781,797.903649229,649.096350771,624.903649229,647,0.400760451794,-0.00543990397253,0.0598467982927,0.999999928701,-9.94510631671e-06,-0.00037552500813,-3.84589852036e-05,1793189854738587648
+77,1.283333333,BASELINE,765,742,711.32508603,669.67491397,660,632,876,781,797.32508603,649.67491397,624.32508603,647,0.400761534617,-0.00544078831935,0.0598474481502,0.999999929074,-1.00798974775e-05,-0.000374548556572,-3.82553234168e-05,1793189854755254016
+78,1.300000000,BASELINE,764.748004599,742,711.251995401,669.748004599,660,632,876,781,797.251995401,649.748004599,624.251995401,647,0.400761516956,-0.00544153166863,0.0598473065915,0.999999928926,-1.09871759896e-05,-0.000374943024346,-3.80246986933e-05,1793189854771920384
+79,1.316666667,BASELINE,764.172823588,742,711.827176412,669.172823588,660,632,876,781,797.827176412,649.172823588,624.827176412,647,0.400760087917,-0.00544209418765,0.0598461500366,0.999999928104,-1.28851741456e-05,-0.000377095704448,-3.77594938577e-05,1793189854788587520
+80,1.333333333,BASELINE,764,742,712,669.411424393,660,632,876,781,798,649,624.588575607,647,0.400759805031,-0.00544097314421,0.0598460647204,0.999999927982,-1.13355237468e-05,-0.000377473204331,-3.77122146435e-05,1793189854805254144
+81,1.350000000,BASELINE,764,742,712,669.999566939,660,632,876,781,798,649,624.000433061,647,0.400760014449,-0.00543912896419,0.0598464395307,0.999999928155,-8.3050131369e-06,-0.000377088215415,-3.77585404858e-05,1793189854821920768
+82,1.366666667,BASELINE,764.578133171,742,712,669.421866829,660.578133171,632,876.578133171,781.578133171,798,649,624.578133171,647,0.400759154906,-0.00544065101014,0.0598456409494,0.999999927828,-1.10742031804e-05,-0.000377893815871,-3.7645600175e-05,1793189854838587648
+83,1.383333333,BASELINE,765,742,712,669.156243463,660.843756537,632,877,782,798,649,625,647,0.400759126751,-0.00544163657917,0.0598453288334,0.999999927789,-1.28675985331e-05,-0.000377952821112,-3.75365794443e-05,1793189854855254272
+84,1.400000000,BASELINE,765,742,712,669.733145342,660.266854658,632,877,782,798,649,625,647,0.40076133908,-0.00544117109932,0.0598463287687,0.999999928539,-1.20223307277e-05,-0.00037599938648,-3.74384274425e-05,1793189854871920640
+85,1.416666667,BASELINE,765.307818658,742,712,670,660,632,876.692181342,781.692181342,798,649.307818658,624.692181342,647,0.400761611005,-0.00544141900278,0.0598465121934,0.999999928678,-1.09390867614e-05,-0.000375665091899,-3.74050911823e-05,1793189854888587264
+86,1.433333333,BASELINE,765.880573839,742,712,670,660,632,876.119426161,781.119426161,798,649.880573839,624.119426161,647,0.400760212843,-0.00544228090833,0.0598459928554,0.999999928292,-9.65101908147e-06,-0.000376724375511,-3.74275412058e-05,1793189854905253888
+87,1.450000000,BASELINE,765.542716185,742,712,669.542716185,660,632,876,781.457283815,798,650,624,647,0.400759376285,-0.0054420550888,0.0598459113889,0.999999928215,-1.03284541164e-05,-0.000376879286754,-3.77459111174e-05,1793189854921920512
+88,1.466666667,BASELINE,765,742,712,669.036034815,660,632,876,782,798,650,624.036034815,647,0.400758804909,-0.00544151614898,0.0598459777311,0.999999928241,-1.13699926783e-05,-0.000376744201389,-3.81122650654e-05,1793189854938587392
+89,1.483333333,BASELINE,765,742,712,669.630263335,660,632,876,782,798,650,624.630263335,647,0.4007600495,-0.00544056567257,0.0598465468087,0.999999928611,-1.0030756777e-05,-0.000375807543128,-3.80143120168e-05,1793189854955254272
+90,1.500000000,BASELINE,765,742,712,669.782204523,660,632,876,782,798,650,625,647,0.400760537915,-0.00544047069032,0.0598464978796,0.999999928631,-9.56448305722e-06,-0.000375780626359,-3.78915794185e-05,1793189854971920640
+91,1.516666667,BASELINE,765,742,712,669.205701328,660,632,876,782,798,650,625,647,0.400759780913,-0.00544178470138,0.0598454310976,0.999999928073,-1.05359724366e-05,-0.000377252047931,-3.77280350742e-05,1793189854988586496
+92,1.533333333,BASELINE,765,742,712,669.368521239,660,632,876.368521239,782,798,650,624.631478761,647,0.400759968137,-0.00544229846135,0.0598458426093,0.999999928188,-1.11320267372e-05,-0.000376937935229,-3.76675496618e-05,1793189855005253120
+93,1.550000000,BASELINE,765,742,712,669.941478689,660,632,876.941478689,782,798,650,624.058521311,647,0.400760679167,-0.0054423682842,0.0598470742006,0.999999928674,-1.15198094838e-05,-0.000375633302115,-3.76642359114e-05,1793189855021920256
+94,1.566666667,BASELINE,765,742,712,669.469243667,660,632,876.469243667,781.469243667,798,649.469243667,624,647,0.400759675992,-0.00544147355098,0.059846590542,0.999999928138,-1.00367832064e-05,-0.000377086543598,-3.78136485922e-05,1793189855038587136
+95,1.583333333,BASELINE,765,742.119257993,712,669.119257993,660,632,876,781.119257993,798,649.119257993,624.119257993,647,0.400758790391,-0.00544023545269,0.0598459169433,0.99999992763,-7.9877852127e-06,-0.000378463650621,-3.7973811118e-05,1793189855055254016
+96,1.600000000,BASELINE,765,742.697625291,712,669.697625291,660,632,876,781.697625291,798,649.697625291,624.697625291,647,0.400759108129,-0.00543809791075,0.0598452633,0.999999927693,-4.57925243883e-06,-0.000378339888132,-3.81084730495e-05,1793189855071920896
+97,1.616666667,BASELINE,765,742.724996143,712,670,660,632,876,781.724996143,798,649.724996143,625,647,0.400758861338,-0.00543795956195,0.0598448801013,0.999999927507,-5.15313362061e-06,-0.000378813506297,-3.82116617468e-05,1793189855088587520
+98,1.633333333,BASELINE,765,742.148700856,712,670,660,632,876,781.148700856,798,649.148700856,625,647,0.400757996054,-0.00544001150898,0.0598447931991,0.999999927039,-1.00901072396e-05,-0.000379941608634,-3.82803686802e-05,1793189855105254144
+99,1.650000000,BASELINE,765,742,711.573358445,669.573358445,660,632,876,781,798,649,625,647,0.400759299611,-0.00544151572344,0.0598457923107,0.999999927652,-1.11127357495e-05,-0.000378323299027,-3.80109109331e-05,1793189855121920512
+100,1.666666667,BASELINE,765,742,711.001710176,669.001710176,660,632,875.998289824,781.001710176,798,649,625,646.998289824,0.400761344369,-0.00544282633516,0.0598471605215,0.999999928635,-1.07780197651e-05,-0.000375764193386,-3.76248837114e-05,1793189855138586880
+101,1.683333333,BASELINE,765,742,711.596761126,669.596761126,660,632,875.403238874,781.596761126,798,649,625,646.403238874,0.40075886588,-0.00544305362216,0.0598455538147,0.999999927719,-1.1801186983e-05,-0.000378166464199,-3.7596612586e-05,1793189855155253504
+102,1.700000000,BASELINE,765,742,712,669.814380894,660,632,875.185619106,782,798,649,625,646.185619106,0.400757369206,-0.00544253048866,0.0598444676207,0.99999992714,-1.16427347035e-05,-0.000379685575614,-3.77226374425e-05,1793189855171920384
+103,1.716666667,BASELINE,765,742,712,669.238542216,660,632,875.761457784,782,798,649,625,646.761457784,0.400757936563,-0.0054404297763,0.0598444756798,0.999999927278,-9.00021121754e-06,-0.000379348056298,-3.81730325302e-05,1793189855188587520
+104,1.733333333,BASELINE,765,742,712,669.335791374,660,632,876,781.664208626,798,649.335791374,625,647,0.400758256888,-0.00544030272677,0.059844963969,0.999999927363,-9.26198545791e-06,-0.000379123537006,-3.811777543e-05,1793189855205254144
+105,1.750000000,BASELINE,765,742,712,669.909060597,660,632,876,781.090939403,798,649.909060597,625,647,0.400758402508,-0.00544157148774,0.0598457918857,0.99999992741,-1.15777323061e-05,-0.000378978933378,-3.77049118295e-05,1793189855221920768
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,742,712,669,660,632,876,781,798,649,625,647,0.400757150671,-0.00544142944429,0.05984403643,0.999999927025,-8.01700723407e-06,-0.000380061004377,-3.79378579251e-05,1793189855252850432
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,742,712,669,660,632,876,781.578700098,798,649,625,647,0.400759776234,-0.00543983345867,0.0598458685852,0.999999928135,-7.03075694745e-06,-0.000377150704454,-3.79108918672e-05,1793189855269517056
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,742,712,669,660,632,875.843421587,782,797.843421587,649.156578413,625,647,0.400760910394,-0.0054392464668,0.0598466715331,0.999999928577,-7.64799889178e-06,-0.000375960625288,-3.79490855137e-05,1793189855286183680
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,742,712,669,660,632,875.267742744,782,797.267742744,649.732257256,625,647,0.400758052642,-0.00544136016435,0.0598447196877,0.99999992723,-1.25571750477e-05,-0.000379374917462,-3.81616867213e-05,1793189855302850048
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,742,711.694469021,669,660,632,875.611061957,781.694469021,797.305530979,650,625,647,0.400756682132,-0.00544264218811,0.0598439275743,0.999999926751,-1.39851386383e-05,-0.000380605235013,-3.79842358756e-05,1793189855319516160
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,742,711.123286525,669,660,632,876.753426949,781.123286525,797.876713475,650,625,647,0.400756604742,-0.00544320109225,0.0598441438188,0.999999927045,-1.23862749796e-05,-0.000379936641245,-3.74676445468e-05,1793189855336182272
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,742,711.466320847,669.466320847,660,632,877,781,798,649.533679153,625,647,0.400758193414,-0.00544058462862,0.0598452299869,0.999999927465,-1.02171414698e-05,-0.000378867977458,-3.77509693745e-05,1793189855352848896
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,742,712,670,660,632,877,781,798,649,625,647,0.400760412344,-0.00543768350498,0.0598464682113,0.999999927907,-8.31138809627e-06,-0.000377702044338,-3.8182266646e-05,1793189855369515264
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,742,712,670,660,632,877,781,798,649,625,647,0.400764133129,-0.00543993881014,0.0598469418182,0.999999928296,-1.00832296841e-05,-0.000376648558252,-3.79818070948e-05,1793189855386182144
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,742,711.792192149,670,660,632,876.792192149,781,798,649,625,646.792192149,0.400769863645,-0.00544117200238,0.0598466497061,0.999999927784,-1.10322851723e-05,-0.000377985087181,-3.7921697568e-05,1793189855402849024
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,742,711.212135411,670,660,632,876.212135411,781,798,649,625,646.212135411,0.40077919422,-0.00544057427034,0.0598449859517,0.999999925643,-1.05074731078e-05,-0.000383602880966,-3.81129988726e-05,1793189855419515392
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+118,1.966666667,POSE1_TO_POSE2_PRESS,765,742,711.962386213,670,660,632,876,781.962386213,798,649.962386213,625,646,0.400827908761,-0.00544290883401,0.0598404372361,0.999999921512,-1.27491011904e-05,-0.000394086072432,-3.88542533157e-05,1793189855452848384
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+120,2.000000000,POSE1_TO_POSE2_PRESS,765,742,712,669,660.877447261,632,876,782,798.122552739,650,624.877447261,646.877447261,0.400908280735,-0.00544543516536,0.0598331558486,0.999999916944,-1.57130045295e-05,-0.000405194320972,-4.10208702097e-05,1793189855486181888
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,742,712,669,660.302534596,632,876,782,798.697465404,650,624.302534596,646.302534596,0.400971168209,-0.0054463774465,0.0598314954239,0.999999917441,-1.5127840481e-05,-0.00040387915228,-4.20713430979e-05,1793189855502848768
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+125,2.083333333,POSE1_TO_POSE2_PRESS,765,742,712.024653202,669.975346798,660,632.024653202,876,781.975346798,798,649.975346798,625,647,0.401384496312,-0.00545832345926,0.0598478002876,0.9999999326,-2.52043673438e-05,-0.000363354781857,-4.62287999613e-05,1793189855569515008
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,742,712.603862847,669.396137153,660,632.603862847,876,781.396137153,798,649.396137153,625,647,0.401537723254,-0.00546288200213,0.0598526703908,0.999999937906,-2.79269043738e-05,-0.000348045785252,-4.76629728688e-05,1793189855586181632
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,742,712.818454985,669.181545015,660,632.818454985,876,781.181545015,798,649.181545015,625,647,0.401696971789,-0.00546716282308,0.0598556491769,0.999999941494,-3.04404108281e-05,-0.000337115416223,-4.93738385694e-05,1793189855602848256
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,742,712.244078082,669.755921918,660,632.244078082,876,781.755921918,798,649.755921918,625,647,0.401869249984,-0.00547084270144,0.0598545354808,0.999999941803,-3.25016110749e-05,-0.000335659639018,-5.16834192591e-05,1793189855619514624
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,742,711.671899785,669.671899785,660.65620043,632,876,781.671899785,798.328100215,649.671899785,624.671899785,647,0.402065937728,-0.00547459954564,0.059854947922,0.999999943489,-3.57424045486e-05,-0.000329841572899,-5.43064820377e-05,1793189855636181504
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,742,711.101346112,669.101346112,661.797307776,632,876,781.101346112,798.898653888,649.101346112,624.101346112,647,0.402280663209,-0.00547841326503,0.0598564881199,0.999999946116,-3.98548723256e-05,-0.000320799942633,-5.71611962771e-05,1793189855652848128
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+132,2.200000000,POSE1_TO_POSE2_PRESS,765,742,712,669.915020391,660.084979609,632,876,781.915020391,798,650,624,647,0.402793503911,-0.00548613787497,0.0598535639174,0.999999946397,-5.70415637869e-05,-0.00031588822661,-6.45582569426e-05,1793189855686181376
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,742,712,669.336277007,660.663722993,632,876,781.336277007,798,650,624,647,0.403086326326,-0.00549128205158,0.0598544423086,0.999999947335,-6.94389943479e-05,-0.000309612755625,-6.81743442992e-05,1793189855702848256
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+142,2.366666667,POSE1_TO_POSE2_PRESS,765,742,712,670,660.872888955,632,877,782,798.127111045,650,624.872888955,647,0.406758098561,-0.00549269828379,0.0598806372374,0.999999955686,-0.00012700046238,-0.000255658618718,-8.44806054627e-05,1793189855852848384
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+239,3.983333333,HOLD_POSE2,764,742,712,671,661,631,877,781,798,649,624,646,0.444182771683,-0.00558295841726,0.0598239062412,0.999999956691,-0.000110631150288,-0.000268415316376,-4.82915548787e-05,1793189857493822720
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,764.866961202,742,711.566519399,670,660,632,876,781.566519399,798.566519399,649,625,647,0.403372418621,-0.0053618872143,0.0597700608682,0.999999905095,0.000235638131985,-0.000365888555441,2.02307045775e-05,1793189859175648256
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764.158269318,742,712,670,660.158269318,632,876,782,798.841730682,649,624.841730682,647,0.403088547331,-0.00536523997614,0.0597896976278,0.99999991936,0.000231603216397,-0.00032741835313,2.09008098768e-05,1793189859192315136
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.731682461,742,712,670,660.731682461,632,876,782,798.268317539,649,624.268317539,647,0.402842670891,-0.00537398227332,0.0598158542274,0.999999933667,0.000226154418441,-0.000284536559001,2.36268570516e-05,1793189859208981760
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,742,712,670,661,632,876.305351803,781.694648197,798,649,624,647,0.402604709542,-0.00538293174555,0.0598331119975,0.999999942126,0.000219691489015,-0.000258552609983,2.51739628256e-05,1793189859225648128
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,742,712,670,661,632,876.879246426,781.120753574,798,649,624,647,0.402373709166,-0.00539206341816,0.0598425436562,0.999999946516,0.000212336678326,-0.000247429538851,2.56842439022e-05,1793189859242314752
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.529135375,742,712,670,660.529135375,632,876.529135375,781.470864625,798,649,624,647,0.402154717228,-0.00539112459365,0.0598396933947,0.999999944113,0.000212401612778,-0.00025693930859,2.53287071258e-05,1793189859258981632
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742,712,669.935145764,660,632,876,781.935145764,798.064854236,649.064854236,624.064854236,647,0.401944709263,-0.00538762491097,0.0598339980713,0.999999940027,0.000214198216243,-0.000271022231168,2.47491268814e-05,1793189859275648512
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,712,669.359670996,660,632,876,781.359670996,798.640329004,649.640329004,624.640329004,647,0.40178024037,-0.00538509160439,0.0598316712759,0.999999938203,0.000214061488763,-0.00027782142211,2.42221463178e-05,1793189859292315136
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,712,669.214736898,660,632,876,781.214736898,798.785263102,649.785263102,625,647,0.401630473906,-0.0053835979546,0.059831047683,0.999999937371,0.00021328389134,-0.000281412280409,2.40009806891e-05,1793189859308981504
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.373285729,742,712,669.626714271,660,632,876,781.626714271,798,649,625,647,0.401397870863,-0.00538307542298,0.0598343991513,0.999999938836,0.000210250830043,-0.000278468370119,2.40262010366e-05,1793189859342314496
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.967054323,742,712,669.032945677,660,632,876,781.032945677,798,649,625,647,0.40130111607,-0.0053817227003,0.0598348984439,0.999999939255,0.000209452336653,-0.000277616731806,2.3436959872e-05,1793189859358981120
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,712,669,660,632.118081016,876,781,798,649,624.881918984,646.118081016,0.401148245927,-0.00538138912265,0.0598306287909,0.999999936636,0.000208497589696,-0.000287585563302,2.34893470859e-05,1793189859392314624
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,712,669,660,632.671551788,876,781,798,649,624.328448212,646.671551788,0.401095132293,-0.00538059726072,0.0598279419273,0.999999935773,0.000208193968138,-0.000290826579959,2.29823243417e-05,1793189859408981504
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764.242630013,742,711.757369987,669.242630013,660,632.757369987,876.242630013,781,798,649,624.242630013,647,0.401050324565,-0.00537996446251,0.0598263091893,0.999999935245,0.000208435853753,-0.000292499775318,2.25638932938e-05,1793189859425648128
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.839408455,742,711.160591545,669.839408455,660,632.160591545,876.839408455,781,798,649,624.839408455,647,0.401017640336,-0.00537956383745,0.0598262150778,0.999999935214,0.000209473974388,-0.000291884541929,2.22747727842e-05,1793189859442314496
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,742,711,670,660,632,876.565000326,781,798,649,624.565000326,647,0.400991752054,-0.00537843834933,0.0598256015141,0.999999934641,0.000209943996594,-0.000293525330708,2.20063950817e-05,1793189859458981120
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,742,711,670,660,632,876,781.02915814,798,649,624.02915814,647,0.400969164517,-0.00537714561578,0.059824879974,0.999999933937,0.000210181620206,-0.000295763920808,2.17481656477e-05,1793189859475648000
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,742,711,670,660,632,876,781.604660965,798,649,624.604660965,647,0.40096154188,-0.00537771964926,0.0598257187093,0.999999934609,0.000209983770567,-0.000293640440414,2.1536992213e-05,1793189859492314624
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,742,711.180761609,669.819238391,660,632,876,781.819238391,798,649,624.819238391,647,0.400955462595,-0.00537833091618,0.0598269813356,0.999999935526,0.000209392927211,-0.000290937000591,2.13865956905e-05,1793189859508981248
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,742,712,669.930788002,660,632,876,781,798,649,624.930788002,647,0.400948025804,-0.00537954135729,0.0598313101078,0.99999993742,0.000208728264209,-0.000284843741278,2.13495530055e-05,1793189859558980864
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+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.769293057,742,712,669,660.230706943,632.769293057,876,782,798.769293057,649,624,646.230706943,0.400946793686,-0.00538160515019,0.0598336490704,0.999999939227,0.000205744772125,-0.000280636043845,2.1434954654e-05,1793189859625647616
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.210600409,742,712,669,660.789399591,632.210600409,876,782,798.210600409,649,624,646.789399591,0.400946609898,-0.00538062741029,0.0598337870342,0.999999939316,0.000206171378134,-0.000280038579954,2.09782105744e-05,1793189859642314496
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.38013387,742,712,669.38013387,660.61986613,632,876.38013387,781.61986613,798,649,624.38013387,647,0.400946152041,-0.0053813188987,0.0598335664351,0.999999939398,0.000205525782078,-0.000280219572356,2.09983484294e-05,1793189859658981120
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.990253738,742,712,669.990253738,660.009746262,632,876.990253738,781.009746262,798,649,624.990253738,647,0.400945528367,-0.00538302029224,0.0598331289007,0.999999939473,0.000204231489635,-0.000280871541087,2.13070061513e-05,1793189859675647488
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,742,712,670,660,632,877,781,798,649,624.432003065,647,0.400944521184,-0.00538168511993,0.0598325148759,0.999999938761,0.000206864249755,-0.000281501580322,2.10172014973e-05,1793189859692314368
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,742,711.855327835,669.855327835,660,632,876.855327835,781.144672165,798,649.144672165,624.144672165,647,0.400943723967,-0.00538082154404,0.0598320911236,0.999999938322,0.000208336940903,-0.000281997967773,2.07022159426e-05,1793189859708981248
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,742,711.280266236,669.280266236,660,632,876.280266236,781.719733764,798,649.719733764,624.719733764,647,0.400943569899,-0.00538150758217,0.0598322419425,0.999999938751,0.000206168855585,-0.000282097809596,2.03412211861e-05,1793189859725647872
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+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,742,711,669.892283939,660,632,876,781.107716061,798,649.107716061,625,647,0.400945234926,-0.00538229056616,0.0598346803557,0.999999939597,0.000207187869714,-0.000278304392414,2.06468813473e-05,1793189859758980864
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.525917588,742,711,670,660,632,876,781,798.474082412,649,625,647,0.400945375581,-0.00538098492862,0.0598352179614,0.999999939461,0.000208175992321,-0.00027806289886,2.05469058153e-05,1793189859775647488
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.053738069,742,711.053738069,669.946261931,660,632,876.053738069,781,798.946261931,649,625,647,0.400945380484,-0.00537959093625,0.0598355318941,0.999999939294,0.000208733994379,-0.000278254876184,2.04083398145e-05,1793189859792314368
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.630129893,742,711.630129893,669.369870107,660,632,876.630129893,781,798.369870107,649,625,647,0.400946258959,-0.0053808188534,0.059835899278,0.999999940027,0.000205943220058,-0.00027766869577,2.08034357587e-05,1793189859808980992
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.794627949,742,712,669.205372051,660,632,877,781,798.205372051,649,625,647,0.400946754398,-0.00538221613789,0.05983632678,0.999999940623,0.000204076476255,-0.000276883278743,2.1053966823e-05,1793189859825647872
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.221444818,742,712,669.778555182,660,632,877,781,798.778555182,649,625,647,0.400946563838,-0.00538391675077,0.0598368619503,0.999999940982,0.0002038646251,-0.000275741038938,2.10455893895e-05,1793189859842314496
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.363178397,742,711.636821603,669.636821603,660,632,877,781,798.636821603,649,625,647,0.400946911854,-0.0053837467557,0.059837097243,0.999999940956,0.000204448984325,-0.000275413116733,2.08709619133e-05,1793189859858980864
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.955003954,742,711.044996046,669.044996046,660,632,877,781,798.044996046,649,625,647,0.400947598941,-0.00538239907712,0.059837143741,0.999999940689,0.000205534615778,-0.000275597866599,2.05916679697e-05,1793189859875647744
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,742,711,669.537807381,660,632,877,781,798,649.537807381,625,647,0.400945812423,-0.00538346906318,0.0598360269459,0.999999940427,0.000204162133978,-0.000277558572782,2.06327610291e-05,1793189859892314368
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,742,711.117888766,670,660,632,876.882111234,781,798,649.882111234,625,647,0.400944267821,-0.00538406442617,0.0598351804585,0.999999940176,0.000203257628109,-0.000279120961009,2.06518604794e-05,1793189859908981248
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,742,711.690336797,670,660,632,876.309663203,781,798,649.309663203,625,647,0.400944440827,-0.00538206264922,0.0598357453205,0.999999939986,0.0002049374654,-0.000278584029058,2.04845043776e-05,1793189859925647872
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,742,712,670,660.269538522,632,876,781.269538522,798,649,625,647,0.400944642357,-0.0053814020153,0.0598360208818,0.999999940114,0.000205185811723,-0.000277940060593,2.04739646453e-05,1793189859942314496
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,742,712,670,660.856698813,632,876,781.856698813,798,649,625,647,0.400944877501,-0.00538232177201,0.0598359555339,0.999999940619,0.000203747302183,-0.000277169961193,2.06482158908e-05,1793189859958981120
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,742,711.559561165,670,660.559561165,632,876,781.559561165,798,649.440438835,624.559561165,647.440438835,0.400944432397,-0.00538248932411,0.0598356244012,0.999999940457,0.000203981879939,-0.00027759524306,2.04728624165e-05,1793189859975647744
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.977215038,742,711.022784962,669.977215038,660,632,876,781,798,649.977215038,624.022784962,647.977215038,0.400943732089,-0.00538244322493,0.0598351593866,0.999999940074,0.000204693877875,-0.000278465930916,2.02064459642e-05,1793189859992314112
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.401892104,742,711.598107896,669.401892104,660,632,876,781,798,649.401892104,624.598107896,647.401892104,0.400942168864,-0.0053831052321,0.0598335286124,0.999999939588,0.000203884403889,-0.000280778864425,2.04688734202e-05,1793189860008980992
diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b54a3e451f9a44084321cdc18eaa119e10eea2fc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,391 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+2,0.033333333,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+3,0.050000000,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+4,0.066666667,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+5,0.083333333,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+6,0.100000000,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+7,0.116666667,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
+8,0.133333333,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
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+375,6.250000000,pose2_to_pose3_retreat,0.575725983965,0.000219610843934,1.05002840821,0.546296396561,0.00889132741409,1.04969940855
+376,6.266666667,pose2_to_pose3_retreat,0.575725564949,0.000219660265558,1.05002842733,0.546295977015,0.00889137503061,1.0496994274
+377,6.283333333,pose2_to_pose3_retreat,0.575725356385,0.000219684864971,1.05002843684,0.546295768188,0.00889139873153,1.04969943678
+378,6.300000000,pose2_to_pose3_retreat,0.575725115277,0.000219713302832,1.05002844784,0.546295526776,0.00889142613071,1.04969944763
+379,6.316666667,pose2_to_pose3_retreat,0.575724767106,0.000219754368562,1.05002846373,0.546295178165,0.00889146569653,1.04969946329
+380,6.333333333,pose2_to_pose3_retreat,0.575724697025,0.000219762634364,1.05002846692,0.546295107996,0.00889147366043,1.04969946644
+381,6.350000000,pose2_to_pose3_retreat,0.575724328933,0.000219790745672,1.05002846531,0.546294739585,0.0088915006907,1.04969946494
+382,6.366666667,pose2_to_pose3_retreat,0.575724043646,0.000219791311119,1.05002843855,0.54629445425,0.00889150111815,1.04969943873
+383,6.383333333,pose2_to_pose3_retreat,0.575723738674,0.000219791915581,1.05002840994,0.546294149228,0.0088915015751,1.0496994107
+384,6.400000000,pose2_to_pose3_retreat,0.57572337297,0.000219792640415,1.05002837563,0.546293783464,0.00889150212304,1.0496993771
+385,6.416666667,pose2_to_pose3_retreat,0.575723187524,0.000219793007974,1.05002835823,0.546293597987,0.0088915024009,1.04969936006
+386,6.433333333,pose2_to_pose3_retreat,0.575723115533,0.000219793150662,1.05002835147,0.546293525985,0.00889150250876,1.04969935345
+387,6.450000000,pose2_to_pose3_retreat,0.575722911025,0.000219754692852,1.05002831316,0.54629332094,0.00889146208901,1.04969931146
+388,6.466666667,pose2_to_pose3_retreat,0.575722698343,0.000219708961135,1.05002827049,0.546293107626,0.00889141404193,1.04969926437
+389,6.483333333,pose2_to_pose3_retreat,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986151,1.04969936286
diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..91a9d10caa4cc4afbef9255c903dd9999bfa839f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce44508cdcb8f025b4bf8159c019b62aa70460138e3c535298272aef4d48b2fb
+size 24820596
diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6abea4b2572e66149882e389a57b452a10fd9918
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_02/franka_data.csv
@@ -0,0 +1,393 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,742,712,670,660,632,876,781,798,649,625,647,0.400944652282,-0.00538615920306,0.0598360960423,0.999999941185,0.000201989121705,-0.000276406591884,2.07396415918e-05,1793189860164804608
+1,0.016666667,BASELINE,764.59257695,742,712,669.40742305,660,632,876,781,798,649.59257695,625,647,0.400944511535,-0.00538466307732,0.0598365330743,0.999999940712,0.000205071245785,-0.000275842893133,2.07937286393e-05,1793189860181471488
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+21,0.350000000,BASELINE,765,742,712,670,660,632,876,782,798.789591076,649,625,647,0.400944833597,-0.00538406102937,0.0598371116831,0.999999940455,0.000207457206422,-0.000275011608003,2.04965116184e-05,1793189860514805504
+22,0.366666667,BASELINE,765,742,712,670,660,632,876,782,798.213157887,649,625,647,0.400946539544,-0.00538391934425,0.0598378485564,0.999999941323,0.000206249268738,-0.000272753307774,2.0494712164e-05,1793189860531471616
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+27,0.450000000,BASELINE,764.309506011,742,712,669.309506011,660,632.690493989,876,781,798,649,625,647,0.400943048271,-0.00538459375571,0.0598363479938,0.999999940397,0.000206318595983,-0.0002760722099,2.05830305754e-05,1793189860614804480
+28,0.466666667,BASELINE,764.268520421,742,711.731479579,669.268520421,660,632.731479579,876,781,798,649,624.731479579,647,0.400943505183,-0.00538505142648,0.0598368552958,0.999999940906,0.000204643819471,-0.000275473063413,2.05939963577e-05,1793189860631471104
+29,0.483333333,BASELINE,764.844204101,742,711.155795899,669.844204101,660,632.155795899,876,781,798,649,624.155795899,647,0.400945214011,-0.00538496135332,0.0598381281418,0.999999941874,0.000202756334971,-0.000273338365646,2.06908569156e-05,1793189860648137728
+30,0.500000000,BASELINE,765,742,711,669.5816751,660,632,876,781.4183249,798.4183249,649,624.4183249,647,0.400945146523,-0.00538502393248,0.0598380107912,0.999999942037,0.000202051547178,-0.000273281090991,2.04781443562e-05,1793189860664804352
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+39,0.650000000,BASELINE,765,742,712,669,660,632,875.647393767,781.647393767,798.647393767,649,625,647,0.400943190922,-0.00538339737621,0.0598372760272,0.999999940576,0.000205330116425,-0.000276190204638,2.01644147958e-05,1793189860814804480
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+41,0.683333333,BASELINE,765,742,712,669.810888195,660,632,876,781.189111805,799,649,625,647,0.400944956765,-0.00538329151476,0.0598386911323,0.999999941293,0.00020613163833,-0.000272990269763,1.99810734137e-05,1793189860848137984
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+49,0.816666667,BASELINE,765,742,712,670,660.557832093,632,876,781.557832093,798.557832093,649.557832093,625,647,0.40094425411,-0.00538443900854,0.0598376497995,0.999999941704,0.000202422082638,-0.000274264920459,1.99247523259e-05,1793189860981471232
+50,0.833333333,BASELINE,765,742,711.985723947,670,660.014276053,632,876,781,798,649,625,647,0.400944900629,-0.00538395730883,0.0598373573554,0.999999941129,0.000205372985924,-0.000274175549223,1.98140425319e-05,1793189860998137856
+51,0.850000000,BASELINE,765,742,711.389134437,670,660.610865563,632,876,781,798,649,625,647,0.400944507237,-0.0053845172413,0.059837861752,0.99999994131,0.000205159849711,-0.000273667508719,1.99082525194e-05,1793189861014804480
+52,0.866666667,BASELINE,764.799656585,742,711,669.799656585,660.799656585,632,876,781,798,649,625,647,0.400943992386,-0.0053849053047,0.0598379594361,0.999999941359,0.000204879517369,-0.000273689288639,2.00239642811e-05,1793189861031471360
+53,0.883333333,BASELINE,764.223518479,742,711,669.223518479,660.223518479,632,876,781,798,649,625,647,0.400943249705,-0.00538497098422,0.0598372942282,0.99999994116,0.000204473141722,-0.000274704880651,2.01800080472e-05,1793189861048137984
+54,0.900000000,BASELINE,764.350730271,742,711.350730271,669.350730271,660,632,876.350730271,781,798,649,624.649269729,647,0.400944209221,-0.00538537020867,0.0598378978103,0.999999941177,0.000204995107384,-0.00027423265856,2.04576237758e-05,1793189861064804864
+55,0.916666667,BASELINE,764.923781374,742,711.923781374,669.923781374,660,632,876.923781374,781,798,649,624.076218626,647,0.400946247724,-0.0053859808605,0.0598393056529,0.999999941329,0.000206105529862,-0.000272817341128,2.08123015098e-05,1793189861081472256
+56,0.933333333,BASELINE,765,742,712,670,660.513537714,632,875.972924572,781,798.513537714,649,624.513537714,647,0.400945241607,-0.00538479273033,0.0598387792453,0.999999941293,0.000205294138224,-0.000273594727745,2.03366138415e-05,1793189861098138880
+57,0.950000000,BASELINE,765,742.10323186,712,670,660.89676814,632,875.10323186,781.10323186,799,649,625,646.89676814,0.400944293615,-0.00538380992766,0.0598382481033,0.999999941377,0.00020419152515,-0.000274147925359,1.9868238546e-05,1793189861114804992
+58,0.966666667,BASELINE,765,742.680863027,712,670,660.319136973,632,875.680863027,781.680863027,799,649,625,646.319136973,0.400945759152,-0.00538503882141,0.059839058827,0.999999942148,0.000203105466927,-0.000272125038952,2.00188645078e-05,1793189861131471872
+59,0.983333333,BASELINE,764.743566139,742.743566139,712,670,660,632,876,781.743566139,798.743566139,649.256433861,624.743566139,646.256433861,0.400945428076,-0.00538589186435,0.0598385768281,0.999999942151,0.000202710209344,-0.000272392894006,2.0206426428e-05,1793189861148138752
+60,1.000000000,BASELINE,764.170538915,742.170538915,712,670,660,632,876,781.170538915,798.170538915,649.829461085,624.170538915,646.829461085,0.400942878901,-0.00538628088187,0.0598364988335,0.999999941205,0.000203167814404,-0.000275488899262,2.04395895197e-05,1793189861164805632
+61,1.016666667,BASELINE,764.408165221,742,712,670,660,632,875.591834779,781.408165221,798,649.591834779,624.408165221,647,0.40094361809,-0.00538576409425,0.0598368867259,0.999999941151,0.000204522024365,-0.00027468843916,2.03869501606e-05,1793189861181472000
+62,1.033333333,BASELINE,764.989274694,742,712,670,660,632,875.010725306,781.989274694,798,649.010725306,624.989274694,647,0.400945750595,-0.00538486350666,0.059838319443,0.999999941468,0.000206256136007,-0.000272237002118,2.02132130336e-05,1793189861198138368
+63,1.050000000,BASELINE,765,742,712,670,660,632,875.575639037,782,798,649,625,647,0.400944948309,-0.00538482140344,0.0598373685105,0.999999941188,0.000205391873746,-0.000273918448804,2.0193782134e-05,1793189861214804480
+64,1.066666667,BASELINE,764.840205028,742,712,670,660,632,876,781.840205028,798,649,625,647,0.400944282504,-0.00538476568105,0.0598367873305,0.999999941044,0.000204738317686,-0.000274933232536,2.01479901315e-05,1793189861231471104
+65,1.083333333,BASELINE,764.262089098,742,712,670,660,632,876,781.262089098,798,649,625,647,0.400944118452,-0.00538463204641,0.0598372914471,0.999999941297,0.000204764266972,-0.000273999342903,2.00255926615e-05,1793189861248137728
+66,1.100000000,BASELINE,764,742,712,670,660,632,875.703379918,781.296620082,798,649,625,647,0.400943550759,-0.00538490775482,0.0598373046647,0.999999941218,0.000204878556101,-0.000274205039773,2.00195125538e-05,1793189861264804608
+67,1.116666667,BASELINE,764,742,712,670,660,632,875.160765277,781.839234723,798,649,625,647,0.400942648317,-0.00538552294182,0.0598369107673,0.999999940861,0.0002050661077,-0.000275355824689,2.0109897392e-05,1793189861281471744
+68,1.133333333,BASELINE,764.44123589,742,711.55876411,669.55876411,660,632,875,781.55876411,798,649,624.55876411,647,0.400943161682,-0.00538540891576,0.0598373815655,0.999999941155,0.000204576066619,-0.000274642390738,2.02306659785e-05,1793189861298138112
+69,1.150000000,BASELINE,765,742,711.062889825,669.062889825,660,632,875.062889825,781,798,649,624.062889825,647,0.400944391686,-0.00538504764262,0.0598382395359,0.999999941739,0.000203852001185,-0.000273043450831,2.03539291919e-05,1793189861314804736
+70,1.166666667,BASELINE,765,742,711.640736281,669.640736281,660,632,875.640736281,781,798,649,624.640736281,647,0.400946608861,-0.00538517573463,0.0598392868182,0.999999942459,0.000203547616416,-0.000270620471538,2.0392874265e-05,1793189861331471360
+71,1.183333333,BASELINE,765,742,712,670,660,632,875.78131155,781.21868845,798,649,624.78131155,647,0.400947727303,-0.00538560301298,0.0598398098926,0.999999942893,0.000203082204707,-0.000269362762203,2.03945374811e-05,1793189861348138240
+72,1.200000000,BASELINE,765,742,712,670,660,632,875.203185539,781.796814461,798,649,624.203185539,647,0.400947039863,-0.0053865220357,0.0598394713759,0.999999942865,0.000202352128173,-0.000270020296708,2.03349240343e-05,1793189861364804608
+73,1.216666667,BASELINE,765,742,712,670,660,632,875.3716712,781.6283288,798,649.3716712,624.3716712,647,0.400945167463,-0.00538589677331,0.0598382247162,0.999999942164,0.000202706906876,-0.000272348086261,2.0193963342e-05,1793189861381471232
+74,1.233333333,BASELINE,765,742,712,670,660,632,875.944756239,781.055243761,798,649.944756239,624.944756239,647,0.400942652917,-0.0053844346411,0.0598364859211,0.999999941091,0.000203649583901,-0.000275581010425,2.00089194389e-05,1793189861398137600
+75,1.250000000,BASELINE,765,742,712,670,660,632,876,781,798,650,625,647,0.400943558188,-0.00538445203949,0.0598371150325,0.999999941403,0.000203267271744,-0.00027475617774,1.96383087351e-05,1793189861414804224
+76,1.266666667,BASELINE,765,742,712,670,660.122826441,632,876,781.122826441,798,649.877173559,625,647,0.400944435777,-0.00538459981705,0.0598377490522,0.999999941687,0.00020312072707,-0.00027384835193,1.9385033685e-05,1793189861431471104
+77,1.283333333,BASELINE,765,742,712,670,660.704151372,632,876,781.704151372,798,649.295848628,625,647,0.400943848162,-0.00538464509505,0.0598374584258,0.999999941315,0.000204381927015,-0.000274246636808,1.96436586325e-05,1793189861448137728
+78,1.300000000,BASELINE,764.718640084,742,712,670,661,632,876,782,798.281359916,649,625,647,0.400943188986,-0.00538465902432,0.0598371520729,0.999999941127,0.000204411682177,-0.000274900652353,1.98023879e-05,1793189861464804096
+79,1.316666667,BASELINE,764.145697525,742,712,670,661,632,876,782,798.854302475,649,625,647,0.400942455649,-0.00538464046587,0.0598368294221,0.999999941127,0.000203165250055,-0.000275819690076,1.98575919343e-05,1793189861481470976
+80,1.333333333,BASELINE,764.428999601,742,712,670,661,632,876,781.571000399,798.571000399,649,625,646.571000399,0.400942100797,-0.0053860744885,0.059836700191,0.999999941316,0.000201861858645,-0.000276075414069,2.00674467278e-05,1793189861498137600
+81,1.350000000,BASELINE,764.995556346,742,711.995556346,670,660.995556346,632,876.004443654,781,798,649,624.995556346,646.004443654,0.400941887811,-0.00538798437566,0.0598366420803,0.999999941566,0.000200564157799,-0.000276096170873,2.03286109233e-05,1793189861514804224
+82,1.366666667,BASELINE,764.400364536,742,711.400364536,670,660.400364536,632,876.599635464,781,798,649,624.400364536,646.599635464,0.400943375898,-0.00538730329313,0.059837270083,0.999999941468,0.000202605256844,-0.000274951506837,2.03997943268e-05,1793189861531470848
+83,1.383333333,BASELINE,764,742,711.188759686,669.811240314,660,632,877,781,798,649,624.188759686,647,0.400944490223,-0.00538645147689,0.0598378985891,0.9999999414,0.000204590369223,-0.000273727473215,2.03857869635e-05,1793189861548137472
+84,1.400000000,BASELINE,764,742,711.765415293,669.234584707,660,632,877,781,798,649,624.765415293,647,0.400944836481,-0.00538524880748,0.0598385281299,0.999999941398,0.000206460430924,-0.000272340337086,2.01967149497e-05,1793189861564804096
+85,1.416666667,BASELINE,764,742.338964135,712,669.338964135,660,632,876.32207173,781,798,649,625,646.661035865,0.40094585536,-0.00538520617867,0.0598391953677,0.999999941705,0.000206353696842,-0.000271281100547,2.03406328296e-05,1793189861581470976
+86,1.433333333,BASELINE,764,742.910382391,712,669.910382391,660,632,875.179235217,781,798,649,625,646.089617609,0.400947335509,-0.00538595908018,0.0598398884572,0.999999942225,0.000204891319734,-0.000270446730392,2.07129078403e-05,1793189861598137600
+87,1.450000000,BASELINE,764.498187681,742.501812319,712,670,660,632,875.498187681,781.498187681,798.498187681,649.498187681,625,646.996375363,0.400945478248,-0.00538423756945,0.0598387236056,0.99999994181,0.000205055376689,-0.000271905765882,1.99856387132e-05,1793189861614804480
+88,1.466666667,BASELINE,765,742,712,669.912610146,660,632,876,782,798.912610146,649.912610146,624.912610146,647.825220292,0.40094356658,-0.00538256495882,0.0598374847337,0.999999941331,0.000205455383554,-0.000273412938927,1.92482100199e-05,1793189861631470848
+89,1.483333333,BASELINE,765,742,712,669.332713691,660,632,876,782,798.332713691,649.332713691,624.332713691,646.665427382,0.400944846821,-0.00538376181154,0.0598377763445,0.99999994149,0.000205480185872,-0.000272787273118,1.96061540034e-05,1793189861648137472
+90,1.500000000,BASELINE,764.754053618,742,711.754053618,669,660,632,876,781.754053618,798,649,624.245946382,646.245946382,0.400944535037,-0.005385122971,0.0598374343993,0.999999941545,0.000204154444584,-0.000273565840951,1.98134914438e-05,1793189861664804352
+91,1.516666667,BASELINE,764.17705779,742,711.17705779,669,660,632,876,781.17705779,798,649,624.82294221,646.82294221,0.400942080351,-0.00538670529099,0.0598362396734,0.999999941448,0.000201010840765,-0.000276234539371,1.98181090093e-05,1793189861681470976
+92,1.533333333,BASELINE,764,742,711,669.398280805,660.398280805,632,876,781,798,649.398280805,624.601719195,647,0.400942319529,-0.00538666005592,0.0598368466398,0.999999941358,0.00020219153753,-0.000275682554239,2.00186768088e-05,1793189861698137600
+93,1.550000000,BASELINE,764,742,711,669.972885771,660.972885771,632,876,781,798,649.972885771,624.027114229,647,0.400943751317,-0.00538589428093,0.0598382512391,0.999999941265,0.000205286658881,-0.000273704730281,2.03059943598e-05,1793189861714804224
+94,1.566666667,BASELINE,764.562776731,742.562776731,711.562776731,670,660.437223269,632,876,781.562776731,798,649.437223269,624.562776731,647,0.400944126461,-0.00538635362025,0.0598386504124,0.999999941503,0.000205187957681,-0.000272880884476,2.06779921406e-05,1793189861731470848
+95,1.583333333,BASELINE,765,742.850476605,712,670,660,632,876,781.850476605,798.149523395,649.149523395,625,646.850476605,0.400944216147,-0.00538668200588,0.0598387585325,0.999999941842,0.000203995699962,-0.00027252784979,2.07599232228e-05,1793189861748137472
+96,1.600000000,BASELINE,765,742.274847648,712,670,660,632,876,781.274847648,798.725152352,649.725152352,625,646.274847648,0.400943641475,-0.00538646430119,0.0598381791198,0.999999942411,0.00020013782393,-0.000273353648519,2.00032831833e-05,1793189861764804352
+97,1.616666667,BASELINE,765,742,712,670,660,632,875.69892636,781,799,649.69892636,625,646.30107364,0.400943624328,-0.00538630582958,0.0598378977588,0.999999942364,0.00020008185175,-0.000273581239628,1.98358129543e-05,1793189861781470976
+98,1.633333333,BASELINE,765,742,712,670,660,632,875.122737982,781,799,649.122737982,625,646.877262018,0.400944116637,-0.00538620148392,0.0598378887511,0.999999941754,0.000203499979315,-0.000273262201187,2.02067137116e-05,1793189861798137856
+99,1.650000000,BASELINE,765,742,712,669.536048964,660,632,875,781,798.536048964,649.463951036,624.536048964,647,0.400943866157,-0.00538559243572,0.059837649742,0.99999994135,0.000204512597286,-0.000273982270009,2.01886718031e-05,1793189861814804480
+100,1.666666667,BASELINE,765,742,712,669.052502089,660,632,875.052502089,781.052502089,798.105004178,649.947497911,624,647,0.400943701305,-0.00538501797749,0.0598375569185,0.999999941131,0.000204768193326,-0.000274597832525,2.0107766986e-05,1793189861831471104
+101,1.683333333,BASELINE,765,742,712,669.631228416,660,632,875.631228416,781.631228416,799.262456833,649.368771584,624,647,0.400946409842,-0.00538615944972,0.0598395532864,0.999999942176,0.000203962271476,-0.000271346879924,2.04519783076e-05,1793189861848137728
+102,1.700000000,BASELINE,764.790988828,742,712,669.790988828,660,632,876,782,799.581977656,649.209011172,624.209011172,647,0.400947466112,-0.0053867681356,0.0598404045726,0.999999942724,0.000203144279316,-0.00026993084161,2.05138447639e-05,1793189861864804352
+103,1.716666667,BASELINE,764.214863454,742,712,669.214863454,660,632,876,782,798.429726907,649.785136546,624.785136546,647,0.400945620283,-0.00538644101761,0.0598392445988,0.999999942414,0.000202305086551,-0.000271737708368,2.0079791235e-05,1793189861881471232
+104,1.733333333,BASELINE,764.361031306,742,712,669,660,632,875.638968694,781.638968694,798.361031306,649.638968694,625,647,0.400944977812,-0.00538587010788,0.0598391058303,0.999999942337,0.000202190818003,-0.000272112538182,1.99772875114e-05,1793189861898137856
+105,1.750000000,BASELINE,764.936788962,742,712,669,660,632,875.063211038,781.063211038,798.936788962,649.063211038,625,647,0.400945051049,-0.00538515420096,0.0598395744318,0.999999942401,0.000202507704037,-0.000271635652378,2.00719757294e-05,1793189861914804480
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,742,712,670,660,632,876,782,798,649,624,647,0.400944740642,-0.00538564729043,0.059837868967,0.999999941715,0.000203549590755,-0.000273370863666,2.01312850212e-05,1793189861945988864
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.603372298,742,712,670,660.603372298,632,876,782,798,649.603372298,624.603372298,647,0.400943249206,-0.00538484888488,0.0598373903478,0.999999940679,0.000206610699547,-0.000274854343241,2.02104593586e-05,1793189861962655488
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.803576534,742,712,670,661,632,876,782,798,649.803576534,624.803576534,647,0.400942364927,-0.00538514044371,0.0598372162509,0.99999994039,0.000207093039828,-0.000275540928317,2.02457464744e-05,1793189861979322112
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.230325768,742,712,670,661,632,876,782,798,649.230325768,624.230325768,647,0.400942645448,-0.00538752303735,0.0598376263626,0.999999941537,0.000202628159217,-0.000274698716661,2.01968384531e-05,1793189861995988736
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711.647417046,670,660.647417046,632,876,781.647417046,798,649,624.352582954,647,0.400942793192,-0.00538688096863,0.059837612953,0.999999941544,0.000202869540116,-0.000274514440511,1.99530061638e-05,1793189862012655360
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.058021588,670,660.058021588,632,876,781.058021588,798,649,624.941978412,647,0.400942851757,-0.0053842073839,0.0598373150851,0.999999940784,0.000206271883985,-0.000274772067095,1.9578252903e-05,1793189862029321984
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.52247726,742,711,670,660.52247726,632,875.47752274,781.52247726,797.47752274,649,625,647,0.400945056575,-0.0053851079726,0.0598384240957,0.999999941674,0.000204629590959,-0.000272736631272,1.98399908812e-05,1793189862045988352
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,742,711.100815093,670,660.899184907,632,875.100815093,781.899184907,797.100815093,649,625,647,0.400947829326,-0.00538629397857,0.0598398096173,0.999999942693,0.000202940789206,-0.000270223802171,2.01820750626e-05,1793189862062655232
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,742,711.673584032,670,660.326415968,632,875.673584032,781.326415968,797.673584032,649,625,647,0.40095216369,-0.00538698912946,0.0598417704411,0.999999943509,0.000203612917838,-0.000266648252788,2.05749366583e-05,1793189862079321856
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.754133929,742,712,670,660.245866071,632,876,781.245866071,798.245866071,649,625,647,0.400959954217,-0.00538757201616,0.0598452287174,0.999999945169,0.000202938845809,-0.000260847984149,2.09038139752e-05,1793189862095988736
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.182497074,742,712,670,660.817502926,632,876,781.817502926,798.817502926,649,625,647,0.400972324136,-0.00538800615354,0.0598506711074,0.999999947903,0.00020048106748,-0.000252099978695,2.11479125489e-05,1793189862112655360
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.406428941,742,712,670,660.593571059,632,876,782,798.593571059,649,625,647,0.401002894507,-0.00538860703405,0.0598630293506,0.99999995288,0.00020249150867,-0.000229697330101,2.18040545532e-05,1793189862129322240
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,742,711.99666949,669.99666949,660,632,876,782,798,649,625,647,0.401042135078,-0.00538928777526,0.0598786441303,0.999999958234,0.000206567610745,-0.000200869428865,2.26515942834e-05,1793189862145988864
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,742,711.422510937,669.422510937,660,632,876,782,798,649,625,647,0.40110445007,-0.00539025340279,0.0598965158827,0.999999964439,0.000205531828012,-0.000168347130436,2.31836562905e-05,1793189862162655232
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.848161502,742,711.151838498,669.151838498,660.151838498,632,876,782,797.848161502,649,625,647,0.401169510655,-0.00539190462452,0.0599120196579,0.99999996892,0.000203602319835,-0.000141929397252,2.37101258611e-05,1793189862179322112
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.273280109,742,711.726719891,669.726719891,660.726719891,632,876,782,797.273280109,649,625,647,0.40124222085,-0.00539546600602,0.0599209259279,0.999999971089,0.000199182770191,-0.000132519813664,2.42210143147e-05,1793189862195988992
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.311313132,742,712,670,660.688686868,632,876,782,797.311313132,649,624.688686868,647,0.401321677185,-0.00539884241885,0.0599264850494,0.999999972605,0.000196435240683,-0.000124982888517,2.41515798695e-05,1793189862212655616
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.904706217,742,712,670,660.095293783,632,876,782,797.904706217,649,624.095293783,647,0.401407246176,-0.00540205123188,0.0599290113283,0.999999973573,0.000195202724189,-0.000119142774482,2.35563164491e-05,1793189862229322496
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,742,712,670,660.486658529,632,876,781.513341471,798.486658529,649,624.486658529,647,0.401519145124,-0.00540412540578,0.059932500571,0.999999974813,0.000193495803925,-0.00011150526983,2.2355438796e-05,1793189862245989120
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,742,712,670,660.934447828,632,876.065552172,781.065552172,799,649.065552172,625,647,0.401639177303,-0.00540622109043,0.0599361454527,0.999999976092,0.000191605746371,-0.000103257015539,2.09922801905e-05,1793189862262655744
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,742,712,670,660.362277007,632,876.637722993,781.637722993,799,649.637722993,625,647,0.401783136242,-0.00541016066723,0.0599395693754,0.999999977634,0.000189001756476,-9.29461676221e-05,1.92703812056e-05,1793189862279322112
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,742,712,670,660,632,876.787484564,781.787484564,798.787484564,649.787484564,625,647,0.401939334772,-0.00541439758315,0.0599414376234,0.999999978959,0.000185725950895,-8.53736907291e-05,1.72786931246e-05,1793189862295988736
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,742,712,670,660,632,876.208167255,781.208167255,798.208167255,649.208167255,625,647,0.402116658834,-0.00541914770629,0.0599406207748,0.999999980052,0.000181290591012,-8.2527646255e-05,1.48213489536e-05,1793189862312655616
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.621798496,742,712,669.621798496,660.378201504,632,876,781,798,649,625,647,0.402313461125,-0.00542552291054,0.059940715968,0.999999981579,0.000174930599853,-7.80132590445e-05,1.24303492168e-05,1793189862329322240
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.031474729,742,712,669.031474729,660.968525271,632,876,781,798,649,625,647,0.402521188207,-0.00543280957613,0.059941322699,0.99999998329,0.000167491138363,-7.25631464731e-05,1.00765599193e-05,1793189862345988864
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.547733556,742,712,669.547733556,660.452266444,632,876,781,798,649,625,647,0.402765271621,-0.00543967735802,0.0599401438245,0.999999985021,0.000158237722358,-6.97890317604e-05,6.92781435043e-06,1793189862362655744
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,742,712,670,660,632,876,781.125707469,798,649,625,647,0.403021667055,-0.00544701258027,0.0599401007413,0.999999986809,0.000148441901149,-6.58296191185e-05,3.75087255272e-06,1793189862379322368
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,742,712,670,660,632,876,781.701503415,798,649,625,647,0.403314813689,-0.00545610591721,0.0599444843666,0.999999988976,0.000137069815315,-5.70866911164e-05,6.33280050176e-07,1793189862395989248
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,742,712,670,660.282779275,632.282779275,876,781.717220725,798,649.282779275,625,647,0.403615297392,-0.00546552440374,0.0599405271285,0.999999990189,0.000125231638813,-6.26829472401e-05,-3.12439362667e-06,1793189862412656128
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,742,712,670,660.869953908,632.869953908,876,781.130046092,798,649.869953908,625,647,0.403923679003,-0.00547529289426,0.0599275914381,0.999999990095,0.000112891743605,-8.37144973218e-05,-7.57107708084e-06,1793189862429322496
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,741.54898338,712,670,660.54898338,632.54898338,876,781,798,649.54898338,624.54898338,647,0.404262623946,-0.00548357024012,0.0599135111546,0.999999989101,0.000101123623016,-0.000106783336865,-1.30223191656e-05,1793189862445989120
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,741.030239047,712,670,660.060478093,632,876.030239047,781,798.030239047,649,624.030239047,647,0.40461270688,-0.00549151064929,0.0598993609103,0.999999987347,8.95329504097e-05,-0.000130152711189,-1.87126999592e-05,1793189862462655744
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,741.607624404,712,670,661.215248808,632,876.607624404,781,798.607624404,649,624.607624404,647,0.405006997052,-0.00550103014847,0.0598898365538,0.999999985642,7.82098292269e-05,-0.000148473079558,-2.35591243356e-05,1793189862479322368
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,742,712,670,661.815844741,632,876.815844741,781.184155259,798.815844741,649,625,647,0.405429225728,-0.00551174202069,0.0598895113164,0.999999986604,5.63828510609e-05,-0.000151178482493,-2.75389222937e-05,1793189862495988736
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,742,712,670,661.24112622,632,876.24112622,781.75887378,798.24112622,649,625,647,0.405910707363,-0.00552498272037,0.0599086959114,0.999999992192,1.22789071348e-05,-0.000120767088556,-2.9680746348e-05,1793189862512655360
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,742,712,670,661,632,876,781.657867463,798.342132537,649.342132537,625,647,0.406427000994,-0.0055345001476,0.0599352318272,0.999999995706,-4.22361447446e-05,-7.71070532683e-05,-2.93124032733e-05,1793189862529322240
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,742,712,670,661,632,876,781.068435618,798.931564382,649.931564382,625,647,0.406968457389,-0.00554132633055,0.0599670814065,0.99999999391,-0.000104276529708,-2.38706676884e-05,-2.7129668138e-05,1793189862545989120
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,742,712,670,661,632,876,781,799,649.492070923,625,647,0.407512481557,-0.00553289051409,0.059980842612,0.999999996053,-8.3458481374e-05,-6.96615931835e-06,-2.96530686025e-05,1793189862562656000
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,742.08262225,712,670,661,632,876.08262225,781.08262225,798.91737775,649,625,647,0.408057024037,-0.00552504608662,0.059988387508,0.999999998262,-5.03400810612e-05,-1.71395106098e-06,-3.06473914013e-05,1793189862579322112
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,742.657583328,712,670,661,632,876.657583328,781.657583328,798.342416672,649,625,647,0.408602645432,-0.0055326717896,0.0599730483601,0.999999999082,-8.78112100837e-06,-3.74585571256e-05,-1.88464178448e-05,1793189862595988480
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,743,712,669.765967554,661,632,877,781.765967554,798.234032446,649,625,647,0.409176582677,-0.0055380770502,0.059961054196,0.999999997729,8.38139960342e-06,-6.53614220619e-05,-1.41007867436e-05,1793189862612655360
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,743,712,669.187327363,661,632,877,781.187327363,798.812672637,649,625,647,0.409792214367,-0.00554021275671,0.0599539854494,0.999999996412,-1.03793147178e-05,-8.17174898114e-05,-1.97439964455e-05,1793189862629322496
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,742.598346532,712,669.401653468,660.598346532,632,877,781.401653468,798.598346532,649.401653468,624.598346532,647,0.410459901506,-0.0055421159562,0.0599574884792,0.999999997219,-2.4417634631e-05,-6.65596940334e-05,-2.31610000397e-05,1793189862645989120
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,742.004415497,712,669.995584503,660.004415497,632,877,781.995584503,798.004415497,649.995584503,624.004415497,647,0.411152508355,-0.00554390785102,0.0599660523779,0.99999999836,-3.61952726403e-05,-3.63157365098e-05,-2.55122850534e-05,1793189862662655744
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.432289299,742,712,670,660.567710701,632,877.567710701,781.432289299,798,650,624.567710701,647,0.411833810767,-0.00554210541282,0.0599622038521,0.999999998137,-3.01537933017e-05,-4.60588039698e-05,-2.63723032964e-05,1793189862679322368
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.140487975,742,712,670,661,632,877.859512025,781,798.140487975,649.859512025,625,647,0.412508315216,-0.00554063352473,0.0599507833024,0.99999999681,-2.56907456753e-05,-7.04140108006e-05,-2.75919459655e-05,1793189862695988992
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.715785688,742,712,670,661,632,877.284214312,781,798.715785688,649.284214312,625,647,0.413162041921,-0.00554026801089,0.0599162151089,0.99999998953,-2.65260158215e-05,-0.000139066764987,-2.99591946471e-05,1793189862712655616
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.701114931,742,712,670,660.701114931,632,876.701114931,781,798.701114931,649,625,647,0.413876149616,-0.00554059521766,0.0598995544904,0.999999984552,-3.08300943346e-05,-0.000170045894572,-3.20808028657e-05,1793189862729322240
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.110397919,742,712,670,660.110397919,632,876.110397919,781,798.110397919,649,625,647,0.414649213502,-0.00554159879807,0.0599003788578,0.999999985194,-3.85211240496e-05,-0.000164240434914,-3.39625676578e-05,1793189862745988864
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711.528361625,670,660.471638375,632,876.471638375,781,798,649,625,647,0.415488550134,-0.00554525025836,0.0599463916046,0.999999995274,-4.08429537303e-05,-8.23828144837e-05,-3.1559102137e-05,1793189862762655488
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.051343254,742.051343254,711.051343254,670.051343254,661,632,877.051343254,781,798.051343254,649.051343254,624.948656746,647,0.416337608375,-0.00554935844201,0.0599981500643,0.9999999987,-4.15119420138e-05,8.25457754531e-06,-2.84345570744e-05,1793189862779322112
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.627611137,742.627611137,711.627611137,670.627611137,661,632,877.627611137,781,798.627611137,649.627611137,624.372388863,647,0.417130326633,-0.0055519139055,0.0600024647439,0.99999999884,-3.78995115938e-05,9.94190699613e-06,-2.80075705459e-05,1793189862795988736
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.797804568,743,712,670.797804568,661,632,877.797804568,781,799,649.797804568,624,647,0.417921603955,-0.00555313803596,0.0599976954468,0.999999998836,-3.85799459816e-05,8.54632745611e-07,-2.89698340188e-05,1793189862812655360
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.226295414,743,712,670.226295414,661,632,877.226295414,781,799,649.226295414,624,647,0.418710249332,-0.00555193046173,0.0599763340971,0.999999997974,-4.71013780907e-05,-2.79126559501e-05,-3.24695885032e-05,1793189862829321984
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,712,670,661,632,876.640482015,781,798.640482015,649,624,647,0.419518509382,-0.00555110421489,0.0599525843097,0.999999996104,-5.03365327485e-05,-6.32806074211e-05,-3.54028164908e-05,1793189862845988608
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743,712,670,661,632,876.045291885,781,798.045291885,649,624,647,0.420339627261,-0.00555052793681,0.0599272688484,0.999999992722,-5.01064129533e-05,-0.000102975440994,-3.79646734164e-05,1793189862862655488
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.533651157,743,711.466348843,670.533651157,661,632,876.533651157,781.533651157,798.533651157,649.533651157,624,647,0.421116919922,-0.00554908598703,0.0598964653359,0.999999984869,-4.45835819622e-05,-0.000163491290806,-3.92981947814e-05,1793189862879322112
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743,711.11071773,671,661,632,877,781.88928227,798.88928227,650,624,646.88928227,0.421905952905,-0.00554758724015,0.0598720750807,0.99999997609,-4.10728445712e-05,-0.000210899470674,-4.06684592171e-05,1793189862895988736
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,743,711.685527806,671,661,632,877,781.314472194,798.314472194,650,624,646.314472194,0.422759327618,-0.00554614928631,0.0598764618139,0.999999978706,-4.78234178616e-05,-0.000196176273499,-4.26168133896e-05,1793189862912655360
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,743,712,671,661.531236001,632,877,781,798,649.734382,624.265618,646.265618,0.423633062712,-0.00554782822436,0.0599095212216,0.999999988139,-5.09887217828e-05,-0.000139204568659,-4.17660362792e-05,1793189862929321984
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,712,671,662.704172665,632,877,781,798,649.147913668,624.852086332,646.852086332,0.424531392016,-0.0055532721774,0.0599772154703,0.999999997568,-4.98232396137e-05,-3.11992419941e-05,-3.75340793371e-05,1793189862945988864
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,711.051945941,670,660.948054059,632,876,781.948054059,798.051945941,649,624.948054059,647,0.40289508208,-0.00535525129151,0.0598041242226,0.999999923487,0.000242825912014,-0.000305538372864,2.66038901896e-05,1793189865935604736
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.527987504,742,711,669.472012496,660.472012496,632,875.472012496,781.472012496,798,649,624.472012496,647.527987504,0.402663361862,-0.00536247224715,0.0598242875384,0.999999935473,0.000232251580211,-0.000272607171484,2.82720314034e-05,1793189865952271872
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,742.683953567,711,669.683953567,660,632,875.683953567,781,798,649,624.683953567,647.316046433,0.402211049992,-0.00538774518098,0.0598383393875,0.999999944,0.000212467998757,-0.000256727955901,3.0779897321e-05,1793189865985605376
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.739574681,742.739574681,711,670,660,632.260425319,875.739574681,781,798,649,625,647,0.402003234354,-0.00539515893622,0.059834620368,0.999999942135,0.00020774203024,-0.000268089785515,2.64793746654e-05,1793189866002272256
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.518569553,742,711.518569553,669.481430447,660,632,876,781.518569553,798.518569553,649.518569553,625,647,0.401060733121,-0.00538088712208,0.0598219645673,0.999999932777,0.000214057160607,-0.000297082283388,1.91791419451e-05,1793189866152271104
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.242190931,742.757809069,712,670.242190931,660,632.757809069,876.757809069,782,798.757809069,649.242190931,625,647,0.40094127219,-0.0053793253775,0.059829489543,0.999999936366,0.000211946982191,-0.000286356938155,1.86188497258e-05,1793189866418937856
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+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,712,670,660.613633923,632,876.386366077,781,798.386366077,650,624.613633923,647,0.400940735027,-0.00538108510654,0.0598304275274,0.999999937554,0.000208210447826,-0.000284942644439,1.86456901389e-05,1793189866552271360
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.362727461,743,712,670,660.637272539,632,876,781,799,649,625,647,0.400943254898,-0.00538103303086,0.059832033561,0.999999938129,0.00021048174056,-0.000281248647818,1.84146412127e-05,1793189866702270976
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.214964741,742.785035259,712,670,660.785035259,632,876,781.214964741,798.785035259,649.214964741,625,647,0.400943216422,-0.0053812297778,0.0598323532592,0.999999938169,0.000210556194996,-0.000281041864169,1.85287995127e-05,1793189866718937856
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diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..62ed66fc10a15aa7d20a40616808357132a7b7eb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,393 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+2,0.033333333,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
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+4,0.066666667,pose1_baseline,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986157,1.04969936286
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+372,6.200000000,pose2_to_pose3_retreat,0.575725279848,0.000219602701314,1.05002835117,0.546295692944,0.00889132094535,1.04969935083
+373,6.216666667,pose2_to_pose3_retreat,0.57572486689,0.000219622441526,1.05002834513,0.546295279685,0.00889133971745,1.04969934614
+374,6.233333333,pose2_to_pose3_retreat,0.575724350628,0.000219669357896,1.05002833207,0.546294762528,0.00889138372359,1.04969933646
+375,6.250000000,pose2_to_pose3_retreat,0.575724227729,0.000219680526578,1.05002832897,0.546294639417,0.00889139419948,1.04969933415
+376,6.266666667,pose2_to_pose3_retreat,0.575723963928,0.000219704500073,1.05002832229,0.546294375158,0.0088914166859,1.0496993292
+377,6.283333333,pose2_to_pose3_retreat,0.575723819813,0.000219717596879,1.05002831865,0.546294230792,0.0088914289703,1.0496993265
+378,6.300000000,pose2_to_pose3_retreat,0.575723759202,0.000219723105014,1.05002831712,0.546294170077,0.00889143413677,1.04969932536
+379,6.316666667,pose2_to_pose3_retreat,0.575723696634,0.000219728790959,1.05002831553,0.546294107401,0.00889143947002,1.04969932419
+380,6.333333333,pose2_to_pose3_retreat,0.575723662243,0.000219731916382,1.05002831466,0.546294072949,0.00889144240157,1.04969932355
+381,6.350000000,pose2_to_pose3_retreat,0.575723601139,0.000219737469262,1.05002831312,0.54629401174,0.00889144761,1.0496993224
+382,6.366666667,pose2_to_pose3_retreat,0.575723553143,0.000219741831017,1.05002831191,0.546293963661,0.0088914517012,1.0496993215
+383,6.383333333,pose2_to_pose3_retreat,0.57572353556,0.000219743428893,1.05002831146,0.546293946047,0.00889145319996,1.04969932117
+384,6.400000000,pose2_to_pose3_retreat,0.57572344356,0.000219751789621,1.05002830913,0.546293853888,0.00889146104207,1.04969931944
+385,6.416666667,pose2_to_pose3_retreat,0.575723294669,0.000219763760472,1.05002830603,0.546293704761,0.00889147224312,1.04969931716
+386,6.433333333,pose2_to_pose3_retreat,0.575723275502,0.000219757030438,1.05002830916,0.546293685681,0.00889146578258,1.04969931959
+387,6.450000000,pose2_to_pose3_retreat,0.575723143762,0.000219710774861,1.05002833067,0.546293554541,0.00889142137921,1.04969933628
+388,6.466666667,pose2_to_pose3_retreat,0.575722926723,0.000219634569264,1.05002836611,0.546293338489,0.00889134822511,1.04969936376
+389,6.483333333,pose2_to_pose3_retreat,0.575722692784,0.00021951909631,1.05002838109,0.546293106028,0.00889123763012,1.04969937519
+390,6.500000000,pose2_to_pose3_retreat,0.575722610267,0.000219489326953,1.05002837176,0.546293023246,0.00889120701875,1.04969936737
+391,6.516666667,pose2_to_pose3_retreat,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986139,1.04969936286
diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..928e20b8adf91dbe9262097493ec0bd01c469837
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f156715bbe9196eba0dec22210523dde436d27e82597196d47ba8305773caa3
+size 25081561
diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cbe4082f683c1401c79504418693e58cac9d6947
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_03/franka_data.csv
@@ -0,0 +1,397 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,742,711,670,660,632,876,782,799,649,625,647,0.400944242843,-0.00538272751757,0.0598323035094,0.999999939626,0.000206389849444,-0.000278951570674,1.83703722983e-05,1793189866885099264
+1,0.016666667,BASELINE,765,742,711.579878977,669.420121023,660,632,876,781.420121023,798.420121023,649,625,647,0.400944216047,-0.00538122382489,0.0598330661598,0.999999939103,0.000209322574468,-0.000278646493776,1.8256792416e-05,1793189866901766144
+2,0.033333333,BASELINE,764.841017175,742,711.841017175,669.158982825,660,632,876,781.158982825,798,649.158982825,625,647,0.400943526086,-0.0053801030069,0.0598332333198,0.999999938635,0.000210803417656,-0.000279222025666,1.80676655108e-05,1793189866918433280
+3,0.050000000,BASELINE,764.263951585,742,711.263951585,669.736048415,660,632,876,781.736048415,798,649.736048415,625,647,0.400941092178,-0.00537998904772,0.0598318344976,0.999999938321,0.000208466196394,-0.00028211332561,1.76798698995e-05,1793189866935100416
+4,0.066666667,BASELINE,764,742,711,670,660,632,876,781.687915357,798,650,625,647,0.400941520286,-0.00538042261487,0.0598320673249,0.999999938389,0.000208644554294,-0.000281721431665,1.7954692536e-05,1793189866951767040
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+6,0.100000000,BASELINE,764,742,711.476288695,670,660,631.523711305,876,781,798,649.523711305,625,647,0.400944049197,-0.00538236252776,0.0598339703743,0.999999939155,0.000208918681484,-0.000278710730058,1.90850488542e-05,1793189866985099520
+7,0.116666667,BASELINE,764.066901996,742,712,670,660,631.066901996,876,781.066901996,798,649.066901996,625,647,0.400942985796,-0.00538314159611,0.0598339148421,0.99999993943,0.000206360879184,-0.000279621266835,1.91525109606e-05,1793189867001765632
+8,0.133333333,BASELINE,764.643769036,742,712,670,660,631.643769036,876,781.643769036,798,649.643769036,625,647,0.400942052778,-0.00538161705425,0.0598336304084,0.999999938991,0.000207776378593,-0.000280188646199,1.84676568331e-05,1793189867018432256
+9,0.150000000,BASELINE,765,742,712,670,660,632,876,781.77999316,798.22000684,649.77999316,624.77999316,647,0.400941145563,-0.00538061824344,0.0598330897573,0.999999938538,0.000208926020616,-0.000280977879316,1.8062993881e-05,1793189867035098880
+10,0.166666667,BASELINE,765,742,712,670,660,632,876,781.204771354,798.795228646,649.204771354,624.204771354,647,0.400940280008,-0.00538046825884,0.059832135427,0.999999938063,0.000209646418926,-0.000282125309301,1.81107173794e-05,1793189867051765504
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+17,0.283333333,BASELINE,764,742,711.14928971,670,660,632,875.14928971,781,798,649.14928971,624.85071029,647,0.400941594769,-0.00538244997563,0.0598326102234,0.999999938815,0.000207480920501,-0.000281063884425,1.80365065519e-05,1793189867168433664
+18,0.300000000,BASELINE,764.437443008,742,711.437443008,670,660,632,875.437443008,781.437443008,798.437443008,649,625,647,0.400941981937,-0.00538134262882,0.0598332645027,0.999999938688,0.000209056262416,-0.000280340072299,1.81383231192e-05,1793189867185100032
+19,0.316666667,BASELINE,764.97152064,742,711.97152064,669.97152064,660,632,876,781.97152064,799,649.02847936,625,647,0.40094250433,-0.00537950611074,0.0598339592629,0.99999993834,0.000211715212472,-0.000279581381472,1.82184628389e-05,1793189867201765376
+20,0.333333333,BASELINE,764.392496064,742,711.392496064,669.392496064,660,632,876,781.392496064,799,649.607503936,625,647,0.400941474737,-0.00537999490121,0.0598333628397,0.999999938696,0.000208651812773,-0.000280633702143,1.77915015416e-05,1793189867218432512
+21,0.350000000,BASELINE,764,742,711.184856054,669.184856054,660,632,876,781,798.815143946,650,624.815143946,647,0.400940818889,-0.00538091936999,0.0598330817131,0.99999993895,0.000206659391812,-0.000281204951268,1.77717425736e-05,1793189867235099392
+22,0.366666667,BASELINE,764,742,711.758688885,669.758688885,660,632,876,781,798.241311115,650,624.241311115,647,0.400940949479,-0.0053827605993,0.0598334640382,0.999999939005,0.000206920540163,-0.000280763922578,1.86088246799e-05,1793189867251765760
+23,0.383333333,BASELINE,764.340907949,742,711.659092051,669.659092051,660,632,876,781,798,649.659092051,624.340907949,647,0.400941300749,-0.0053838047458,0.0598337345127,0.999999939238,0.00020652956557,-0.000280209014884,1.8786295825e-05,1793189867268432384
+24,0.400000000,BASELINE,764.929212965,742,711.070787035,669.070787035,660,632,876,781,798,649.070787035,624.929212965,647,0.400941812168,-0.00538427044912,0.0598339238174,0.9999999396,0.000205665345057,-0.000279571465094,1.84850870538e-05,1793189867285098752
+25,0.416666667,BASELINE,764.490210314,742,711,669.509789686,660,632,876,781,798,649,625,647,0.400942087677,-0.00538327931175,0.0598338134418,0.999999939461,0.000206149119105,-0.000279719277552,1.83864924723e-05,1793189867301765376
+26,0.433333333,BASELINE,764,742,711.089192479,670,660,632,876,781.089192479,798,649.089192479,625,647,0.400942121796,-0.00538210654933,0.0598335565778,0.999999939207,0.000206821900481,-0.000280134953261,1.82997988801e-05,1793189867318431744
+27,0.450000000,BASELINE,764,742,711.667954192,670,660,632,876,781.667954192,798,649.667954192,625,647,0.400941008062,-0.00538103063396,0.0598327206471,0.999999938702,0.000207520075015,-0.00028143126932,1.81263094922e-05,1793189867335098624
+28,0.466666667,BASELINE,764,742,712,669.756390914,660.243609086,632,876,782,798,650,625,647,0.400940528441,-0.00538063743641,0.0598327071024,0.999999938547,0.000207857901837,-0.000281729294045,1.81444205742e-05,1793189867351765760
+29,0.483333333,BASELINE,764,742,712,669.184917405,660.815082595,632,876,782,798,650,625,647,0.400940902249,-0.0053811630835,0.0598338003764,0.999999938867,0.000207710750014,-0.00028068375545,1.84203996248e-05,1793189867368433408
+30,0.500000000,BASELINE,764.39955271,742,711.60044729,669.39955271,660.60044729,632,876,781.60044729,798,649.60044729,625,647,0.400940416808,-0.00538150386381,0.059833241816,0.999999938578,0.000208129727113,-0.000281410180424,1.82722204435e-05,1793189867385100288
+31,0.516666667,BASELINE,764.990240015,742,711.009759985,669.990240015,660.009759985,632,876,781.009759985,798,649.009759985,625,647,0.400939520329,-0.00538175620912,0.0598318930652,0.999999937997,0.000208819524106,-0.000282984262142,1.7921136082e-05,1793189867401767168
+32,0.533333333,BASELINE,764.432080056,742,711,669.432080056,660,632,876,781,798,649,625,647,0.400940593299,-0.00538145657271,0.0598323630175,0.999999938471,0.000208060562642,-0.00028186692008,1.78824754297e-05,1793189867418433280
+33,0.550000000,BASELINE,764,742.145250226,711.145250226,669.145250226,660,632,876,781,798.145250226,649,625,647,0.400941298195,-0.00538141111396,0.0598329377247,0.999999938957,0.00020741173752,-0.000280617453369,1.78719414061e-05,1793189867435099392
+34,0.566666667,BASELINE,764,742.722190727,711.722190727,669.722190727,660,632,876,781,798.722190727,649,625,647,0.400940810819,-0.00538214864462,0.0598337329559,0.99999993943,0.000207162582799,-0.000279109695766,1.79294009289e-05,1793189867451766016
+35,0.583333333,BASELINE,764,742.703491644,711.703491644,670,660,632,876,781.296508356,799,649,625,647,0.400941550645,-0.00538192367435,0.0598343374552,0.999999939552,0.000207888387491,-0.000278132124442,1.79247838011e-05,1793189867468432384
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+38,0.633333333,BASELINE,764,742,711,670,660,632,876.943771721,781,798,649,625,647,0.40094318612,-0.00538162257345,0.059835522973,0.999999939787,0.000208928768773,-0.000276472646007,1.83729347883e-05,1793189867518433280
+39,0.650000000,BASELINE,764,742,711,670,660,632,876.36812493,781,798,649,625,647,0.400941851219,-0.00538127825615,0.0598346982697,0.999999939248,0.000208785884668,-0.000278532156045,1.82223585801e-05,1793189867535099392
+40,0.666666667,BASELINE,764.206920602,742,711,670,660,632,876,781,798,649,625,647,0.400941549432,-0.00538134926059,0.0598342942517,0.999999939123,0.000208072291596,-0.00027951955384,1.81539079618e-05,1793189867551765760
+41,0.683333333,BASELINE,764.780899519,742,711,670,660,632,876,781,798,649,625,647,0.400943080297,-0.005382157008,0.0598346364913,0.999999939734,0.000206346312773,-0.000278605121968,1.82311406745e-05,1793189867568432384
+42,0.700000000,BASELINE,765,742,711.365717795,670,660,632,876,781,798,649,624.634282205,647,0.400942915028,-0.0053830285484,0.0598344254082,0.99999993994,0.000204912146556,-0.000278919239671,1.8322655951e-05,1793189867585099008
+43,0.716666667,BASELINE,765,742,711.957228225,670,660,632,876,781,798,649,624.042771775,647,0.400941702572,-0.00538393947429,0.059833872706,0.999999939894,0.000203658144283,-0.000279991858767,1.84229892197e-05,1793189867601765376
+44,0.733333333,BASELINE,765,742,712,670,660,632,875.462608482,781,798,649.537391518,624,647,0.400941135583,-0.0053816418958,0.0598337258616,0.999999939251,0.000206337564852,-0.000280344085028,1.81848420783e-05,1793189867618432000
+45,0.750000000,BASELINE,765,742,712,670,660,632,875.115778567,781,798,649.884221433,624.115778567,647,0.400940596516,-0.0053798963951,0.0598335015517,0.999999938656,0.000208593895663,-0.000280806942058,1.80017453032e-05,1793189867635098368
+46,0.766666667,BASELINE,765,742,712,670,660,632,875.690629464,781,798,649.309370536,624.690629464,647,0.400939968678,-0.00538133155733,0.0598328446489,0.99999993847,0.000207956968244,-0.000281931105434,1.8141539408e-05,1793189867651765248
+47,0.783333333,BASELINE,765,742,712,670,660,632,876,781,798,649,625,647,0.400940904181,-0.00538252603374,0.0598333899915,0.999999938791,0.000207779393623,-0.000280908210668,1.83567594442e-05,1793189867668431872
+48,0.800000000,BASELINE,765,742,712,670,660,632,876,781,798,649,625,647,0.400943661485,-0.0053834400334,0.0598353363393,0.999999939695,0.000208137113713,-0.000277383297865,1.86598751395e-05,1793189867685099008
+49,0.816666667,BASELINE,765,742,712,670,660,632,876,781,798.422702226,649,625,647,0.4009423605,-0.00538288916605,0.0598342108907,0.999999939293,0.000208230089756,-0.00027877820425,1.83383970142e-05,1793189867701765632
+50,0.833333333,BASELINE,764.981590295,742,712,670,660,632,876,781.018409705,798.981590295,649.018409705,625,647,0.400939553084,-0.00538178507351,0.0598319381001,0.999999938406,0.000208203575109,-0.000281997020725,1.77819688882e-05,1793189867718432256
+51,0.850000000,BASELINE,764.405134437,742,712,670,660,632,876,781.594865563,798.405134437,649.594865563,625,647,0.400941615658,-0.00538215182178,0.0598331364186,0.999999939251,0.00020785158213,-0.000279241668519,1.78810420564e-05,1793189867735098880
+52,0.866666667,BASELINE,764.171219728,742,712,670,660,632,876,781.828780272,798.171219728,650,625,647,0.400942916831,-0.00538245290937,0.0598341388047,0.999999939809,0.000207459881988,-0.000277519114736,1.80168540477e-05,1793189867751765504
+53,0.883333333,BASELINE,764.747333377,742,712,670,660,632,876,781.252666623,798.747333377,650,625,647,0.400942417474,-0.00538259872503,0.0598346778573,0.999999939706,0.000206974283877,-0.000278238883686,1.82395446089e-05,1793189867768431872
+54,0.900000000,BASELINE,765,742,711.677923908,670,660,632,876,781.322076092,799,649.677923908,625,647,0.400941778754,-0.00538330660042,0.0598344587615,0.999999939807,0.000205582652923,-0.000278904159115,1.82705855376e-05,1793189867785099008
+55,0.916666667,BASELINE,765,742,711.10425215,670,660,632,876,781.89574785,799,649.10425215,625,647,0.400941031167,-0.0053844535391,0.0598336474243,0.999999940065,0.000203483257767,-0.000279526865892,1.81519158193e-05,1793189867801766144
+56,0.933333333,BASELINE,765,742,711,670,660,632,876,781.514458165,798.514458165,649,624.514458165,646.514458165,0.400941107149,-0.00538477385124,0.0598339124032,0.999999939949,0.000203356120088,-0.000280019092488,1.8367960046e-05,1793189867818433024
+57,0.950000000,BASELINE,764.923378715,742,711.076621285,670,660,632,876,781,798.076621285,649,624.076621285,646.076621285,0.400941567,-0.00538463334435,0.0598344198023,0.999999939752,0.000204161708539,-0.000280122734225,1.85763466503e-05,1793189867835099904
+58,0.966666667,BASELINE,764.347261227,742,711.652738773,670,660,632,876,781,798.652738773,649,624.652738773,646.652738773,0.400943336945,-0.00538268553024,0.0598349492611,0.999999939552,0.000208192342256,-0.000277882089017,1.82502162747e-05,1793189867851766272
+59,0.983333333,BASELINE,764,742,712,669.771544288,660.228455712,632,876,781,799.228455712,649,625,647,0.400944446037,-0.00538221587062,0.0598355084342,0.99999993977,0.000209298199171,-0.000276270380977,1.81549034103e-05,1793189867868432640
+60,1.000000000,BASELINE,764,742,712,669.196435045,660.803564955,632,876,781,799.803564955,649,625,647,0.400944552366,-0.00538398912891,0.0598361126953,0.999999940638,0.000205966066536,-0.000275613007637,1.84098277672e-05,1793189867885098752
+61,1.016666667,BASELINE,764.388644084,742,712,669.388644084,660.611355916,632,876,781.388644084,799.222711831,649.388644084,625,647,0.400943580595,-0.00538441114601,0.0598353168544,0.999999940638,0.000203903571334,-0.000277149921074,1.83212838824e-05,1793189867901765888
+62,1.033333333,BASELINE,764.978894999,742,712,669.978894999,660.021105001,632,876,781.978894999,798.042210002,649.978894999,625,647,0.400942049567,-0.00538413221459,0.0598337947188,0.999999940183,0.000202499693275,-0.000279825107896,1.80545678541e-05,1793189867918433280
+63,1.050000000,BASELINE,764.439511706,742,712,669.439511706,660,632,876,782,798,650,625,647,0.400942255061,-0.00538293446266,0.0598335634833,0.999999939528,0.000205369155611,-0.000280068838769,1.81228977835e-05,1793189867935099136
+64,1.066666667,BASELINE,764.139512895,742,711.860487105,669.27902579,660,632,876,781.860487105,798,649.860487105,625,647,0.400942533164,-0.00538214484504,0.0598336534308,0.999999939048,0.00020783037663,-0.000279958396093,1.82456642608e-05,1793189867951765760
+65,1.083333333,BASELINE,764.711568888,742,711.288431112,670.423137776,660,632,876,781.288431112,798,649.288431112,625,647,0.400942836739,-0.00538272623423,0.0598345907559,0.999999939157,0.000208534596778,-0.000279029420058,1.84986852137e-05,1793189867968432384
+66,1.100000000,BASELINE,764.708330504,742,711.291669496,670.708330504,660,632,875.708330504,781,798.291669496,649.291669496,625,647,0.40094325536,-0.00538347957521,0.059835035034,0.999999939659,0.000207149044304,-0.000278253874779,1.85771181877e-05,1793189867985099264
+67,1.116666667,BASELINE,764.120048993,742,711.879951007,670.120048993,660,632,875.120048993,781,798.879951007,649.879951007,625,647,0.400943790977,-0.0053844077818,0.0598349779101,0.999999940555,0.00020363830669,-0.000277634360287,1.84780046671e-05,1793189868001765888
+68,1.133333333,BASELINE,764.463184798,742,712,670,660,632,875.463184798,781.463184798,799,649.536815202,625,647,0.400943453924,-0.0053843163488,0.0598355910222,0.99999994078,0.000203780365727,-0.000276734012136,1.82239291911e-05,1793189868018432512
+69,1.150000000,BASELINE,764.95548339,742,711.95548339,670,660,632,876,781.95548339,799,649,624.95548339,647,0.400942937186,-0.00538401927831,0.059836313844,0.999999940812,0.00020477956718,-0.000275896147479,1.79832941452e-05,1793189868035098624
+70,1.166666667,BASELINE,764.381382786,742,711.381382786,670,660,632,876,781.381382786,799,649,624.381382786,647,0.400942944551,-0.00538438584944,0.0598362975394,0.999999940583,0.0002048343279,-0.000276658169726,1.83751957907e-05,1793189868051765248
+71,1.183333333,BASELINE,764.191310533,742,711.191310533,670,660.191310533,632,876,781,799,649,624.191310533,647,0.400942972631,-0.00538442631919,0.0598359141506,0.999999940421,0.000204722186354,-0.000277312964004,1.85431027661e-05,1793189868068432128
+72,1.200000000,BASELINE,764.761218978,742,711.761218978,670,660.761218978,632,876,781,799,649,624.761218978,647,0.400943041708,-0.005383821444,0.0598348043131,0.999999940394,0.000204279750142,-0.000277755557428,1.82677309556e-05,1793189868085099008
+73,1.216666667,BASELINE,765,742.347674338,712,670,660.652325662,632,876,781,799,649,625,647,0.400942922965,-0.00538420455118,0.0598341842128,0.999999940226,0.00020467391178,-0.000278067693001,1.83076117223e-05,1793189868101765888
+74,1.233333333,BASELINE,765,742.946061894,712,670,660.053938106,632,876,781,799,649,625,647,0.400942668782,-0.00538530010742,0.0598339172695,0.999999939956,0.000205671356794,-0.000278285753422,1.85748259022e-05,1793189868118433024
+75,1.250000000,BASELINE,764.47346025,743,712,670,660,632,876,781,799,649,624.47346025,647,0.400942594644,-0.0053823960866,0.0598345484083,0.999999939567,0.00020789215063,-0.000278081005097,1.78534211771e-05,1793189868135099648
+76,1.266666667,BASELINE,764.10434085,743,712,670.10434085,660,632,875.89565915,781.10434085,799,649.10434085,624.10434085,647,0.400942335296,-0.00537977024378,0.0598349716162,0.999999939123,0.000209924301776,-0.000278184650038,1.72698429016e-05,1793189868151766016
+77,1.283333333,BASELINE,764.678082028,743,712,670.678082028,660,632,875.321917972,781.678082028,799,649.678082028,624.678082028,647,0.400941162505,-0.00538017839403,0.0598340591401,0.999999938512,0.000210562574981,-0.000279864109251,1.77469190676e-05,1793189868168432128
+78,1.300000000,BASELINE,765,742.74844052,712,670.496881039,660,632.25155948,875.503118961,781.74844052,799,650,624.74844052,647,0.400940985333,-0.00538054880481,0.0598338108083,0.999999938382,0.000210893459882,-0.00028006374347,1.79850479673e-05,1793189868185099008
+79,1.316666667,BASELINE,765,742.175300245,712,669.350600491,660,632.824699755,876.649399509,781.175300245,799,650,624.175300245,647,0.40094208091,-0.00538087097136,0.0598344114845,0.999999938869,0.000210831395223,-0.000278371644851,1.79177188462e-05,1793189868201765888
+80,1.333333333,BASELINE,765,742,711.586960489,669.413039511,660,632.586960489,876.586960489,781.413039511,799,650,624,647,0.400942476486,-0.00538130111862,0.0598346148265,0.999999939274,0.000209677073597,-0.000277776334529,1.80949178102e-05,1793189868218432768
+81,1.350000000,BASELINE,765,742,711.007814224,670,660,632,875.992185776,782,798.992185776,649.992185776,624.007814224,647,0.400942539695,-0.00538176779971,0.0598346281777,0.999999939631,0.000208058125334,-0.000277689956036,1.83699285701e-05,1793189868235099392
+82,1.366666667,BASELINE,765,742,711.583516412,670,660,632,875.416483588,782,798.416483588,649.416483588,624.583516412,647,0.400940864102,-0.00538143174646,0.0598335577112,0.999999939229,0.000207649532448,-0.00027946794895,1.79229534865e-05,1793189868251766528
+83,1.383333333,BASELINE,764.840989942,742,711.840989942,670,660,632,875.159010058,781.840989942,798,649,624.840989942,647,0.400940286275,-0.00538105879296,0.05983332251,0.999999939165,0.000207369295297,-0.000279925597247,1.75858897486e-05,1793189868268433408
+84,1.400000000,BASELINE,764.266041677,742,711.266041677,670,660,632,875.733958323,781.266041677,798,649,624.266041677,647,0.400942579982,-0.00538058931576,0.0598352721936,0.999999939989,0.000207424810752,-0.000276929490987,1.75363318033e-05,1793189868285100032
+85,1.416666667,BASELINE,764,742,711.317244769,670,660.317244769,632,876,781.317244769,798,649,624.317244769,647,0.40094291871,-0.00538141728887,0.0598356747995,0.999999940134,0.000207077635771,-0.000276645468881,1.78279401082e-05,1793189868301766912
+86,1.433333333,BASELINE,764,742,711.907712326,670,660.907712326,632,876,781.907712326,798,649,624.907712326,647,0.400941573737,-0.00538336267362,0.0598347450054,0.999999939697,0.000206383649069,-0.000278697192945,1.84133732592e-05,1793189868318433280
+87,1.450000000,BASELINE,764.488363772,742,712,670,661,632.488363772,876,782,798,649.488363772,625,647,0.400940826065,-0.00538321758223,0.0598337448323,0.999999939131,0.000207395536761,-0.000279991871065,1.81407323564e-05,1793189868335099648
+88,1.466666667,BASELINE,765,742,711.933166213,670,660.933166213,632.933166213,876,782,798,650,625,647,0.400940469247,-0.00538280962963,0.059833032221,0.999999938749,0.000208358682117,-0.00028066290163,1.77763703311e-05,1793189868351766272
+89,1.483333333,BASELINE,765,742,711.357460062,670,660.357460062,632.357460062,876,782,798,650,625,647,0.400942245906,-0.00538334884992,0.0598346083728,0.999999939963,0.000206544583018,-0.000277653287058,1.79239494866e-05,1793189868368432384
+90,1.500000000,BASELINE,765,742.222017622,711.222017622,670,660,632,875.777982378,781.777982378,798.222017622,650,624.777982378,647,0.40094338206,-0.00538368391986,0.0598357001812,0.999999940693,0.000205502436847,-0.000275781959132,1.80633904661e-05,1793189868385099008
+91,1.516666667,BASELINE,765,742.807672553,711.807672553,670,660,632,875.192327447,781.192327447,798.807672553,650,624.192327447,647,0.400943469143,-0.00538368461679,0.0598359986948,0.999999940647,0.000205724653943,-0.000275775003756,1.81895021091e-05,1793189868401765632
+92,1.533333333,BASELINE,765,742.610214147,712,670,660,632,875.389785853,781,799,650,624.389785853,647,0.40094471136,-0.00538321799617,0.059837020351,0.999999940836,0.000206684588771,-0.000274371682524,1.81831290117e-05,1793189868418432768
+93,1.550000000,BASELINE,765,742.029832565,712,670,660,632,875.970167435,781,799,650,624.970167435,647,0.400946518408,-0.00538252286872,0.0598383956061,0.999999941133,0.000208005249509,-0.000272285572612,1.81119741344e-05,1793189868435100160
+94,1.566666667,BASELINE,765,742,712,670,660,632,876,781.548058447,798.451941553,649.451941553,624.451941553,647,0.400944545438,-0.00538321928237,0.059836243051,0.999999940808,0.000205672691497,-0.000275241746978,1.80358239773e-05,1793189868451766528
+95,1.583333333,BASELINE,765,742,712,670,660,632,876,781.87453757,798,649,624.12546243,647,0.400942915922,-0.00538360057244,0.0598346842059,0.999999940436,0.000204341370597,-0.000277574823869,1.79998024485e-05,1793189868468432896
+96,1.600000000,BASELINE,765,742,712,670,660,632,876,781.298398116,798,649,624.701601884,647,0.400943255899,-0.00538257904027,0.0598359447178,0.999999940068,0.000207317706009,-0.00027668819382,1.81089003563e-05,1793189868485099264
+97,1.616666667,BASELINE,765,742,711.717151194,670,660,632.282848806,876,781.282848806,798.282848806,649.282848806,625,647,0.400943198163,-0.00538290871902,0.0598360533371,0.99999994004,0.000207765861307,-0.000276448386472,1.8138861536e-05,1793189868501765632
+98,1.633333333,BASELINE,765,742,711.130416975,670,660,632.869583025,876,781.869583025,798.869583025,649.869583025,625,647,0.400942713134,-0.00538469010376,0.0598349243929,0.999999940384,0.000205497805375,-0.000276903508691,1.80838002639e-05,1793189868518432256
+99,1.650000000,BASELINE,764.548972383,742,711.451027617,670,660,632.548972383,876,781.548972383,799,649.548972383,624.548972383,647,0.400942843013,-0.00538457040658,0.0598352462694,0.99999994043,0.000205354261294,-0.000276833218071,1.82699811928e-05,1793189868535098880
+100,1.666666667,BASELINE,764.030848004,742,712,670,660,632,876,781.030848004,799,649.030848004,624.030848004,647,0.40094316659,-0.00538390841768,0.0598359415833,0.999999940395,0.000205841536023,-0.000276581549339,1.84999584434e-05,1793189868551765504
+101,1.683333333,BASELINE,764.608675294,742,712,670,660,632,876,781.608675294,799,649.608675294,624.608675294,647,0.400943808528,-0.0053832649362,0.059835906148,0.999999940434,0.000206747739101,-0.000275776422508,1.82839637136e-05,1793189868568432384
+102,1.700000000,BASELINE,764.811537736,742,711.811537736,670,660,632,876,782,799,650,625,647,0.400943907424,-0.00538287408827,0.0598357318341,0.999999940345,0.000207327499288,-0.000275670427192,1.81867116164e-05,1793189868585099264
+103,1.716666667,BASELINE,764.227638985,742,711.227638985,670,660,632,876,782,799,650,625,647,0.400942866893,-0.00538301332281,0.0598352661214,0.999999939988,0.000207222308284,-0.000277031368149,1.83386084672e-05,1793189868601765632
+104,1.733333333,BASELINE,764.35365982,742,711.35365982,670,660,632,876.35365982,781.64634018,798.64634018,649.64634018,625,647,0.400942991898,-0.00538332437947,0.0598351472729,0.999999940311,0.000205886051248,-0.000276866565403,1.82841986456e-05,1793189868618432512
+105,1.750000000,BASELINE,764.933297396,742,711.933297396,670,660,632,876.933297396,781.066702604,798.066702604,649.066702604,625,647,0.400943861647,-0.00538374522519,0.0598352500598,0.999999941064,0.000203763180842,-0.000275726859456,1.80979652157e-05,1793189868635099904
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,742,711,670,660,632,877,782,798,649,625,648,0.400945374511,-0.00538265519516,0.059836007235,0.99999994045,0.000207276788325,-0.000275313547394,1.84230093583e-05,1793189868666979840
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,742,711.599017652,670,660,632,876.400982348,782,798,649.599017652,625,647.400982348,0.400944124205,-0.00538190171449,0.0598361472195,0.999999939854,0.000209235238123,-0.000275999060361,1.83707495911e-05,1793189868683646464
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.806568701,742,712,670,660,632,876,782,798,649.806568701,625,647,0.400943065512,-0.00538166603332,0.0598359341312,0.999999939672,0.000209224426346,-0.000276678728029,1.81690969084e-05,1793189868700312832
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.221477147,742,712,670,660,632,876,782,798,649.221477147,625,647,0.400942394799,-0.00538247879391,0.05983500614,0.999999940325,0.000205226248372,-0.000277346560237,1.76649530076e-05,1793189868716979712
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,670,660,632,876,781.638673656,798,649.361326344,625,647,0.400942396457,-0.0053833273829,0.0598342796365,0.999999940261,0.000205121297667,-0.000277646611525,1.77736535924e-05,1793189868733646080
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,670,660,632,876,781.057263856,798,649.942736144,625,647,0.400942807654,-0.00538419779488,0.0598336758588,0.999999939764,0.000207387707402,-0.000277722647842,1.82556370706e-05,1793189868750312192
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.521455529,742,712,670.521455529,660,632,876,781,798,649.478544471,625,647,0.400943278872,-0.00538417636296,0.0598346611152,0.99999993985,0.000207490455711,-0.000277347314719,1.80506245727e-05,1793189868766979328
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.900532677,742,712,670.900532677,660.099467323,632,876.099467323,781,798,649.099467323,625,647,0.400944546035,-0.00538386810693,0.0598361286069,0.999999940156,0.00020748864085,-0.000276257046271,1.78709602224e-05,1793189868783645952
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.324502795,742,712,670.324502795,660.675497205,632,876.675497205,781,798,649.675497205,625,647,0.400949595271,-0.00538265246218,0.0598390747928,0.999999941192,0.000208118397877,-0.000271977682994,1.81723445294e-05,1793189868800312320
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.255765068,742.255765068,712,670,660.744234932,632.255765068,876.744234932,781.255765068,798.255765068,649.744234932,625,647,0.400958156022,-0.00538267963045,0.0598428998662,0.99999994293,0.000208286910038,-0.00026535477462,1.85349540517e-05,1793189868816978688
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.841500435,742.841500435,712,670,660.158499565,632.841500435,876.158499565,781.841500435,798.841500435,649.158499565,625,647,0.400971247085,-0.00538431018972,0.0598478588187,0.999999945524,0.000207860356101,-0.000255708387707,1.89765520633e-05,1793189868833645312
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,742.575016191,712,670,660,632.575016191,876,782,798.575016191,649,625,647,0.401003934379,-0.00538515115133,0.059861141169,0.999999951494,0.000207618890534,-0.000231341504685,1.96839199496e-05,1793189868850311936
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,742,712,670,660.007530708,632,875.992469292,782,798.007530708,649,625,647,0.401044191411,-0.00538574182865,0.059877554327,0.999999957991,0.000207407790906,-0.00020144211009,2.04964445787e-05,1793189868866978816
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,742,712,670,660.582463265,632,875.417536735,782,798.582463265,649,625,647,0.401107033866,-0.00538954577074,0.0598972014188,0.999999965085,0.000204311008525,-0.000166165011825,2.18031671345e-05,1793189868883645440
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,742,712,670,660.844096815,632,875.155903185,781.844096815,798.844096815,649.155903185,625,647,0.401172668267,-0.00539263574248,0.0599142657516,0.999999969795,0.000202317219011,-0.000137672822306,2.28770201453e-05,1793189868900312064
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,742,712,670,660.274616408,632,875.725383592,781.274616408,798.274616408,649.725383592,625,647,0.401245709103,-0.00539383170709,0.0599244785913,0.999999970985,0.000203249429425,-0.000127179511813,2.33331212809e-05,1793189868916978688
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.690617131,742.309382869,711.690617131,670,660,632,876,781,798.618765738,649.690617131,624.690617131,647,0.401327309856,-0.00539578434174,0.0599304782806,0.999999972321,0.000201969120118,-0.000118500769926,2.28934441479e-05,1793189868933645056
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.093095996,742.906904004,711.093095996,670,660,632,876,781,799.813808009,649.093095996,624.093095996,647,0.401416882733,-0.00539844168757,0.0599325541262,0.999999973822,0.000198628219622,-0.000111511995074,2.16194997297e-05,1793189868950311680
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.486307599,742.513692401,711,670,660,632.486307599,876.486307599,781,799.027384801,649.486307599,624,647,0.401528473665,-0.00540254823583,0.0599363794468,0.999999974991,0.000196375607548,-0.000104977094229,2.08588387272e-05,1793189868966978560
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.937625215,742,711.062374785,670,660,632.937625215,876.937625215,781,798,649.937625215,624.062374785,647,0.401646553056,-0.00540675054046,0.0599400424332,0.99999997605,0.000194251358826,-9.88175056958e-05,2.00307074405e-05,1793189868983645184
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.361497565,742,711.638502435,670,660,632.361497565,876.361497565,781,798,649.361497565,624.638502435,647,0.401784604748,-0.00540953857734,0.0599397089238,0.99999997698,0.000191530045812,-9.5059249079e-05,1.78665986957e-05,1793189869000312064
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.213294161,742,711.786705839,670,660,632.213294161,876,781.213294161,798,649,625,647,0.401936433376,-0.0054133129013,0.0599402659722,0.999999978105,0.000188430528096,-8.96246290822e-05,1.58357121884e-05,1793189869016979200
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.785835759,742,711.214164241,670,660,632.785835759,876,781.785835759,798,649,625,647,0.402111466229,-0.0054187484102,0.0599423229707,0.999999979535,0.00018469400742,-8.13665414335e-05,1.40292096654e-05,1793189869033646336
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.626675097,742,711.373324903,670.373324903,660,632.626675097,876.373324903,782,798,649,625,647,0.402311445166,-0.00542464941803,0.0599433864028,0.999999981393,0.000177508501824,-7.46741030573e-05,1.13645643186e-05,1793189869050312960
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.030253327,742,711.969746673,670.969746673,660,632.030253327,876.969746673,782,798,649,625,647,0.40252633176,-0.00543082860592,0.0599438560853,0.999999983436,0.000168261901828,-6.89172871021e-05,8.18709746292e-06,1793189869066979072
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.089158409,742,712,670.455420796,660.544579204,632,876.455420796,781.455420796,798,649.544579204,625,647,0.402774247786,-0.00543733463099,0.0599445672981,0.99999998486,0.00016231041459,-6.25418619699e-05,4.97007216361e-06,1793189869083646720
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.762504126,742,712,670,660.881252063,632,876,781,798.118747937,649.881252063,625,647,0.403031373827,-0.00544392896844,0.0599456519279,0.999999986242,0.000156049834547,-5.62271001024e-05,1.75202117824e-06,1793189869100314112
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.610393604,742,712,670,660.305196802,632,876,781,798.694803198,649.305196802,625,647,0.403317171513,-0.00545079614795,0.0599481249121,0.999999987795,0.000147920834701,-5.02732544943e-05,-1.46184028149e-06,1793189869116980480
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.278142148,742,712,670,660,632.278142148,876,781,798.721857852,649.278142148,625,646.721857852,0.403613297869,-0.00545997895516,0.0599415194653,0.999999988954,0.000135727871063,-6.032388759e-05,-5.50779100783e-06,1793189869133647360
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.869688149,742,712,670,660,632.869688149,876,781,798.130311851,649.869688149,625,646.130311851,0.403921062304,-0.0054717709553,0.0599246846615,0.999999988962,0.000118955731615,-8.84079808857e-05,-1.04913196175e-05,1793189869150313728
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,742,712,670,660,632.549179936,876,781,798,649.549179936,625,646.450820064,0.404260382715,-0.00547959542471,0.0599128954678,0.999999987884,0.000109823567606,-0.000109223780598,-1.55275711453e-05,1793189869166980096
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,742,712,669.971141925,660,632,876,781,798.028858075,649,624.971141925,647,0.404611036466,-0.0054864155218,0.0599026419933,0.999999986354,0.000102612083712,-0.000127826404666,-2.0585724929e-05,1793189869183645952
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,742,712,669.395974208,660,632,876,781,798.604025792,649,624.395974208,647,0.40500746285,-0.00549544237243,0.0598944745084,0.999999985254,9.08982284012e-05,-0.00014340624776,-2.5776519938e-05,1793189869200312320
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,742,711.820416078,669.179583922,660.179583922,632.179583922,876,781,799,649,624.179583922,647,0.405428239807,-0.00550415629832,0.0598940502003,0.999999985685,8.02777588798e-05,-0.00014582710031,-3.03334131995e-05,1793189869216978688
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,742,711.24399531,669.75600469,660.75600469,632.75600469,876,781,799,649,624.75600469,647,0.405902825562,-0.00551217873536,0.059910736433,0.999999989741,7.20734079568e-05,-0.000119169777921,-3.34895368848e-05,1793189869233645312
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,742,711,670,660.65910111,632.65910111,876,781,798.65910111,649.34089889,625,647,0.406420101612,-0.00551440514457,0.0599361567628,0.999999996523,1.66924055464e-06,-7.57431492277e-05,-3.48566781542e-05,1793189869250311936
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,742,711,670,660.067987477,632.067987477,876,781,798.067987477,649.932012523,625,647,0.406968711756,-0.00551237735595,0.0599679877924,0.999999992648,-0.000114388673087,-2.00080939622e-05,-3.49107326807e-05,1793189869266978560
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+144,2.400000000,POSE1_TO_POSE2_PRESS,764.086803794,742.913196206,711.086803794,669.913196206,661,632,876.913196206,781,798.913196206,649.913196206,625,647,0.408054080709,-0.00552135322673,0.059987507116,0.999999990417,-0.00013329232608,-3.35947457929e-06,-3.72623467099e-05,1793189869300312064
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+146,2.433333333,POSE1_TO_POSE2_PRESS,765,742,712,669.242363593,661,632,876,781,798,649,625,647,0.409170489828,-0.00555262965393,0.0599595241968,0.999999991575,-0.000103260537589,-7.1166960668e-05,-3.3502507744e-05,1793189869333645824
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,742,712,669.832640513,661,632,876,781,798,649,625,647,0.409764761069,-0.00555145332764,0.0599492907138,0.999999995587,-1.73789966929e-06,-9.30304164635e-05,-1.29759885604e-05,1793189869350312192
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.586638584,742,711.586638584,670,661,632,876.413361416,781,798,649,625,647,0.41044055391,-0.00554444114321,0.0599564764986,0.99999999747,1.06285240599e-05,-6.91677270611e-05,-1.27537972106e-05,1793189869366978816
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+150,2.500000000,POSE1_TO_POSE2_PRESS,764.568023141,742,711.568023141,670,660.431976859,632,876.431976859,781.568023141,798.568023141,649,624.431976859,646.431976859,0.411832218951,-0.00553601406569,0.059965105258,0.999999998732,-1.60359625254e-05,-4.13678864777e-05,-2.38121048498e-05,1793189869400312064
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,742,712,670,660.147819933,632,876.147819933,781.852180067,798.852180067,649.147819933,624.147819933,646.147819933,0.412504918154,-0.00553708968103,0.059952153752,0.999999997053,-1.84635205607e-05,-6.95285903328e-05,-2.68090544785e-05,1793189869416978688
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,742,712,670,660.733724683,632,876.733724683,781.266275317,798.266275317,649.733724683,624.733724683,646.733724683,0.413146514248,-0.00553818432739,0.0599179609969,0.999999990115,-1.79446429924e-05,-0.000136344920647,-2.93006998167e-05,1793189869433645312
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+154,2.566666667,POSE1_TO_POSE2_PRESS,764.105075289,742.894924711,712,670,661,632,877,781,798.894924711,650,625,647,0.414616329097,-0.00554407750931,0.0598960393842,0.999999983749,-3.7565612618e-05,-0.000173329890635,-3.23697835941e-05,1793189869466978816
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+157,2.616666667,POSE1_TO_POSE2_PRESS,765,742,711.6240911,670.6240911,662,632,876,781,798.3759089,649,624,647,0.417139576883,-0.00554789831182,0.0600043160983,0.999999999128,-2.86451794783e-05,1.36394066848e-05,-2.71629221783e-05,1793189869516978944
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+159,2.650000000,POSE1_TO_POSE2_PRESS,764.206567591,742,712,671,661.206567591,632,876.793432409,781.793432409,799.586864819,649.793432409,624,646.206567591,0.418712405387,-0.00554374213119,0.0599755948129,0.9999999985,-3.34531827408e-05,-2.92686715826e-05,-3.19880684902e-05,1793189869550311680
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+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.042716352,712,671.957283648,662,632,877.957283648,781,798.042716352,649.042716352,624.957283648,646.957283648,0.439979950843,-0.00557433303691,0.0599568275545,0.999999993513,-8.03613826551e-05,-6.73915258002e-05,-4.44359688499e-05,1793189870016978688
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diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c296904a7f50c33aa307aa53d1b070f76ab4450c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,397 @@
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+348,5.800000000,pose2_to_pose3_retreat,0.577215594465,0.000219665228296,1.0500285844,0.547786004597,0.00889137319625,1.04969957764
+349,5.816666667,pose2_to_pose3_retreat,0.577000279684,0.000219626098103,1.05002821963,0.547570692173,0.00889134259271,1.04969922686
+350,5.833333333,pose2_to_pose3_retreat,0.576800997019,0.00021966044481,1.05002832939,0.547371408953,0.0088913749697,1.04969933428
+351,5.850000000,pose2_to_pose3_retreat,0.57662236342,0.000219728190728,1.05002835871,0.547192772165,0.0088914317743,1.0496993605
+352,5.866666667,pose2_to_pose3_retreat,0.576464509342,0.000219623418747,1.05002841683,0.547034921775,0.00889133996608,1.0496994305
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+354,5.900000000,pose2_to_pose3_retreat,0.576213561677,0.000219760432134,1.05002810484,0.546783972002,0.00889146954573,1.04969911129
+355,5.916666667,pose2_to_pose3_retreat,0.576116671937,0.000219773532298,1.05002836212,0.546687081999,0.00889148134131,1.04969935883
+356,5.933333333,pose2_to_pose3_retreat,0.576033247649,0.000219677214047,1.05002825891,0.546603657847,0.00889138548211,1.04969925531
+357,5.950000000,pose2_to_pose3_retreat,0.575962290409,0.000219762071994,1.05002843479,0.546532701541,0.00889147389264,1.04969944118
+358,5.966666667,pose2_to_pose3_retreat,0.575903243777,0.000219882815743,1.05002835084,0.546473653033,0.00889158823312,1.04969935622
+359,5.983333333,pose2_to_pose3_retreat,0.575854815332,0.000219746012051,1.05002836404,0.546425226543,0.00889145782603,1.04969936319
+360,6.000000000,pose2_to_pose3_retreat,0.575815987077,0.000219637325547,1.05002809298,0.546386399608,0.00889135408474,1.0496991047
+361,6.016666667,pose2_to_pose3_retreat,0.575786212227,0.000219574466467,1.05002832469,0.546356624626,0.00889129031955,1.04969932407
+362,6.033333333,pose2_to_pose3_retreat,0.575765060106,0.000219618328944,1.05002832998,0.546335472273,0.00889133354848,1.04969933363
+363,6.050000000,pose2_to_pose3_retreat,0.575750228777,0.000219642708605,1.05002832365,0.54632064046,0.00889135642599,1.04969933043
+364,6.066666667,pose2_to_pose3_retreat,0.575741131306,0.000219633939031,1.05002839569,0.546311543221,0.00889134837059,1.04969940051
+365,6.083333333,pose2_to_pose3_retreat,0.575735923824,0.000219619963583,1.05002846812,0.546306336121,0.00889133558024,1.04969947023
+366,6.100000000,pose2_to_pose3_retreat,0.575732783038,0.000219620543774,1.0500284714,0.546303195296,0.00889133599392,1.04969947252
+367,6.116666667,pose2_to_pose3_retreat,0.575730613328,0.00021962094458,1.05002847366,0.546301025559,0.0088913362797,1.04969947411
+368,6.133333333,pose2_to_pose3_retreat,0.575729182226,0.000219621723025,1.05002847494,0.546299594434,0.00889133696478,1.04969947498
+369,6.150000000,pose2_to_pose3_retreat,0.575728674258,0.000219625313677,1.05002847399,0.546299086422,0.00889134040951,1.04969947415
+370,6.166666667,pose2_to_pose3_retreat,0.575727986503,0.000219630175192,1.05002847271,0.546298398606,0.00889134507346,1.04969947303
+371,6.183333333,pose2_to_pose3_retreat,0.575727389593,0.000219634394551,1.05002847159,0.546297801644,0.00889134912135,1.04969947205
+372,6.200000000,pose2_to_pose3_retreat,0.575727275862,0.000219635198473,1.05002847138,0.546297687904,0.0088913498926,1.04969947187
+373,6.216666667,pose2_to_pose3_retreat,0.575727250951,0.000219635374563,1.05002847134,0.54629766299,0.00889135006153,1.04969947183
+374,6.233333333,pose2_to_pose3_retreat,0.575726714792,0.000219639164492,1.05002847034,0.546297126785,0.00889135369744,1.04969947095
+375,6.250000000,pose2_to_pose3_retreat,0.575726623533,0.000219639809577,1.05002847016,0.546297035517,0.00889135431631,1.0496994708
+376,6.266666667,pose2_to_pose3_retreat,0.575726369108,0.000219641608017,1.05002846969,0.546296781071,0.00889135604166,1.04969947039
+377,6.283333333,pose2_to_pose3_retreat,0.575726179998,0.000219642944777,1.05002846934,0.546296591943,0.0088913573241,1.04969947008
+378,6.300000000,pose2_to_pose3_retreat,0.575726105434,0.000219643471843,1.0500284692,0.546296517373,0.00889135782975,1.04969946996
+379,6.316666667,pose2_to_pose3_retreat,0.575725907539,0.000219644870699,1.05002846883,0.546296319461,0.00889135917175,1.04969946963
+380,6.333333333,pose2_to_pose3_retreat,0.575725755052,0.000219645948577,1.05002846854,0.546296166961,0.00889136020583,1.04969946938
+381,6.350000000,pose2_to_pose3_retreat,0.575725673191,0.000219646527228,1.05002846839,0.546296085092,0.00889136076096,1.04969946925
+382,6.366666667,pose2_to_pose3_retreat,0.575725485523,0.000219647853788,1.05002846804,0.546295897408,0.00889136203361,1.04969946894
+383,6.383333333,pose2_to_pose3_retreat,0.575725170238,0.000219646499429,1.05002843731,0.546295581893,0.00889135989299,1.04969943809
+384,6.400000000,pose2_to_pose3_retreat,0.575724787815,0.000219643550558,1.05002838905,0.546295199117,0.00889135573683,1.0496993896
+385,6.416666667,pose2_to_pose3_retreat,0.575724473546,0.00021964112722,1.0500283494,0.546294884557,0.00889135232135,1.04969934976
+386,6.433333333,pose2_to_pose3_retreat,0.575724211829,0.000219639109116,1.05002831637,0.546294622598,0.00889134947702,1.04969931658
+387,6.450000000,pose2_to_pose3_retreat,0.575724168416,0.000219638774354,1.05002831089,0.546294579145,0.0088913490052,1.04969931107
+388,6.466666667,pose2_to_pose3_retreat,0.575723780999,0.000219635786974,1.050028262,0.54629419137,0.00889134479476,1.04969926195
+389,6.483333333,pose2_to_pose3_retreat,0.575723432848,0.000219650756173,1.05002827203,0.546293842849,0.00889135843056,1.04969926996
+390,6.500000000,pose2_to_pose3_retreat,0.575723096359,0.0002196842857,1.05002833998,0.546293505949,0.00889139041836,1.04969933402
+391,6.516666667,pose2_to_pose3_retreat,0.575722839108,0.000219666890432,1.05002838238,0.54629324918,0.00889137458109,1.0496993744
+392,6.533333333,pose2_to_pose3_retreat,0.575722723492,0.000219566811667,1.05002838093,0.546293135487,0.00889128107036,1.04969937411
+393,6.550000000,pose2_to_pose3_retreat,0.575722672814,0.000219522943637,1.0500283803,0.546293085651,0.00889124008133,1.04969937399
+394,6.566666667,pose2_to_pose3_retreat,0.575722609473,0.00021947320818,1.05002837759,0.54629302314,0.00889119319997,1.04969937223
+395,6.583333333,pose2_to_pose3_retreat,0.575722611005,0.000219504307116,1.05002836635,0.546293023344,0.00889121986158,1.04969936286
diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c94b948c3b95d8c03fc8086ca8635e721a671140
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d2ebab6bcc32994230d0314b2a23c51c92a4dd181bd74e974bdee29a74ebb31
+size 25274551
diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e8afbe9d12b504af3bb81091a91d47e72fbaf17f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_04/franka_data.csv
@@ -0,0 +1,400 @@
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+30,0.500000000,BASELINE,764,742.588217146,712,670,660.411782854,632,876,781,798.588217146,649,625.588217146,647,0.400942828381,-0.00538604776307,0.0598350327795,0.999999939387,0.000208971363353,-0.000277969952731,1.70165058663e-05,1793189874134853632
+31,0.516666667,BASELINE,764,742.01229002,712,670,660.98770998,632,876,781,798.01229002,649,625.01229002,647,0.400942033428,-0.00538596824251,0.0598349333769,0.999999939032,0.000209088985955,-0.000279153198058,1.70456746514e-05,1793189874151520256
+32,0.533333333,BASELINE,764,742,711.423005552,670,660.423005552,632,876,781,798.576994448,649,625,647,0.40094272494,-0.00538640563922,0.0598349728167,0.999999939486,0.000207571940223,-0.000278674479376,1.68157083703e-05,1793189874168186880
+33,0.550000000,BASELINE,764.16190197,742,711.16190197,669.83809803,660,632,876,781,798.83809803,649,625,647,0.40094354597,-0.00538660636045,0.0598353471683,0.999999939862,0.000206822625988,-0.000277883997682,1.67315657788e-05,1793189874184853760
+34,0.566666667,BASELINE,764.734954492,742,711.734954492,669.265045508,660,632,876,781,798.265045508,649,625,647,0.400944613597,-0.00538617742001,0.0598365643411,0.999999940003,0.000208113485756,-0.00027639382166,1.70320921416e-05,1793189874201520640
+35,0.583333333,BASELINE,764.687529771,742,712,669.312470229,660,632,876,781,798,649,625,647,0.400945283813,-0.00538636359421,0.0598368052206,0.999999940182,0.000208027867301,-0.000275804912808,1.71118384869e-05,1793189874218187264
+36,0.600000000,BASELINE,764.106173294,742,712,669.893826706,660,632,876,781,798,649,625,647,0.40094561205,-0.00538707908557,0.0598362059823,0.999999940395,0.00020675776474,-0.000275991560392,1.70015996923e-05,1793189874234853888
+37,0.616666667,BASELINE,764,742,712,670,660,632,876,781,798,649,625,647,0.40094419079,-0.00538697940531,0.0598351705807,0.999999939677,0.00020787744092,-0.00027774713234,1.70199807403e-05,1793189874251520256
+38,0.633333333,BASELINE,764,742,711.963142235,670,660,632,876,781.036857765,798.036857765,649.036857765,625,647,0.400942559766,-0.00538662365116,0.0598342057279,0.999999938816,0.000209525838497,-0.000279600479813,1.70667162559e-05,1793189874268187136
+39,0.650000000,BASELINE,764,742,711.366267134,670,660,632,876,781.633732866,798.633732866,649.633732866,625,647,0.40094368094,-0.00538514453126,0.0598357935247,0.999999939039,0.000211094582534,-0.000277613094013,1.71076187324e-05,1793189874284853760
+40,0.666666667,BASELINE,764,742,711.222926593,669.777073407,660,632,876,781.777073407,799,649.777073407,625,647,0.40094415839,-0.00538529397392,0.0598366264922,0.999999939425,0.000210561982129,-0.000276618025625,1.71910651481e-05,1793189874301520384
+41,0.683333333,BASELINE,764,742,711.799920209,669.200079791,660,632,876,781.200079791,799,649.200079791,625,647,0.400943613435,-0.00538803000932,0.0598362605892,0.999999940069,0.000206691884923,-0.000277199022673,1.73420827097e-05,1793189874318187008
+42,0.700000000,BASELINE,764,742,712,669.374004635,660.374004635,632,876,781.374004635,799,649.374004635,625,647,0.400943831448,-0.00538818756135,0.059836020004,0.999999940157,0.000206280900275,-0.000277196460443,1.72027620073e-05,1793189874334853632
+43,0.716666667,BASELINE,764,742,712,669.946544737,660.946544737,632,876,781.946544737,799,649.946544737,625,647,0.400944454472,-0.00538697635911,0.0598358459422,0.999999939954,0.000207706140398,-0.000276884123388,1.69093190312e-05,1793189874351520256
+44,0.733333333,BASELINE,764,742,711.464574932,670,660.464574932,632,876,782,799,649.464574932,625,647,0.400943601706,-0.00538585567113,0.059835000003,0.99999993934,0.000208898375968,-0.000278209424945,1.67717294892e-05,1793189874368186880
+45,0.750000000,BASELINE,764,742,711.12353512,670,660,632,876,781.87646488,798.87646488,649.12353512,625,647,0.400943190931,-0.00538521470294,0.0598346099167,0.99999993899,0.000209884563163,-0.000278725260743,1.67462929204e-05,1793189874384854016
+46,0.766666667,BASELINE,764,742,711.702599745,670,660,632,876,781.297400255,798.297400255,649.702599745,625,647,0.400944970383,-0.00538630830625,0.059836155899,0.999999939775,0.000210199436607,-0.000275634366928,1.7075232123e-05,1793189874401520640
+47,0.783333333,BASELINE,764,742,711.719131019,670,660,632,876,781,798,649.719131019,624.719131019,646.719131019,0.400945446787,-0.00538681828671,0.0598368390688,0.999999940111,0.000209862017914,-0.000274660510787,1.72519965651e-05,1793189874418187264
+48,0.800000000,BASELINE,764,742,711.141701538,670,660,632,876,781,798,649.141701538,624.141701538,646.141701538,0.400944547345,-0.00538671203877,0.0598366112227,0.999999939978,0.000208835865027,-0.000275921966079,1.72680846255e-05,1793189874434854144
+49,0.816666667,BASELINE,764,742,711.432086453,670,660,632,876,781,798,649,624.432086453,646.432086453,0.400944069312,-0.00538680995052,0.0598361794604,0.999999939751,0.000208972976963,-0.00027664650337,1.7182785597e-05,1793189874451520512
+50,0.833333333,BASELINE,764,742,711.995145723,670,660,632,876,781,798.004854277,649.004854277,625,647,0.40094373968,-0.00538698051522,0.0598356894725,0.999999939499,0.000209469816478,-0.000277187729657,1.7066592579e-05,1793189874468186880
+51,0.850000000,BASELINE,764,742,711.402507308,670,660,632,876,781,798.597492692,649.597492692,625,647,0.400944785142,-0.00538790894334,0.059836178977,0.999999940004,0.00020771765445,-0.000276675294718,1.72019842358e-05,1793189874484853504
+52,0.866666667,BASELINE,764,742,711,670,660,632,876,781,799.185738521,650,625,647,0.400945117055,-0.00538861055808,0.0598362458146,0.999999940341,0.000206222793665,-0.000276571434763,1.72539465307e-05,1793189874501520384
+53,0.883333333,BASELINE,764,742,711,670,660,632,876,781,799.764685218,650,625,647,0.400943938385,-0.00538883200914,0.0598354178667,0.999999940328,0.000205272639344,-0.00027733252748,1.71292889803e-05,1793189874518187008
+54,0.900000000,BASELINE,764,742,711,670,660.340445427,632,876,781,799.659554573,649.659554573,625,647,0.400943579882,-0.00538738448525,0.0598353275076,0.999999940035,0.000206450661941,-0.000277525850189,1.6971411753e-05,1793189874534853632
+55,0.916666667,BASELINE,764,742,711,670,660.914023544,632,876,781,799.085976456,649.085976456,625,647,0.400943783019,-0.00538479406855,0.0598357422397,0.999999939544,0.000209086033018,-0.000277330371195,1.6790786119e-05,1793189874551520256
+56,0.933333333,BASELINE,764.489371153,742,711.489371153,669.510628847,660.510628847,632,876,781,799,649,625,647,0.400943809802,-0.00538662663672,0.0598357805998,0.999999939949,0.000207311842225,-0.000277201060579,1.68256781435e-05,1793189874568186880
+57,0.950000000,BASELINE,765,742.066881614,712,669.066881614,660,632,876,781,798.933118386,649,625,647,0.400943740915,-0.00538885644527,0.05983565684,0.999999940398,0.000205109047733,-0.000277218075082,1.68815096947e-05,1793189874584853760
+58,0.966666667,BASELINE,765,742.658924802,712,669.658924802,660,632,876,781,798.341075198,649,625,647,0.40094316498,-0.00538808169661,0.0598347811937,0.99999993999,0.000205645957875,-0.000278292438418,1.68033711852e-05,1793189874601520384
+59,0.983333333,BASELINE,764.765040828,742.765040828,711.765040828,669.765040828,660,632.234959172,876,781.234959172,798,649.234959172,624.765040828,647,0.400943551937,-0.00538701900043,0.0598348457676,0.999999939738,0.000207117638299,-0.000278110531257,1.67614009432e-05,1793189874618187008
+60,1.000000000,BASELINE,764.210762983,742.210762983,711.210762983,669.210762983,660,632.789237017,876,781.789237017,798,649.789237017,624.210762983,647,0.400945247501,-0.00538556497223,0.0598361881375,0.99999993969,0.000209859708045,-0.000276221303672,1.67685847751e-05,1793189874634853632
+61,1.016666667,BASELINE,764.371487709,742,711,669.371487709,660,632.628512291,876.371487709,781.628512291,798,649.628512291,624.371487709,647,0.400945679596,-0.00538533818371,0.0598366190526,0.999999939895,0.000209820751221,-0.000275504709109,1.68336783522e-05,1793189874651520512
+62,1.033333333,BASELINE,764.970901058,742,711,669.970901058,660,632.029098942,876.970901058,781.029098942,798,649.029098942,624.970901058,647,0.400945336492,-0.00538586436606,0.0598364907461,0.999999940257,0.000208075500197,-0.00027550758162,1.6934302353e-05,1793189874668187392
+63,1.050000000,BASELINE,765,742,711.548725211,670,660,632,876.451274789,781,798,649,625,647,0.400943314913,-0.00538597388192,0.0598350117132,0.99999993922,0.000209672848328,-0.000278059616714,1.67264459552e-05,1793189874684853760
+64,1.066666667,BASELINE,764.870501978,742,712,670,660.129498022,632,876,781.129498022,798,649,624.870501978,647,0.400942087604,-0.00538602257475,0.0598342629368,0.999999938525,0.000211078618381,-0.000279502204542,1.65760512564e-05,1793189874701520384
+65,1.083333333,BASELINE,764.275159382,742,712,670,660.724840618,632,876,781.724840618,798,649,624.275159382,647,0.400944025607,-0.00538592894503,0.0598363890374,0.99999993934,0.000211181707733,-0.000276485882005,1.66889839336e-05,1793189874718187008
+66,1.100000000,BASELINE,764,742,712,670,660.691134775,632,876,782,798.308865225,649.308865225,624,647,0.400944921083,-0.00538677372488,0.0598371280885,0.999999939883,0.000210025848718,-0.000275382781728,1.69654256996e-05,1793189874734853632
+67,1.116666667,BASELINE,764,742,712,670,660.116836664,632,876,782,798.883163336,649.883163336,624,647,0.400944920632,-0.00538842495604,0.0598366751354,0.999999940194,0.000207788073472,-0.000275923868343,1.73823840535e-05,1793189874751520000
+68,1.133333333,BASELINE,764,742,711.542014936,670,660.457985064,632,875.542014936,781.542014936,798.542014936,649.542014936,624.457985064,647,0.400944521699,-0.00538754394134,0.0598363428287,0.999999940181,0.00020731263312,-0.000276346096708,1.70875467007e-05,1793189874768186624
+69,1.150000000,BASELINE,764.03379776,742,711.03379776,670,660.96620224,632.03379776,875.03379776,781.03379776,798,649,625,647,0.400944032119,-0.00538614043758,0.0598360335419,0.999999940077,0.000207314296045,-0.00027674681201,1.66471621367e-05,1793189874784853504
+70,1.166666667,BASELINE,764.623714961,742,711.623714961,670,660.376285039,632.623714961,875.623714961,781.623714961,798,649,625,647,0.400943725614,-0.00538678142112,0.0598355960188,0.999999939831,0.000207760210252,-0.000277293042292,1.68031979562e-05,1793189874801520384
+71,1.183333333,BASELINE,765,742,711.790605167,670,660,632.790605167,876,781.790605167,798,649,625,647,0.40094336107,-0.00538755944049,0.0598353285326,0.999999939671,0.000207892789516,-0.000277754275488,1.70509489239e-05,1793189874818187008
+72,1.200000000,BASELINE,765,742,711.212388699,670,660,632.212388699,876,781.212388699,798,649,625,647,0.400942894301,-0.00538857883068,0.0598353605441,0.999999939665,0.000207473470303,-0.000278065797519,1.74602441658e-05,1793189874834853632
+73,1.216666667,BASELINE,765,742,711.363461107,670,660,632,876,781,798.363461107,649,625,647,0.400943170963,-0.00538846069827,0.0598360137958,0.999999939673,0.000208365970495,-0.000277366206583,1.74955641816e-05,1793189874851520256
+74,1.233333333,BASELINE,765,742,711.937936865,670,660,632,876,781,798.937936865,649,625,647,0.400943879237,-0.0053876821542,0.0598370277211,0.999999939686,0.000210020073837,-0.000276079593672,1.73137653379e-05,1793189874868186880
+75,1.250000000,BASELINE,765,742,711.473165844,670,660,632,876,781,798.473165844,649,625,647,0.400944636237,-0.00538741836691,0.0598368463106,0.999999940234,0.000207611779012,-0.000275921172766,1.72033825662e-05,1793189874884853760
+76,1.266666667,BASELINE,764.885289024,742,711.114710976,670.114710976,660,632,876,781.114710976,798,649,625,647,0.400945311082,-0.00538732559948,0.0598367440665,0.99999994075,0.000205347787248,-0.000275754306253,1.70546816196e-05,1793189874901520384
+77,1.283333333,BASELINE,764.308557644,742,711.691442356,670.691442356,660,632,876,781.691442356,798,649,625,647,0.400945631265,-0.00538767053251,0.0598375438032,0.999999940902,0.000205646770588,-0.00027500305556,1.67168078685e-05,1793189874918187264
+78,1.300000000,BASELINE,764.268438813,742,711.731561187,670.731561187,660,632,876,781.731561187,798,649,625,647,0.400945906081,-0.00538800575163,0.0598380373395,0.999999941013,0.00020595945813,-0.000274356906466,1.68339822547e-05,1793189874934854144
+79,1.316666667,BASELINE,764.845740227,742,711.154259773,670.154259773,660,632,876,781.154259773,798,649,625,647,0.400946128696,-0.00538832979398,0.059838178565,0.999999941078,0.00020628791355,-0.000273831686114,1.74747297994e-05,1793189874951521024
+80,1.333333333,BASELINE,764.578101889,742,711.421898111,670,660,632,875.578101889,781,798,649,625,647,0.400945342053,-0.00538877714324,0.0598371560831,0.999999941005,0.000205500898904,-0.000274702214464,1.72482749743e-05,1793189874968188160
+81,1.350000000,BASELINE,764.002360941,742,711.997639059,670,660,632,875.002360941,781,798,649,625,647,0.400944187389,-0.00538926945571,0.0598357092617,0.999999940879,0.000204307134228,-0.000276081694897,1.67055996027e-05,1793189874984855296
+82,1.366666667,BASELINE,764,742,711.410972624,670,660,632,875.589027376,781.589027376,798.589027376,649.589027376,625,647,0.400944001964,-0.0053885726499,0.0598357903826,0.999999940161,0.000207064719109,-0.000276606522128,1.70487462977e-05,1793189875001522176
+83,1.383333333,BASELINE,764,742,711.176003963,670,660.176003963,632,876,781.823996037,799,650,625,647,0.400943905078,-0.0053880658479,0.0598359199051,0.999999939738,0.00020864340084,-0.000276934554695,1.72800613504e-05,1793189875018188544
+84,1.400000000,BASELINE,764,742,711.752787969,670,660.752787969,632,876,781.247212031,799,650,625,647,0.400944000716,-0.00538800285436,0.0598361453169,0.999999940008,0.000207500544669,-0.00027682247804,1.72484181058e-05,1793189875034855168
+85,1.416666667,BASELINE,764,742,712,670,660.672440459,632,876,781.327559541,799,649.672440459,625,647,0.400944812349,-0.00538838393299,0.0598363266982,0.999999940366,0.000206423009235,-0.000276334829562,1.71968852069e-05,1793189875051521536
+86,1.433333333,BASELINE,764,742,712,670,660.099178448,632,876,781.900821552,799,649.099178448,625,647,0.400946161049,-0.00538909811025,0.0598364750522,0.999999940792,0.000205394470966,-0.000275565464599,1.71304330765e-05,1793189875068187392
+87,1.450000000,BASELINE,764.48928619,742,712,670,660,632,876,781.51071381,798.51071381,649,624.51071381,647,0.400945400098,-0.00538844946889,0.0598361129319,0.999999940498,0.000206864145198,-0.00027553683081,1.70325176109e-05,1793189875084854272
+88,1.466666667,BASELINE,765,742.079169007,711.920830993,670,660,632,876,781.079169007,797.920830993,649,624.079169007,647,0.400944523435,-0.00538770953825,0.0598358726896,0.999999940171,0.000208445696067,-0.000275534683109,1.69724978654e-05,1793189875101521152
+89,1.483333333,BASELINE,765,742.657931428,711.342068572,670,660,632,876,781.657931428,797.342068572,649,624.657931428,647,0.40094570163,-0.00538819265721,0.0598370754587,0.999999940601,0.000207435220757,-0.000274721797318,1.71931541951e-05,1793189875118188544
+90,1.500000000,BASELINE,764.763702381,743,711.236297619,669.763702381,660.236297619,632,876,782,797.236297619,649.236297619,625,647,0.400945654252,-0.00538834939898,0.0598374298752,0.999999940821,0.000206030194417,-0.00027497891749,1.72101255043e-05,1793189875134855424
+91,1.516666667,BASELINE,764.185908872,743,711.814091128,669.185908872,660.814091128,632,876,782,797.814091128,649.814091128,625,647,0.400943835681,-0.00538803446237,0.0598365582577,0.999999940733,0.000204054965397,-0.00027678240389,1.69327324327e-05,1793189875151522304
+92,1.533333333,BASELINE,764.390634981,742.609365019,712,669.390634981,660.609365019,632,876,781.609365019,798.390634981,650,625,647,0.400943946988,-0.00538793800207,0.0598368369246,0.999999940834,0.000204038446795,-0.000276426285812,1.70235886223e-05,1793189875168188928
+93,1.550000000,BASELINE,764.96658605,742.03341395,712,669.96658605,660.03341395,632,876,781.03341395,798.96658605,650,625,647,0.400944973824,-0.00538794518626,0.059837661283,0.999999941023,0.000204951134492,-0.000275045657866,1.72891411564e-05,1793189875184855296
+94,1.566666667,BASELINE,764.446391161,742,712,670,660,632,876,781.553608839,799,649.446391161,624.446391161,647,0.400943961876,-0.00538836381307,0.0598369187646,0.999999940642,0.000205704173065,-0.000275860974196,1.73713324236e-05,1793189875201521920
+95,1.583333333,BASELINE,764,742,712,670,660.139200474,632,876,781.860799526,798.860799526,649,624.139200474,647,0.400943088294,-0.00538864644224,0.0598361305816,0.999999940255,0.000206310328814,-0.000276809183079,1.74080519715e-05,1793189875218188544
+96,1.600000000,BASELINE,764,742,712,670,660.718117423,632,876,781.281882577,798.281882577,649,624.718117423,647,0.400943048435,-0.00538841942635,0.0598355029856,0.999999939959,0.000206483560386,-0.000277749962641,1.73368050615e-05,1793189875234855424
+97,1.616666667,BASELINE,764,742,712,670,660.704107617,632,876.295892383,781,798.295892383,649,624.704107617,647,0.400943962529,-0.00538737256655,0.0598357234247,0.999999939675,0.000209106200056,-0.000276814994004,1.72765199086e-05,1793189875251522048
+98,1.633333333,BASELINE,764,742,712,670,660.127416428,632,876.872583572,781,798.872583572,649,624.127416428,647,0.400945781915,-0.00538554768339,0.0598367486404,0.999999939377,0.000214053302611,-0.0002740999597,1.72266373532e-05,1793189875268188672
+99,1.650000000,BASELINE,764,742,711.551210464,670,660,632,876.102420928,781,799,649.448789536,624.448789536,647,0.400945373355,-0.005386706409,0.0598363263367,0.999999939897,0.0002110476455,-0.000274531208165,1.72435540674e-05,1793189875284855296
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+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.422034856,669.577965144,660,632,876,781,799,649,625,647,0.400943705489,-0.00538827122153,0.0598356133168,0.999999940565,0.000204545498222,-0.0002770336117,1.68249171453e-05,1793189875460694528
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+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,670,660.100292041,632,876,781,799.799415917,649.100292041,625,647,0.400943735357,-0.00538654509264,0.0598366219582,0.999999939896,0.000208538805422,-0.000276481921823,1.66649666645e-05,1793189875527362560
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+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712,670,660,632,876,781,798.059775105,649,625,647,0.400948835941,-0.0053867918208,0.059839563786,0.999999941783,0.000205933177783,-0.000271538286717,1.71084722973e-05,1793189875560696064
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,670,660,632,876,781,798.635380967,649,625,647,0.40095143699,-0.00538855088374,0.0598403231561,0.999999942197,0.000205731535402,-0.000270156200489,1.7198072168e-05,1793189875577362688
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,670,660,632,876,781,799.211144381,649.211144381,625,647,0.400961267231,-0.00538975965746,0.0598446834399,0.999999944341,0.000205064250336,-0.000262604289272,1.74795592035e-05,1793189875594029312
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+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712,670.374023648,660,632.374023648,876,781.374023648,799.251952704,650,625,647,0.401022141017,-0.00539074605482,0.0598709819221,0.999999955757,0.000203954780562,-0.000215694296635,1.90897304421e-05,1793189875627361536
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+125,2.083333333,POSE1_TO_POSE2_PRESS,765,742,712,669.431250161,660.431250161,632,875.568749839,781.431250161,798,650,625,646.431250161,0.401571242205,-0.00540561733896,0.0599355704379,0.999999974919,0.000197993259876,-0.000103107488623,1.81760746541e-05,1793189875744028672
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+127,2.116666667,POSE1_TO_POSE2_PRESS,764.397676212,742,712,670,660.397676212,632,875.602323788,781.397676212,798,649.397676212,625,647,0.401845648996,-0.00541558109519,0.0599404696694,0.999999978018,0.000189165279506,-8.91017541204e-05,1.55167856588e-05,1793189875777361152
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,670,660,632,876,781,798,649.176878044,624.823121956,647,0.402004946186,-0.00542099076046,0.0599405674484,0.999999979251,0.000184328744809,-8.56620160517e-05,1.35616836354e-05,1793189875794027776
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+150,2.500000000,POSE1_TO_POSE2_PRESS,765,742,712,670,661,632,876.95175168,781.04824832,799,649.04824832,625,646.95175168,0.411373130945,-0.00553637983213,0.0599725223593,0.999999999506,7.14001422269e-06,-2.67944249309e-05,-1.48161909327e-05,1793189876160694784
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+152,2.533333333,POSE1_TO_POSE2_PRESS,764.108154001,742.891845999,711.108154001,670.891845999,661,632,877.783691998,781,798.891845999,649,625,647,0.41272806842,-0.00553055583507,0.0599439194898,0.999999996387,-8.63124879388e-06,-7.98154274546e-05,-2.79485628068e-05,1793189876194028032
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.682518176,742.317481824,711.682518176,670.317481824,661,632,876.634963649,781,798.317481824,649,625,647,0.413394124612,-0.00553758458933,0.0599067817842,0.999999987225,-1.89457004151e-05,-0.000155985850167,-2.93041947062e-05,1793189876210694656
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,742,712,670.263810114,661,632,876,781,798,649,624.736189886,647,0.414123149788,-0.00554350124711,0.0598954253453,0.99999998322,-2.8895874833e-05,-0.000178341250792,-3.03363102927e-05,1793189876227361280
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,742,712,670.853664181,661,632,876,781,798,649,624.146335819,647,0.414929998666,-0.00554804346144,0.0599159320699,0.99999998978,-3.83958390932e-05,-0.000134186466011,-3.09685911075e-05,1793189876244027904
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.564845738,742.435154262,712,670.564845738,661.435154262,632,876.435154262,781,798,649,624,646.564845738,0.415769265904,-0.00554876238327,0.059957445123,0.999999997023,-3.73804013923e-05,-6.08585563478e-05,-2.9220308855e-05,1793189876260694528
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.013809568,742.986190432,712,670,661.986190432,632,876.986190432,781.013809568,798,649,624.013809568,646.013809568,0.416617820246,-0.00554822117161,0.0600046293341,0.999999998907,-3.28633178908e-05,1.97783510323e-05,-2.67505311988e-05,1793189876277361664
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.589409699,742.410590301,712,670,661.410590301,632,876.410590301,781.589409699,798,649,624.589409699,646.589409699,0.417409052238,-0.0055477342996,0.0600005659899,0.999999999254,-2.70378943182e-05,6.17831060097e-06,-2.68825289224e-05,1793189876294028032
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,742.16441181,712,670,661,632,876,781.83558819,798.16441181,649,625,647,0.418207204225,-0.00554763095253,0.0599911821903,0.999999999169,-2.66798355877e-05,-1.26922714148e-05,-2.80783351568e-05,1793189876310694656
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,742.737925846,712,670,661,632,876,781.262074154,798.737925846,649,625,647,0.419022575037,-0.00554848192202,0.0599685596207,0.999999997695,-3.9926098713e-05,-4.46774232186e-05,-3.19211922716e-05,1793189876327361280
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,743,712,670.321893173,661.321893173,632,876.321893173,781,798.678106827,649.321893173,624.678106827,647,0.419841965422,-0.00554905134233,0.0599447053728,0.999999995397,-4.47752800398e-05,-7.73293342069e-05,-3.49432946738e-05,1793189876344027904
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743,712,670.91465683,661.91465683,632,876.91465683,781,798.08534317,649.91465683,624.08534317,647,0.420664738205,-0.00554938384124,0.0599198146789,0.99999999229,-4.25583847082e-05,-0.000110542315985,-3.7274738467e-05,1793189876360694272
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.505135315,743,712,671,661.505135315,632,877,781,798.494864685,649.505135315,624,647,0.421459702505,-0.00554791040123,0.0598879461991,0.999999982884,-3.93582665388e-05,-0.000176576610141,-3.87847841753e-05,1793189876377361664
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,712,671,661.072533538,632,877,781.072533538,799,649,624,647,0.422264512989,-0.00554621826722,0.0598632988565,0.999999971947,-3.65888435777e-05,-0.000230590215879,-3.99457219118e-05,1793189876394029312
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,712,671,661.647244172,632,877,781.647244172,799,649,624,647,0.423169873383,-0.00554511494861,0.0598967714371,0.999999985183,-3.79461975002e-05,-0.000163161424701,-3.96461261322e-05,1793189876410695936
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.227227921,743,712,671,662,632,877.227227921,781.772772079,799,649.227227921,624.227227921,647,0.42408278304,-0.00554626002534,0.0599392760299,0.999999994601,-3.94368818587e-05,-8.8246102557e-05,-3.8162023814e-05,1793189876427362560
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.815592397,743,712,671,662,632,877.815592397,781.184407603,799,649.815592397,624.815592397,647,0.425007690987,-0.00555097850847,0.0599961353326,0.999999998547,-4.11394703981e-05,-1.43232048879e-06,-3.47953684486e-05,1793189876444029696
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.601717882,742.601717882,711.601717882,671,661.601717882,632,877.601717882,781,799,650,624.601717882,647,0.425886651739,-0.0055545227698,0.0600096015577,0.999999998235,-4.32138859309e-05,2.18076089838e-05,-3.44480296892e-05,1793189876460695808
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.021618741,742.021618741,711.021618741,671,661.021618741,632,877.021618741,781,799,650,624.021618741,647,0.426744637398,-0.00555753099494,0.0600032587047,0.999999998209,-4.54580416321e-05,1.60258721478e-05,-3.54790186151e-05,1793189876477361408
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,711.552245066,671,661,632,877.552245066,781,798.447754934,650,624.552245066,646.447754934,0.427578499612,-0.00556023687871,0.0599794503385,0.999999997849,-5.15867070847e-05,-1.26870399527e-05,-3.84767477031e-05,1793189876494028544
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742,712,671.126420356,661,632,877.747159289,781,798.126420356,649.873579644,624.873579644,646.126420356,0.428401647667,-0.00556219398789,0.0599564285368,0.999999996689,-5.66878569475e-05,-4.1607302711e-05,-4.09532005968e-05,1793189876510695680
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742,712,671.702562305,661,632,876.59487539,781,798.702562305,649.297437695,624.297437695,646.702562305,0.429190003571,-0.0055615290767,0.0599386099082,0.999999995169,-5.75988570854e-05,-6.8107449274e-05,-4.13044613339e-05,1793189876527362816
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.286388847,742.286388847,712,672,661.286388847,632,876.286388847,781,798.713611153,649,624.286388847,647,0.429986064315,-0.0055592540815,0.059919159197,0.999999992569,-5.35928451562e-05,-0.000100988475995,-4.23207797512e-05,1793189876544029696
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.878416473,742.878416473,712,672,661.878416473,632,876.878416473,781,798.121583527,649,624.878416473,647,0.430790347739,-0.00555526077881,0.0598979667025,0.999999988152,-4.43393188557e-05,-0.000140679278772,-4.40468583592e-05,1793189876560696320
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.539491715,743,712,672,662,632,877,781,798.460508285,649.460508285,625,647,0.431655081093,-0.00555972570672,0.0599317315849,0.999999994602,-5.46523389916e-05,-7.69091087543e-05,-4.35193843112e-05,1793189876577362688
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.960318634,712,672,662,632,877,781,799.039681366,649.960318634,625,647,0.432528075459,-0.00556602948167,0.0599772053043,0.999999996689,-6.89930857757e-05,8.00418094601e-06,-4.23948023067e-05,1793189876594028800
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.38587474,712,672,662,632,877,781,799.61412526,649.38587474,625,647,0.433301856667,-0.00556765513895,0.0599890610372,0.999999996591,-6.9464800807e-05,1.75065383408e-05,-4.10722509821e-05,1793189876610695424
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,711.807051521,671.807051521,662,632,877,781,799.807051521,649.192948479,624.807051521,647,0.434051666594,-0.00556993764742,0.0599854133455,0.999999996568,-7.1962555564e-05,4.98601642311e-06,-4.07514937091e-05,1793189876627362048
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,711.219266652,671.219266652,662,632,877,781,799.219266652,649.780733348,624.219266652,647,0.434752423496,-0.0055735642909,0.0599500405229,0.999999994625,-7.86062574867e-05,-5.26005971347e-05,-4.24807380015e-05,1793189876644028416
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.363274063,742,711.363274063,671.363274063,662,632,877.363274063,781,799,649.636725937,624.363274063,646.636725937,0.435464232096,-0.00557589212411,0.0599226856532,0.99999999093,-8.01165934833e-05,-9.88853002589e-05,-4.40745520683e-05,1793189876660695040
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.942694494,742,711.942694494,671.942694494,662,632,877.942694494,781,799,649.057305506,624.942694494,646.057305506,0.436182616363,-0.00557744717107,0.0599001014301,0.99999998629,-7.85726003595e-05,-0.000138445416027,-4.55877856835e-05,1793189876677361664
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,742,711.478670938,671.478670938,662,632,878,781,798.478670938,649,624.478670938,646,0.436872016738,-0.00557592789839,0.0599050469356,0.999999986683,-8.86485252865e-05,-0.000128933266258,-4.63941235246e-05,1793189876694028032
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.902012218,742,711.097987782,671,662,632,878,781,798.097987782,649,624.097987782,646.097987782,0.437545085278,-0.00557497197325,0.0599101023692,0.999999986707,-9.76158137894e-05,-0.000122053072047,-4.64779927063e-05,1793189876710694656
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+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742,711.422452222,671.577547778,662.577547778,632,877,781.422452222,799,649,624,646.577547778,0.440038779028,-0.00557309821355,0.0599506374698,0.999999993673,-7.1748513473e-05,-7.53532365206e-05,-4.27441279855e-05,1793189876777361152
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,711.999099669,671.000900331,662.000900331,632,877,781.999099669,799,649,624,646.000900331,0.440662672572,-0.00557876647955,0.059983246556,0.999999995556,-7.97025808251e-05,-2.5986477589e-05,-4.31361543091e-05,1793189876794027776
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+190,3.166666667,POSE1_TO_POSE2_PRESS,764.85039252,743,712,672,661.85039252,631.85039252,877,781,799.14960748,649,624.85039252,646.14960748,0.441614990483,-0.00559896722268,0.0599283415091,0.999999986868,-0.000105887101787,-0.00011322075359,-4.72454881707e-05,1793189876827361024
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.277745757,743,712,672,661.277745757,631.277745757,877,781,799.722254243,649,624.277745757,646.722254243,0.442036553339,-0.00559893733258,0.0598810106563,0.999999975454,-0.000110258948715,-0.000185218417006,-5.1269247623e-05,1793189876844027904
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.306751726,742.693248274,712,672,661,631,877,781,800,649,624,647,0.442456811746,-0.0055968870009,0.0598474238887,0.999999965411,-0.000110619315713,-0.000232460058677,-5.38907794155e-05,1793189876860695040
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.902410503,742.097589497,712,672,661,631,877,781,800,649,624,647,0.442875841563,-0.00559293376284,0.0598267816743,0.999999959864,-0.000107201562787,-0.000256385807525,-5.51916552943e-05,1793189876877362176
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+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711.368167137,672,661,631,877,781,799,649,624.631832863,646.368167137,0.444063882209,-0.00558801486578,0.0598459378733,0.999999973102,-3.45333851811e-05,-0.000226599186488,-3.54484908777e-05,1793189876927361280
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+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711.803785754,672,661,631,877,780.196214246,798.196214246,649,625,646.803785754,0.444696207234,-0.00557284337834,0.0598457953803,0.999999972101,-2.28209729474e-05,-0.000232189800468,-3.69428358738e-05,1793189876960695296
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diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a29180d6fce369df6909faa74c9f6900f6195afa
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,400 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c5cf9d9f2a92a79898b642c67686bd259a4335be
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3422d8da6ca7a7aa8181da0c2448369f9c714905bc7cbc9c9219a42474f40e8e
+size 25393533
diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..73d0e88f250f64477e4044fa876975ebba26a431
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_05/franka_data.csv
@@ -0,0 +1,402 @@
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+16,0.266666667,BASELINE,764.490961452,742.509038548,712,670.509038548,660,632,876,781,799,649.509038548,625,647,0.400944308104,-0.00539330160051,0.0598361667508,0.99999994241,0.00019527400042,-0.000277138729588,1.55712648569e-05,1793189880714738688
+17,0.283333333,BASELINE,764,742.91646744,711.91646744,670.91646744,660.08353256,632,876,781,799,650,624.91646744,647,0.400943656981,-0.0053922811004,0.0598352909885,0.999999942019,0.000195563650648,-0.0002783435,1.55177969612e-05,1793189880731405312
+18,0.300000000,BASELINE,764,742.340367297,711.340367297,670.340367297,660.659632703,632,876,781,799,650,624.340367297,647,0.400944519649,-0.00539274680373,0.0598356425226,0.999999942324,0.000195467555546,-0.000277318868074,1.54769194627e-05,1793189880748071936
+19,0.316666667,BASELINE,764,742,711.241639269,670,661,632,876,781,798.758360731,650,624,647,0.400945304385,-0.0053936134208,0.0598361128278,0.999999942793,0.000194523205595,-0.000276282702582,1.55733456023e-05,1793189880764738560
+20,0.333333333,BASELINE,764,742,711.832173901,670,661,632,876,781,798.167826099,650,624,647,0.400945976599,-0.00539505890459,0.0598367546231,0.999999943498,0.000192354087073,-0.000275229884197,1.58680201606e-05,1793189880781405184
+21,0.350000000,BASELINE,764,742,711.587329784,669.587329784,660.587329784,632,875.587329784,781,798.412670216,649.587329784,624.412670216,647,0.400946767507,-0.00539487441167,0.0598377155338,0.999999943467,0.00019406349657,-0.000274141623143,1.58928588363e-05,1793189880798072320
+22,0.366666667,BASELINE,764,742,711.010818952,669.010818952,660.010818952,632,875.010818952,781,798.989181048,649.010818952,624.989181048,647,0.400947605539,-0.00539404277633,0.0598388031415,0.999999943134,0.000197312780808,-0.000273039290467,1.58105657669e-05,1793189880814739456
+23,0.383333333,BASELINE,764,742,711.562916532,669.562916532,660.562916532,632,875,781,798.437083468,649.562916532,625,647,0.400946502091,-0.00539368457056,0.0598369826923,0.999999942732,0.000196679200074,-0.000274959372109,1.58431901261e-05,1793189880831406848
+24,0.400000000,BASELINE,764.132329649,742,711.867670351,670,660.867670351,632,875.132329649,781,798,649.867670351,625,647,0.400945636321,-0.00539333063668,0.0598356412558,0.999999942302,0.000196865770429,-0.000276382468438,1.58973223236e-05,1793189880848073984
+25,0.416666667,BASELINE,764.688081971,742,711.311918029,670,660.311918029,632,875.688081971,781,798,649.311918029,625,647,0.400945649868,-0.00539296139992,0.0598360105045,0.999999941793,0.000199914240159,-0.000276030373022,1.60132418898e-05,1793189880864740352
+26,0.433333333,BASELINE,765,742,711.270466148,670,660,632,876,781.270466148,798.270466148,649,624.729533852,647,0.400945608958,-0.00539229111317,0.0598362486504,0.99999994156,0.000201335005047,-0.000275838308234,1.60160877162e-05,1793189880881406976
+27,0.450000000,BASELINE,765,742,711.886918448,670,660,632,876,781.886918448,798.886918448,649,624.113081552,647,0.400945498385,-0.00539123571669,0.0598363190867,0.999999941692,0.000200673575082,-0.000275850958046,1.58742871831e-05,1793189880898073856
+28,0.466666667,BASELINE,765,742,712,670,660,632,876,781.52916247,798.52916247,649,624.47083753,647,0.400946433684,-0.00539187419932,0.0598372520619,0.999999942203,0.000199946781167,-0.000274516987437,1.60147028894e-05,1793189880914740480
+29,0.483333333,BASELINE,764.952640675,742,712,669.952640675,660,632,876,781.047359325,798,649,624.952640675,647,0.40094754268,-0.00539285994993,0.0598383387505,0.999999942791,0.000199129046966,-0.00027295194451,1.62065539374e-05,1793189880931407104
+30,0.500000000,BASELINE,764.377108184,742,712,669.377108184,660,632,876,781.622891816,798,649,624.377108184,647,0.400947968499,-0.00539347477424,0.0598389787301,0.99999994333,0.000197460865866,-0.000272183678423,1.62649753697e-05,1793189880948073472
+31,0.516666667,BASELINE,764,742,711.796603376,669.203396624,660,632,876,781.796603376,798.203396624,649,624.203396624,647,0.40094808122,-0.00539400641747,0.0598391635036,0.999999943565,0.000196558299032,-0.000271973998614,1.63001392856e-05,1793189880964739584
+32,0.533333333,BASELINE,764,742,711.206648644,669.793351356,660,632,876,781.206648644,798.793351356,649,624.793351356,647,0.400947598893,-0.00539437997388,0.0598384831516,0.999999943224,0.000197110792838,-0.000272825919825,1.62911019658e-05,1793189880981405696
+33,0.550000000,BASELINE,764,742,711,670,660,632,876,781,798.624383635,649,625,647,0.400947207927,-0.00539469989219,0.0598379671284,0.999999943249,0.000195954312391,-0.000273576594451,1.61436530318e-05,1793189880998072576
+34,0.566666667,BASELINE,764,742,711,670,660,632,876,781,798.046264342,649,625,647,0.400946866217,-0.00539499089303,0.0598375396985,0.999999943466,0.000193876486841,-0.000274272684817,1.59215833951e-05,1793189881014739200
+35,0.583333333,BASELINE,764,742,711,670,660,632,875.474072522,781,798,649,625,647,0.40094680618,-0.00539432114962,0.0598376194007,0.999999943284,0.000194719369354,-0.000274353213564,1.57063979998e-05,1793189881031405568
+36,0.600000000,BASELINE,764.098176518,742,711.098176518,670,660,632,875.196353035,781,798.098176518,649,625,647.098176518,0.40094691897,-0.00539368962286,0.0598378827556,0.999999943167,0.000195664202402,-0.000274115876711,1.5562446043e-05,1793189881048072704
+37,0.616666667,BASELINE,764.673207681,742,711.673207681,670,660,632,876.346415361,781,798.673207681,649,625,647.673207681,0.40094775219,-0.00539364963792,0.0598388238665,0.999999943539,0.000195870207599,-0.000272594707749,1.57615745392e-05,1793189881064739328
+38,0.633333333,BASELINE,764.741908724,742,711.741908724,670,660,632,876.483817448,781,798.741908724,649,625,647.741908724,0.400948172637,-0.00539442526618,0.0598392818926,0.999999943795,0.0001955566313,-0.000271864477458,1.60149792861e-05,1793189881081405952
+39,0.650000000,BASELINE,764.144054878,742,711.144054878,670,660,632,875.288109756,781,798.144054878,649,625,647.144054878,0.400948049693,-0.00539627460306,0.059839103965,0.9999999439,0.000194559055372,-0.000272175472991,1.63398356755e-05,1793189881098072576
+40,0.666666667,BASELINE,764,742,711,670,660,632,875.436829876,781,798,649,624.563170124,647,0.400946898718,-0.00539526712568,0.0598378676238,0.999999943202,0.000195840256999,-0.000273825307266,1.62163550064e-05,1793189881114739200
+41,0.683333333,BASELINE,764,742,711,670,660,632,876,781,798.024727938,649,624.012363969,647,0.400945457141,-0.00539339401345,0.0598363533204,0.999999942264,0.000197816240385,-0.000275836897017,1.59578514419e-05,1793189881131405568
+42,0.700000000,BASELINE,764,742,711,670,660,632,876,781,799.179092255,649,624.589546128,647,0.400945648161,-0.00539340476167,0.059837489647,0.999999942372,0.000198485795096,-0.000274959148432,1.60327452532e-05,1793189881148071936
+43,0.716666667,BASELINE,764.169412695,742,711.169412695,670,660,632.169412695,876,781,799.830587305,649,625,647,0.400945543388,-0.0053934617931,0.0598380146223,0.999999942389,0.000198839849189,-0.000274639182955,1.60557706025e-05,1793189881164738816
+44,0.733333333,BASELINE,764.755887741,742,711.755887741,670,660,632.755887741,876,781,799.244112259,649,625,647,0.400944710432,-0.00539363276515,0.0598370345651,0.999999942185,0.000198417199764,-0.000275692375155,1.59511055014e-05,1793189881181405440
+45,0.750000000,BASELINE,764.660010637,742,711.660010637,670,660.339989363,632.660010637,876,781,798.660010637,649,625,647,0.400945438904,-0.00539364362356,0.059837125338,0.99999994256,0.000197455550365,-0.000275031984678,1.57828267381e-05,1793189881198072576
+46,0.766666667,BASELINE,764.077601343,742,711.077601343,670,660.922398657,632.077601343,876,781,798.077601343,649,625,647,0.40094728071,-0.00539354031739,0.0598379796365,0.999999943344,0.000196109582086,-0.000273149771827,1.55691900318e-05,1793189881214739456
+47,0.783333333,BASELINE,764.497274742,742,711,670,660.502725258,632,876,781,798,649,625,647,0.400946883931,-0.00539378249024,0.0598379478593,0.999999943075,0.00019767431302,-0.00027298404044,1.59406167556e-05,1793189881231406336
+48,0.800000000,BASELINE,764.92860181,742,711,670,660,632,876,781.07139819,798,649.07139819,625,647,0.400946342477,-0.00539414032255,0.0598378648682,0.999999942752,0.000199183112352,-0.00027304790774,1.63523752762e-05,1793189881248072960
+49,0.816666667,BASELINE,764.35160784,742,711,670,660,632,876,781.64839216,798,649.64839216,625,647,0.400947213402,-0.00539494109944,0.0598383837753,0.999999943207,0.000197127318129,-0.000272869121509,1.64128504705e-05,1793189881264739328
+50,0.833333333,BASELINE,764,742,711,670,660,632,876,781.769311592,798.230688408,649.769311592,625,647,0.400946975637,-0.00539421002447,0.0598380907449,0.999999942942,0.000197337743868,-0.000273695682923,1.62355434343e-05,1793189881281405952
+51,0.850000000,BASELINE,764,742,711,670,660,632,876,781.17874357,798.82125643,649.17874357,625,647,0.40094500829,-0.00539108922291,0.0598365310719,0.999999941547,0.00020108352839,-0.000276090611461,1.56872902558e-05,1793189881298072576
+52,0.866666667,BASELINE,764,742,711.403642618,670,660,632,876,781.403642618,798.596357382,649,625,647,0.400944900328,-0.00539117847229,0.0598364257019,0.999999941835,0.000199577454523,-0.000276145334196,1.55626726279e-05,1793189881314739200
+53,0.883333333,BASELINE,764,742,711.982477622,670,660,632,876,781.982477622,798.017522378,649,625,647,0.400945599392,-0.00539266097534,0.0598369515409,0.999999942848,0.000195791924398,-0.000275184340853,1.562192492e-05,1793189881331406080
+54,0.900000000,BASELINE,764,742,712,670,660,632,876,781.445005345,798.554994655,649,625,647,0.400945922411,-0.00539291896179,0.0598370973184,0.999999942774,0.000196791904296,-0.00027473314925,1.56875708428e-05,1793189881348072448
+55,0.916666667,BASELINE,764,742,711.868739026,669.868739026,660,632,876.131260974,781,799,649,624.868739026,647,0.400946178567,-0.00539321921374,0.0598372726967,0.99999994269,0.000197685151127,-0.000274392314113,1.5802792554e-05,1793189881364739072
+56,0.933333333,BASELINE,764,742,711.278678399,669.278678399,660,632,876.721321601,781,799,649,624.278678399,647,0.400946242048,-0.00539380080776,0.0598375930093,0.999999942689,0.000197683170841,-0.00027438158473,1.60906000849e-05,1793189881381405952
+57,0.950000000,BASELINE,764,742,711.305746042,669.305746042,660,632,876.388507916,781,799,649,624,647,0.400946209908,-0.00539370175611,0.0598377109666,0.999999942565,0.000198220924431,-0.000274434322567,1.62399569201e-05,1793189881398072832
+58,0.966666667,BASELINE,764,742,711.885126224,669.885126224,660,632,875.229747552,781,799,649,624,647,0.40094609219,-0.00539299354564,0.0598376478215,0.999999942332,0.000199241724715,-0.000274543861788,1.62654042468e-05,1793189881414739456
+59,0.983333333,BASELINE,764,742,712,670,660,632,875,781,798.538470971,649,624.461529029,647,0.400947016994,-0.00539280176622,0.0598383616172,0.999999942641,0.00019919999704,-0.000273457191773,1.60901782175e-05,1793189881431406336
+60,1.000000000,BASELINE,764,742,712,670,660,632,875.037084748,781.037084748,798.037084748,649.037084748,625,647,0.400947955322,-0.00539280881882,0.0598390539238,0.999999943031,0.00019874884319,-0.00027236827998,1.58688692404e-05,1793189881448072960
+61,1.016666667,BASELINE,764,742,712,670,660,632,875.611036205,781.611036205,798.611036205,649.611036205,625,647,0.400945357031,-0.00539384541653,0.0598366535797,0.999999942676,0.000196174530003,-0.000275529515746,1.56988683309e-05,1793189881464739328
+62,1.033333333,BASELINE,764,742,712,670,660,632,876,782,798.809361412,649.809361412,625,647,0.400944079637,-0.00539393239052,0.0598355339784,0.999999942402,0.000195480709842,-0.000277024343144,1.5536371315e-05,1793189881481405696
+63,1.050000000,BASELINE,764,742,712,670,660,632,876,782,798.217877012,649.217877012,625,647,0.400945579622,-0.00539202264046,0.0598371073276,0.999999942316,0.00019874090375,-0.000275015301224,1.53896523137e-05,1793189881498072320
+64,1.066666667,BASELINE,764.349605282,742,712,670,660.349605282,632,876,781.650394718,798,649,625,647,0.400946361768,-0.00539144086769,0.0598378109982,0.999999942343,0.0002002009016,-0.000273844551235,1.5593919798e-05,1793189881514738944
+65,1.083333333,BASELINE,764.903090209,742,712,670,660.903090209,632,876,781.096909791,798,649,625,647,0.400946725291,-0.00539163353281,0.0598380074975,0.999999942441,0.000200611077198,-0.000273162668876,1.60028724153e-05,1793189881531405568
+66,1.100000000,BASELINE,764.50531937,742,712,670,660.50531937,632,876,781,798.49468063,649,625,647,0.400947516861,-0.00539353631596,0.059838598726,0.999999943182,0.000198183467766,-0.000272200362694,1.63476793996e-05,1793189881548072192
+67,1.116666667,BASELINE,764.090547602,742,712,670,660.090547602,632,876,781,798.909452398,649,625,647,0.400948107969,-0.00539539514106,0.0598391759098,0.999999943888,0.000195606361403,-0.000271451154859,1.66031854471e-05,1793189881564739072
+68,1.133333333,BASELINE,764.666003017,742,712,670,660.666003017,632,876,781,798.333996983,649,625,647,0.400947138989,-0.00539507470419,0.0598392292007,0.999999943727,0.000195454306084,-0.000272161900168,1.64533728882e-05,1793189881581405952
+69,1.150000000,BASELINE,765,742,712,670,661,632,876,781,798.249247536,649,625,647.249247536,0.400946129842,-0.00539522135028,0.0598385540796,0.999999943389,0.000195412199647,-0.000273439656802,1.63245309326e-05,1793189881598072320
+70,1.166666667,BASELINE,765,742,712,670,661,632,876,781,798.843266271,649,625,647.843266271,0.400945065134,-0.00539601408804,0.059836871384,0.999999942803,0.000195522179812,-0.000275501730758,1.6224696538e-05,1793189881614738944
+71,1.183333333,BASELINE,764.576024948,742.423975052,711.576024948,670,660.576024948,632,876,781,798.576024948,649.423975052,625,647.576024948,0.400945591698,-0.00539590613683,0.0598371851328,0.999999943002,0.000195433140099,-0.000274840422038,1.62386396819e-05,1793189881631405568
+72,1.200000000,BASELINE,764.000086736,742.999913264,711.000086736,670,660.000086736,632,876,781,798.000086736,649.999913264,625,647.000086736,0.400946688613,-0.00539547535644,0.0598382144566,0.999999943482,0.00019527276674,-0.00027320298568,1.62933635057e-05,1793189881648072448
+73,1.216666667,BASELINE,764,742.424219317,711.575780683,670,660,632,876,781,798,649.424219317,624.424219317,647,0.400947128677,-0.00539339463818,0.0598385531643,0.99999994331,0.00019713579924,-0.000272526322789,1.57383543683e-05,1793189881664738816
+74,1.233333333,BASELINE,764,742,712,670,660,632,876,781,798.156097961,649.156097961,624,647,0.400947661614,-0.00539194709751,0.0598388671711,0.999999943106,0.000199260633115,-0.000271742698161,1.54603192607e-05,1793189881681405696
+75,1.250000000,BASELINE,764,742,712,670,660,632,876,781,798.748863411,649.748863411,624,647,0.40094845463,-0.00539227149873,0.0598391123706,0.999999942819,0.000202116976432,-0.000270659454446,1.59573464065e-05,1793189881698072576
+76,1.266666667,BASELINE,764.332125597,742,712,670,660,632,876,781,799,650,624.332125597,647,0.400948184129,-0.00539336079991,0.0598390284752,0.999999942842,0.000201607254733,-0.000270938352266,1.62368953158e-05,1793189881714738944
+77,1.283333333,BASELINE,764.908401754,742,712,670,660,632,876,781,799,650,624.908401754,647,0.400947131821,-0.00539501239063,0.0598387026573,0.999999943089,0.000198623087444,-0.00027221858104,1.6356572647e-05,1793189881731405568
+78,1.300000000,BASELINE,765,742,711.515450139,670,660,632,876,781.484549861,798.515450139,649.515450139,625,647,0.400947069252,-0.00539459801457,0.0598383110278,0.999999942979,0.000198126421562,-0.000272992042484,1.62211440292e-05,1793189881748072192
+79,1.316666667,BASELINE,765,742,711.060445306,669.939554694,660,632.060445306,876,781.939554694,798,649,625,647,0.400947189039,-0.00539374746365,0.0598379823575,0.999999942804,0.000198306820514,-0.000273512599967,1.60600497376e-05,1793189881764739072
+80,1.333333333,BASELINE,765,742,711.634399891,669.365600109,660,632.634399891,876,781.365600109,798,649,625,647,0.400947268958,-0.0053925083977,0.0598382942163,0.999999942639,0.000200245411651,-0.000272698260302,1.60904957321e-05,1793189881781405952
+81,1.350000000,BASELINE,765,742,711.784226904,669.215773096,660,632.784226904,876,781,798,649,624.784226904,647,0.400947717267,-0.00539217139577,0.0598388484269,0.99999994296,0.000200080831773,-0.000271644866239,1.60079413934e-05,1793189881798072576
+82,1.366666667,BASELINE,765,742,711.189836292,669.810163708,660,632.189836292,876,781,798,649,624.189836292,647,0.400948811991,-0.00539341724765,0.0598398278929,0.999999944128,0.000196225812982,-0.000270172002994,1.57271051239e-05,1793189881814739200
+83,1.383333333,BASELINE,764.607227915,742,711.392772085,670,660,632,876,781,798.392772085,649,624.392772085,647,0.400948369023,-0.00539351227129,0.0598400854083,0.999999944091,0.000196430010295,-0.000270159905378,1.57375886891e-05,1793189881831405568
+84,1.400000000,BASELINE,764.030148279,742,711.969851721,670,660,632,876,781,798.969851721,649,624.969851721,647,0.400947204495,-0.00539306727108,0.0598400041498,0.99999994349,0.000198538986688,-0.000270833269122,1.58847735069e-05,1793189881848072192
+85,1.416666667,BASELINE,764.544920584,742,712,670,660,632,876,781,799,649,624.455079416,647,0.400947576022,-0.00539300387869,0.0598398423405,0.999999943371,0.00019865703953,-0.000271169548419,1.61192400483e-05,1793189881864738816
+86,1.433333333,BASELINE,765,742,711.877228379,670,660.122771621,632,876,781.122771621,799,649,624.122771621,647,0.400948238575,-0.00539275940182,0.0598396966795,0.999999943293,0.000198883683199,-0.000271285696157,1.62271911467e-05,1793189881881405440
+87,1.450000000,BASELINE,765,742,711.288394804,670,660.711605196,632,876,781.711605196,799,649,624.711605196,647,0.400949684482,-0.00539174764421,0.0598396291763,0.999999943265,0.000199939166362,-0.000270636723678,1.58366040604e-05,1793189881898072320
+88,1.466666667,BASELINE,764.704543486,742,711,670,660.704543486,632,876,781.704543486,798.704543486,649,625,647,0.400949338483,-0.00539199719931,0.0598391391142,0.999999943188,0.000199703519374,-0.000271104346789,1.5674773964e-05,1793189881914738944
+89,1.483333333,BASELINE,764.125474731,742,711,670,660.125474731,632,876,781.125474731,798.125474731,649,625,647,0.400947272412,-0.00539345750362,0.0598382434329,0.999999943062,0.000198228501048,-0.0002726438034,1.57325304617e-05,1793189881931405312
+90,1.500000000,BASELINE,764,742.45047288,711,670,660.45047288,632,876.45047288,781,798.45047288,649,625,647,0.400947119562,-0.00539268136801,0.0598380750845,0.999999942794,0.000199188450451,-0.000272925878142,1.57087177559e-05,1793189881948072192
+91,1.516666667,BASELINE,764,742.974688089,711.025311911,670,661,632,876.974688089,781,798.974688089,649.025311911,625,647,0.400947427442,-0.00539141188436,0.0598380691987,0.99999994252,0.000200614047237,-0.000272889633734,1.56627119047e-05,1793189881964738816
+92,1.533333333,BASELINE,764,742.405121114,711.594878886,670,661,632,876.405121114,781,798.405121114,649.594878886,625,647,0.400946262203,-0.00539283667056,0.059837230439,0.999999942963,0.000197568925134,-0.000273487742059,1.56246791032e-05,1793189881981405440
+93,1.550000000,BASELINE,764,742,712,669.827720711,660.827720711,632,876,781,798,650,625,647,0.400945556772,-0.00539434860352,0.0598369661017,0.999999943347,0.000195190182297,-0.000273789876388,1.5663369321e-05,1793189881998072064
+94,1.566666667,BASELINE,764,742,712,669.231022334,660.231022334,632,876,781,798,650,625,647,0.4009459841,-0.00539607522693,0.0598381168843,0.999999943604,0.00019445310028,-0.000273362863129,1.58910707376e-05,1793189882014738688
+95,1.583333333,BASELINE,764.352984674,742,712,669.352984674,660,632,876,781.352984674,798,649.647015326,624.647015326,647,0.400946058417,-0.00539539862341,0.0598386283359,0.999999943506,0.000195027670099,-0.000273302419066,1.60324633166e-05,1793189882031405312
+96,1.600000000,BASELINE,764.928973741,742,712,669.928973741,660,632,876,781.928973741,798,649.071026259,624.071026259,647,0.400945909713,-0.0053932037384,0.0598387358789,0.999999943184,0.000196430899391,-0.000273473561619,1.61193287635e-05,1793189882048072192
+97,1.616666667,BASELINE,765,742.504261269,711.495738731,669.495738731,660,632,876,782,799.008522539,649.504261269,624.504261269,647,0.400945101237,-0.00539360347892,0.059838246529,0.999999942836,0.000196946246986,-0.000274374884062,1.60552326527e-05,1793189882064738816
+98,1.633333333,BASELINE,764.921277962,742.921277962,711,669,660,632,876,781.921277962,799.921277962,650,625,647,0.400944528812,-0.00539431666621,0.0598378426756,0.999999942599,0.000197331325133,-0.000274964346519,1.60152469367e-05,1793189882081405696
+99,1.650000000,BASELINE,764.351359909,742.351359909,711,669,660,632,876,781.351359909,799.351359909,650,625,647,0.4009460083,-0.0053947084885,0.0598384961469,0.999999943073,0.000197682814366,-0.000272967082468,1.62581914145e-05,1793189882098072064
+100,1.666666667,BASELINE,764,742,711,669.230223198,660,632,876,781.230223198,798.769776802,649.769776802,625,647,0.400947105433,-0.00539475232859,0.0598389762718,0.999999943431,0.000197790845744,-0.000271573819422,1.62379910826e-05,1793189882114738944
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+102,1.700000000,BASELINE,764,742,711.414576603,670.414576603,660,632,876,782,798,649,624.585423397,647,0.400947105901,-0.00539389879012,0.0598387434965,0.999999943438,0.000197011567748,-0.000272148167034,1.56934385309e-05,1793189882148072192
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+104,1.733333333,BASELINE,764.564911351,742,712,669.870177299,660,632,876,781.435088649,798,648.435088649,624.564911351,647,0.40094713507,-0.00539278047176,0.0598384599336,0.999999943205,0.000197233959113,-0.000272856137001,1.54341954078e-05,1793189882181405440
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+106,1.766666667,BASELINE,764.267233774,742,712,669.732766226,660,632,876,781,798,648.732766226,625,647,0.400948743837,-0.00539322596707,0.0598395536284,0.999999943728,0.000198202459724,-0.000270202783834,1.58253300855e-05,1793189882214738688
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+108,1.800000000,BASELINE,764,742,711.110665417,670.889334583,660,632,876,781.889334583,798.889334583,649,625,647,0.400945499178,-0.00539160667201,0.0598378126552,0.999999942639,0.000199985754514,-0.000272939922886,1.51890761695e-05,1793189882248072448
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,670,660,632,876,781,798,649,625,647,0.40094812534,-0.00539448884689,0.0598394137509,0.999999944051,0.000196538939082,-0.000270210234357,1.6025406006e-05,1793189882280096768
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+111,1.850000000,POSE1_TO_POSE2_PRESS,764.853188281,742,712,670,660,632,876,781,798.853188281,649,625,647,0.400946515176,-0.00539350934244,0.0598382016726,0.999999943241,0.000196794323748,-0.000273027587288,1.57017870722e-05,1793189882313430016
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+113,1.883333333,POSE1_TO_POSE2_PRESS,764.331848681,742,712,670,660.331848681,632,875.668151319,781,798.331848681,649,625,647,0.400947138502,-0.00539238229569,0.0598388888866,0.99999994319,0.000198135402897,-0.000272240122338,1.57345332081e-05,1793189882346763264
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.905773777,742,712,670,660.905773777,632,875.094226223,781,798.905773777,649,625,647,0.400948334268,-0.00539134376285,0.0598392588423,0.999999943229,0.00019984246068,-0.000270852287827,1.56415768829e-05,1793189882363430144
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.519493391,742,712,670,661,632,875.480506609,781,798.519493391,649.480506609,625,647,0.400950106333,-0.00539310873787,0.0598404714608,0.999999943964,0.000198390546387,-0.000269190496119,1.57994493198e-05,1793189882380096768
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.942790966,742,712,670,660.942790966,632,876,781,798.057209034,649.942790966,625,647,0.400952918324,-0.00539514211406,0.0598421909631,0.999999944979,0.000196405312133,-0.000266851961411,1.60102026829e-05,1793189882396763648
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.349106567,742,712,670,660.349106567,632,876,781,798.650893433,649.349106567,625,647,0.400964420643,-0.00539452836616,0.0598471115683,0.999999947353,0.000195237699913,-0.000258671924503,1.62548196493e-05,1793189882413430272
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.477201492,742,712,670.238600746,660,632,876,781,798.761399254,649.238600746,625,647,0.400985051594,-0.00539482204897,0.0598562258313,0.99999995134,0.000195007022327,-0.000242914623534,1.68744475729e-05,1793189882430096896
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+121,2.016666667,POSE1_TO_POSE2_PRESS,765,742,712,670.028474268,660,632,876,781.971525732,798,649.028474268,625,647,0.401129183071,-0.00540065657158,0.0599066939347,0.999999970271,0.000194667350253,-0.000145565126168,1.93412284076e-05,1793189882480096512
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.452789516,742,712,670,660.547210484,632,876.547210484,781.452789516,798.547210484,649,625,647,0.40119501754,-0.00540338116848,0.0599168294072,0.999999972002,0.000192047912056,-0.000136780212508,2.01070347655e-05,1793189882496763136
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,712,670,660.874306081,632,876.748612163,781,799,649,625,647,0.401265255515,-0.0054058243696,0.0599253374728,0.999999973503,0.000189792357874,-0.000128658093765,2.04813340962e-05,1793189882513430016
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,712,670,660.285362207,632,875.570724413,781,799,649,625,647,0.401350464233,-0.0054071343098,0.0599293856627,0.999999975007,0.00018917564783,-0.000117568706051,1.9373837781e-05,1793189882530096640
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.296787866,742,712,670,660,632,875.296787866,781.296787866,798.703212134,649.296787866,624.703212134,647,0.401448029634,-0.00540968602668,0.0599331890059,0.999999976276,0.000188053341361,-0.000108367374914,1.84622145393e-05,1793189882546763520
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+127,2.116666667,POSE1_TO_POSE2_PRESS,764.567341171,742,712,670,660,632,876,782,798.432658829,650,624,647,0.401686189618,-0.00541707383581,0.0599391987413,0.999999978406,0.000184024718705,-9.51340223591e-05,1.65158194021e-05,1793189882580097024
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.011685179,742,712,670,660,632,876,782,798.988314821,650,624,647,0.40182079761,-0.00542072842656,0.0599413121574,0.999999979409,0.000181356705257,-8.97877414145e-05,1.51572379825e-05,1793189882596763392
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+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,670,660.915754685,632,875.915754685,781.915754685,798.915754685,649,625,647,0.403372120191,-0.00546489558448,0.0599471384177,0.999999989881,0.000132305230967,-5.21006903151e-05,-4.44263780048e-06,1793189882713430016
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,670,660.324756316,632,875.324756316,781.324756316,798.324756316,649,625,647,0.40367730382,-0.00547223363253,0.0599372646194,0.999999990679,0.00011975996531,-6.48566151099e-05,-9.66737935896e-06,1793189882730096640
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.26113354,742,712,670,660,632.26113354,875.26113354,781,798.26113354,649.26113354,625,647,0.403995026323,-0.00547916044179,0.0599260137515,0.99999999059,0.000109062904088,-8.1879944407e-05,-1.48423593169e-05,1793189882746763264
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.840792108,742,712,670,660,632.840792108,875.840792108,781,798.840792108,649.840792108,625,647,0.404328043454,-0.00548558563048,0.0599130831646,0.999999989319,0.000100620243285,-0.000104108560361,-1.99566408384e-05,1793189882763430144
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,742,712,670,660,632.584508188,876,781,799,649.584508188,624.584508188,647,0.404691232015,-0.00549550065003,0.0599013323082,0.999999987609,9.00424221323e-05,-0.000126731896733,-2.47755201197e-05,1793189882780097024
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,742,712,670,660,632.011686221,876,781,799,649.011686221,624.011686221,647,0.405065845283,-0.005506737129,0.0598900281689,0.999999985296,7.86561011799e-05,-0.000149504697401,-2.94825422427e-05,1793189882796763648
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,742,712,670,660,632,876,781,798.437198188,649,624.562801812,647,0.405517916567,-0.00551581960299,0.0599008191008,0.999999988206,7.12142530731e-05,-0.000131974863889,-3.31495173129e-05,1793189882813430272
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.857892565,742,711.857892565,670.142107435,660,632,876,781,798,649,625,647,0.405990431572,-0.00552546696721,0.0599165424474,0.999999991765,6.3476675955e-05,-0.000105382790369,-3.65399797507e-05,1793189882830096896
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.263359828,742,711.263359828,670.736640172,660,632,876,781,798,649,625,647,0.40652289712,-0.00553705558016,0.0599465040666,0.999999996364,5.45360600077e-05,-5.26116077427e-05,-3.91190710747e-05,1793189882846763520
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.320672163,742,711.320672163,670.679327837,660.320672163,632,876,781,798,649,625,647,0.407064285601,-0.00554133100319,0.0599717773529,0.999999998342,-4.00929422496e-05,-1.39813411466e-05,-3.89025574468e-05,1793189882863430144
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.89635367,742,711.89635367,670.10364633,660.89635367,632,876,781,798,649,625,647,0.407612769957,-0.00553979073162,0.0599933223217,0.999999978668,-0.000202864246657,1.34035970053e-05,-3.6462883764e-05,1793189882880096512
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,742,712,670,661,632,876,781,798.471156811,649.471156811,624.057686377,647,0.408142523258,-0.00553629434239,0.0599839957766,0.999999975021,-0.00021929157553,-1.47280200948e-05,-4.06407860093e-05,1793189882896763392
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,742,712,670.045745341,660.954254659,632,876,781,799,649.954254659,623.045745341,647.045745341,0.408673286673,-0.00553387478146,0.0599682974153,0.999999976832,-0.000203375234858,-5.37178787124e-05,-4.56980983461e-05,1793189882913429760
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,742,712,670.620083033,660.379916967,632,876,781,799,649.379916967,623.620083033,647.620083033,0.409263246769,-0.00554886113341,0.0599572990177,0.99999997892,-0.000185027247742,-7.73196856573e-05,-4.4127023044e-05,1793189882930096384
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.797496048,742,712,670.797496048,660.202503952,632,876.202503952,781,799,649,624.202503952,647.797496048,0.409887309743,-0.00555750165696,0.0599534276772,0.999999987083,-0.000133585147628,-8.19794562441e-05,-3.56017475851e-05,1793189882946763264
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.199279757,742,712,670.199279757,660.800720243,632,876.800720243,781,799,649,624.800720243,647.199279757,0.410578013009,-0.00555374181618,0.0599634832971,0.999999998525,-1.74739442762e-05,-4.96246504949e-05,-1.34872910397e-05,1793189882963430400
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,712,670.384219768,661,632,876.615780232,781,799,649,625,647,0.411269116855,-0.0055435647966,0.0599687017149,0.999999999174,1.51175512595e-05,-3.59124777462e-05,-1.15934840264e-05,1793189882980097024
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,712,670.960367846,661,632,876.039632154,781,799,649,625,647,0.411960420781,-0.00553018222034,0.0599715038172,0.99999999929,5.988658928e-06,-3.15128125936e-05,-1.98004466757e-05,1793189882996763648
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.544108172,742,712,670.455891828,660.455891828,632,876,781,799,649,623.911783656,647,0.412616715019,-0.00553433135917,0.0599512348741,0.999999997254,-6.54161103935e-06,-6.96257235084e-05,-2.45340287855e-05,1793189883013430016
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.872621474,742,712,670,660.127378526,632,876,781.127378526,799,649,623.254757052,647,0.4132835929,-0.00553984781916,0.0599279383281,0.999999992969,-1.95800647365e-05,-0.000113473872627,-2.83193846138e-05,1793189883030096896
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.29301093,742,712,670,660.70698907,632,876,781.70698907,799,649,624.41397814,647,0.413997227339,-0.00554562083123,0.0598999434741,0.999999985131,-3.35306789933e-05,-0.000166534531258,-2.96491762362e-05,1793189883046763264
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.284660046,742,712,670.284660046,661,632,876,781.715339954,798.715339954,649,624.715339954,647,0.414790512973,-0.00555008721009,0.0599121012385,0.999999988218,-4.130425172e-05,-0.000144920882718,-2.92504615839e-05,1793189883063429888
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.860348135,742,712,670.860348135,661,632,876,781.139651865,798.139651865,649,624.139651865,647,0.415665231727,-0.00555321772636,0.0599653098531,0.999999997616,-4.27626006947e-05,-4.69624286628e-05,-2.70845730691e-05,1793189883080096512
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.564835281,742,712,671,661.435164719,632,876.435164719,781,798.435164719,649,624.435164719,647,0.416494859129,-0.00555274539037,0.0599952342786,0.999999998954,-3.74497901853e-05,4.72274222825e-06,-2.58270642199e-05,1793189883096763136
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661.990001356,632,877,781,799,649.009998644,624.990001356,647,0.417309629285,-0.00555111947175,0.0600169743466,0.999999998418,-3.01198350622e-05,4.04424127468e-05,-2.49318333046e-05,1793189883113430016
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661.397905965,632,877,781,799,649.602094035,624.397905965,647,0.418100208609,-0.00554951240272,0.0599963906464,0.999999999058,-3.16094711474e-05,9.48643883586e-06,-2.81901817972e-05,1793189883130096640
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632,877,781,799,649.809951835,624,647,0.418902040567,-0.00554915816243,0.0599744414515,0.999999998539,-3.59497220207e-05,-2.56691245186e-05,-3.11542591143e-05,1793189883146763008
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632,877,781,799,649.230483437,624,647,0.419726929808,-0.00555137104442,0.0599496942764,0.999999995964,-4.61310556349e-05,-6.94298998035e-05,-3.3515356733e-05,1793189883163429632
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.346447265,712,671,661.346447265,632,877,781,798.653552735,649,624.346447265,647,0.420549706538,-0.00555133961635,0.0599213391072,0.999999991617,-4.52509263876e-05,-0.000115889163712,-3.5896257359e-05,1793189883180096512
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.921701948,712,671,661.921701948,632,877,781,798.078298052,649,624.921701948,647,0.42137108805,-0.00554982595743,0.0598906010776,0.999999985111,-3.70653709299e-05,-0.00016413061393,-3.8290236541e-05,1793189883196763136
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.493167037,712,671,661.493167037,632,877,781,798,649.506832963,624.493167037,647,0.422196324877,-0.0055477371712,0.0598775565935,0.999999980499,-4.01246356663e-05,-0.000189237375233,-3.97712163713e-05,1793189883213430016
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.0923254,712,670.9076746,661.184650799,632,877,781,798,649.9076746,624,647,0.423043479078,-0.0055465341869,0.0598799873631,0.999999980436,-4.36244279078e-05,-0.000188676280237,-4.03229565632e-05,1793189883230096640
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.671517808,712,670.328482192,662.343035617,632,877,781,798,649.328482192,624,647,0.424003008456,-0.00555048021795,0.0599493243976,0.999999995931,-4.01045503054e-05,-7.19802010503e-05,-3.67330250519e-05,1793189883246763264
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.749043498,711.749043498,670.250956502,662.749043498,632,876.749043498,781.250956502,798,649,624,647,0.42493129613,-0.00555399139327,0.0599978155526,0.999999998527,-4.12999776971e-05,8.36336101882e-06,-3.42034283175e-05,1793189883263429888
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.16928204,711.16928204,670.83071796,662.16928204,632,876.16928204,781.83071796,798,649,624,647,0.425818650841,-0.00555693281815,0.0600189943007,0.999999997425,-4.86734305492e-05,4.10776175461e-05,-3.30630895695e-05,1793189883280097024
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,711.406070668,671,661.593929332,632,876.406070668,781.593929332,798,649,624.406070668,646.593929332,0.42669817534,-0.00556045983177,0.0600098755241,0.999999997504,-5.05992381625e-05,3.48836726118e-05,-3.4840623891e-05,1793189883296763392
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742,711.97960517,671,661.02039483,632,876.97960517,781.02039483,798,649,624.97960517,646.02039483,0.427574470601,-0.00556422834245,0.0599882620253,0.999999997941,-5.02784325362e-05,1.26439556163e-05,-3.78214912157e-05,1793189883313430016
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632,877,781,798,649,625,646,0.428378782717,-0.00556356290501,0.0599652839635,0.99999999735,-5.73104050845e-05,-2.11424696695e-05,-3.95986475363e-05,1793189883330096640
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.148493346,712,671.148493346,661,632,877,781.148493346,798,649.148493346,625,646.148493346,0.429179300629,-0.00556182514861,0.0599423878878,0.999999995643,-6.03587014419e-05,-5.81100126545e-05,-4.11589693122e-05,1793189883346763264
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.73025087,712,671.73025087,661,632,877,781.73025087,798,649.73025087,625,646.73025087,0.429976491955,-0.00555743565372,0.0599198778269,0.999999992492,-5.09926765176e-05,-0.000103117017512,-4.22161204953e-05,1793189883363429888
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.308573098,743,712,671.691426902,661.308573098,632,877,781.691426902,798.308573098,649.691426902,625,647,0.43080890129,-0.00555745258536,0.0599164640894,0.999999992352,-5.01992339338e-05,-0.000104537009791,-4.29926643635e-05,1793189883380096768
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.883925287,743,712,671.116074713,661.883925287,632,877,781.116074713,798.883925287,649.116074713,625,647,0.431671758566,-0.00556127912497,0.0599295602168,0.999999995108,-5.68172795386e-05,-6.82735347114e-05,-4.35266071176e-05,1793189883396763392
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.54138876,742.54138876,712,670.54138876,662,632,877.45861124,781,798.54138876,649,625,646.54138876,0.432538520865,-0.00556568463336,0.0599652429389,0.999999996997,-6.36677565075e-05,-1.38112842007e-05,-4.19635214896e-05,1793189883413430272
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.034155819,742.034155819,711.965844181,670.034155819,662,632,877.965844181,781,798.034155819,649,625,646.034155819,0.433399261117,-0.00557003783154,0.0600030143171,0.999999995926,-7.0548229397e-05,3.96050475332e-05,-4.00255191126e-05,1793189883430096896
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.626482913,742.626482913,711.373517087,670.626482913,662,632,877.373517087,781,798.626482913,649,625,646.626482913,0.434145460244,-0.00557114495059,0.05998163237,0.999999996213,-7.69589122086e-05,7.65422959464e-07,-4.06216962962e-05,1793189883446763264
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.785276516,742.785276516,711.214723484,671,661.785276516,632,877,781,799,649,624.785276516,647,0.434886443878,-0.00557249472786,0.0599567481061,0.999999995056,-7.97693015264e-05,-4.20803983838e-05,-4.18887417001e-05,1793189883463429888
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.204011704,742.204011704,711.795988296,671,661.204011704,632,877,781,799,649,624.204011704,647,0.435618524583,-0.0055742587323,0.0599258852482,0.999999991887,-7.64338510572e-05,-9.17649595138e-05,-4.43009853325e-05,1793189883480096512
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.372499416,712,671.372499416,661.372499416,632,877,781.372499416,799,649.372499416,624.372499416,646.627500584,0.436338093731,-0.00557618851103,0.0599133999216,0.999999989818,-7.66694598673e-05,-0.000111467679221,-4.53955001873e-05,1793189883496763136
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.94643979,712,671.94643979,661.94643979,632,877,781.94643979,799,649.94643979,624.94643979,646.05356021,0.437050896811,-0.00557820793738,0.059910852834,0.999999989237,-7.88362333165e-05,-0.000114956757618,-4.57774110105e-05,1793189883513430016
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.479755331,712,672,662,632,877.520244669,781.479755331,798.479755331,650,624.479755331,646.520244669,0.437726179246,-0.0055796321735,0.0599043001337,0.999999984754,-9.44493413597e-05,-0.00013979271843,-4.50378560779e-05,1793189883530096896
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+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742.691047343,712,671.308952657,661.308952657,632,877.308952657,781,798.691047343,649.308952657,624.691047343,647,0.439056103546,-0.00557502576114,0.0599079591332,0.999999985439,-8.30994046675e-05,-0.000142602530703,-4.33773435568e-05,1793189883563430400
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.723322213,712,671.276677787,661.553355574,632,877,781.276677787,799,649,625,647,0.439722047122,-0.00557364627261,0.0599338943267,0.999999991624,-7.15709101286e-05,-9.91365723611e-05,-4.24376199268e-05,1793189883580097280
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.146491655,712,671.853508345,662.70701669,632,877,781.853508345,799,649,625,647,0.440394088664,-0.00557612606001,0.0599791266382,0.999999996235,-7.13613596803e-05,-2.69655831133e-05,-4.13598713384e-05,1793189883596763904
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.428891488,742,712,672,662.142217024,632,877.428891488,782,799,649,625.428891488,646.571108512,0.440965316052,-0.00558393868634,0.0599760843686,0.999999995247,-8.10869286554e-05,-3.41155291361e-05,-4.20419951711e-05,1793189883613430528
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.996112962,742.003887038,712,672.003887038,661.003887038,632,877.996112962,782,799,649,625.992225924,646.003887038,0.441501802119,-0.00559350701849,0.0599563993237,0.99999999228,-9.4139346264e-05,-6.85491006274e-05,-4.33428731929e-05,1793189883630097152
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+251,4.183333333,HOLD_POSE2,764,743,711.311137731,672,659,629.311137731,877.311137731,780,799.311137731,649.311137731,624,647,0.448026954654,-0.00559649320571,0.0597464459706,0.999999913129,-0.000118151670408,-0.000397569358097,-4.14812924633e-05,1793189884672848640
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+254,4.233333333,HOLD_POSE2,764,743,712,672,659.938413479,629,877.938413479,780,799.938413479,649.061586521,624,646.061586521,0.448028845821,-0.0055978794025,0.0597463394789,0.999999913835,-0.000118758693537,-0.00039568179531,-4.07800494513e-05,1793189884722848512
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+256,4.266666667,HOLD_POSE2,764,743,712,672,659,629,877.214903222,780.214903222,799,650,624.214903222,647,0.448027158864,-0.00559746844974,0.0597455221514,0.999999912851,-0.000118770605719,-0.000398121936222,-4.11042418975e-05,1793189884756182016
+257,4.283333333,HOLD_POSE2,764,743,712,672,659,629,877.79818252,780.79818252,799,650,624.79818252,647,0.448027448387,-0.00559634874372,0.0597456709614,0.99999991362,-0.000116318622883,-0.000396890917282,-4.13269120832e-05,1793189884772848640
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diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aa8a53d215c81097da22868c6b956d8a18a9a914
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,402 @@
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diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..61dbb24f8f03c8319e05adf1fa5d46ff1db47488
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19bc07a976acee9446f4c700c1521cfb544461b3c14aeb184850ac009299ab9b
+size 24719161
diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e11ccfdaf445487af20e5cdca7c338613618fb76
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_01/franka_data.csv
@@ -0,0 +1,390 @@
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+56,0.933333333,BASELINE,765,742,711.49840128,670,663,632,875,781.50159872,799,650,625.50159872,648,0.400932200949,-0.00545230056581,0.0499174188737,0.999999973749,4.61879433791e-06,-0.000226534179479,-3.41010140058e-05,1793189889445682176
+57,0.950000000,BASELINE,765,742,711.922950165,670,663,632,875,781.077049835,799.077049835,650,625,648,0.400932087929,-0.00545301501531,0.0499173678345,0.999999973795,3.51192369677e-06,-0.000226356610157,-3.40743288269e-05,1793189889462348800
+58,0.966666667,BASELINE,765,742,711.346950608,670,663,632,875,781.653049392,799.653049392,650,625,648,0.40093175195,-0.00545233638481,0.0499172279467,0.999999973753,5.9638139737e-06,-0.000226497306629,-3.40092310789e-05,1793189889479015680
+59,0.983333333,BASELINE,764.771120685,742,711.228879315,670,663,632,875,782,799.771120685,650,625,648,0.40093153103,-0.00545202009984,0.0499170298965,0.999999973717,6.71219921255e-06,-0.000226611452881,-3.41656360323e-05,1793189889495682304
+60,1.000000000,BASELINE,764.195547627,742,711.804452373,670,663,632,875,782,799.195547627,650,625,648,0.400931484395,-0.00545225267575,0.0499167437452,0.999999973694,4.88020950341e-06,-0.000226685382345,-3.46575610309e-05,1793189889512349184
+61,1.016666667,BASELINE,764,742,711.610064275,670,663,632,875.389935725,781.610064275,798.610064275,650,625,648,0.400930645239,-0.00545295829192,0.0499160527171,0.999999973444,3.03776469023e-06,-0.000227819685319,-3.46610214685e-05,1793189889529015808
+62,1.033333333,BASELINE,764,742,711.019481473,670,663,632,875.980518527,781.019481473,798.019481473,650,625,648,0.40092939828,-0.0054539073178,0.0499151533537,0.999999973072,1.18994016165e-06,-0.000229499618844,-3.44131353576e-05,1793189889545682176
+63,1.050000000,BASELINE,764,742,711,670,663,632,875.439934681,781.560065319,798.560065319,650,625,648,0.400929201784,-0.00545478160594,0.0499159386697,0.999999973203,1.73317327132e-06,-0.000228975252653,-3.40704987505e-05,1793189889562348544
+64,1.066666667,BASELINE,764.137815702,742,711.137815702,670,663,632.137815702,875,782,799,650,625,648,0.400929339137,-0.00545517211168,0.0499164457143,0.999999973356,2.32606560688e-06,-0.000228330811118,-3.38875809694e-05,1793189889579015424
+65,1.083333333,BASELINE,764.711079527,742,711.711079527,670,663,632.711079527,875,782,799,650,625,648,0.400930418108,-0.00545404209417,0.0499158919432,0.999999973522,2.81815019249e-06,-0.000227544558547,-3.42195297367e-05,1793189889595682048
+66,1.100000000,BASELINE,765,742,712,670,663.284194325,632.715805675,875.284194325,782,799,650,625,648,0.400930785922,-0.00545305858904,0.0499156169104,0.999999973499,3.76352589631e-06,-0.000227606312056,-3.43915204465e-05,1793189889612348928
+67,1.116666667,BASELINE,765,742,712,670,663.857157664,632.142842336,875.857157664,782,799,650,625,648,0.400930431132,-0.00545222395478,0.0499156251027,0.999999973282,5.1694893348e-06,-0.000228529722084,-3.44009782266e-05,1793189889629015552
+68,1.133333333,BASELINE,765,742,711.555118518,670,663.555118518,632,875.555118518,782,798.110237035,650,625.444881482,648,0.400929844016,-0.00545122781953,0.0499158389017,0.999999973209,6.44401163088e-06,-0.000228819502775,-3.4381452839e-05,1793189889645682176
+69,1.150000000,BASELINE,765,742,711.036602524,670,663,632,875.036602524,782,797.073205049,650,626,648,0.400929308344,-0.00545037926935,0.0499161063077,0.999999973197,7.48438422705e-06,-0.000228849071911,-3.43345392476e-05,1793189889662348800
+70,1.166666667,BASELINE,765,742,711.614933016,670,663,632,875.614933016,782,798.229866032,650,626,648,0.400930675993,-0.00545250882316,0.0499161565253,0.999999973381,5.70532450767e-06,-0.000228141815876,-3.40247288703e-05,1793189889679015680
+71,1.183333333,BASELINE,765,742.192399189,712,670.192399189,663,632,876,782,799.192399189,650,625.807600811,648,0.400931586876,-0.00545375589585,0.0499163752286,0.999999973538,4.44443842077e-06,-0.000227495450409,-3.3926649542e-05,1793189889695682304
+72,1.200000000,BASELINE,765,742.768143359,712,670.768143359,663,632,876,782,799.768143359,650,625.231856641,648,0.400931587675,-0.00545324467303,0.0499169296307,0.999999973647,4.2159849593e-06,-0.000226970405977,-3.42504328246e-05,1793189889712348928
+73,1.216666667,BASELINE,764.649192726,742.649192726,711.649192726,670.649192726,663,632,876,782,799.298385452,650,625,648,0.400931701844,-0.00545354869617,0.0499174016391,0.999999973743,4.05243452486e-06,-0.000226581948975,-3.40358337823e-05,1793189889729015552
+74,1.233333333,BASELINE,764.0618634,742.0618634,711.0618634,670.0618634,663,632,876,782,798.123726801,650,625,648,0.400931892452,-0.00545440237626,0.049917818096,0.99999997383,3.93264316563e-06,-0.000226285582281,-3.34582454066e-05,1793189889745682176
+75,1.250000000,BASELINE,764,742,711,670.520435439,663,632,876,782,798.520435439,650,625,648,0.400931910911,-0.00545403194089,0.0499169910393,0.999999973769,4.5034650249e-06,-0.000226537219736,-3.34916737903e-05,1793189889762349056
+76,1.266666667,BASELINE,764,742,711,670.899045301,663,632,875.899045301,782,798.899045301,650,625,648,0.400932135453,-0.00545341878724,0.0499164523374,0.999999973759,5.18029884018e-06,-0.000226549239083,-3.3617997285e-05,1793189889779016192
+77,1.283333333,BASELINE,764,742,711,670.3241007,663,632,875.3241007,782,798.3241007,650,625,648,0.400933422718,-0.00545234268757,0.0499179548404,0.999999974067,5.97312762304e-06,-0.000225133321978,-3.38427284379e-05,1793189889795682560
+78,1.300000000,BASELINE,764,742,711,670.251260685,663,632,875,782,798.251260685,649.748739315,625,648,0.400933700962,-0.00545271105374,0.0499182188498,0.9999999741,4.32182762417e-06,-0.000224982512823,-3.41295774158e-05,1793189889812349184
+79,1.316666667,BASELINE,764,742,711,670.827160528,663,632,875,782,798.827160528,649.172839472,625,648,0.400932675509,-0.00545494572936,0.0499168826743,0.999999973761,-4.87387528621e-07,-0.000226466275372,-3.44966851649e-05,1793189889829015808
+80,1.333333333,BASELINE,764,742,711,670.585691958,663.414308042,632.414308042,875.414308042,782,799,649.414308042,625,648,0.400932073745,-0.00545493980063,0.0499164913499,0.999999973683,2.5840440185e-07,-0.000226846591556,-3.42731799729e-05,1793189889845682176
+81,1.350000000,BASELINE,764,742,711,670,663.993882061,632.993882061,876,782,799.006117939,649.993882061,625.006117939,648,0.40093165044,-0.00545398443667,0.0499165021538,0.999999973712,3.3382182555e-06,-0.000226764751816,-3.38040988321e-05,1793189889862348800
+82,1.366666667,BASELINE,764,742,711,670,663.417078233,632.417078233,876,782,799.582921767,649.417078233,625.582921767,648,0.400930926215,-0.00545409022847,0.0499162293324,0.999999973492,1.934548515e-06,-0.000227711011056,-3.4052295288e-05,1793189889879015168
+83,1.383333333,BASELINE,764.159085471,742,711.159085471,670,662.840914529,632,875.840914529,782,799.681829059,649.159085471,625.840914529,648,0.400930243863,-0.00545416209364,0.0499159845101,0.999999973299,1.0210284587e-06,-0.000228535998139,-3.4235326242e-05,1793189889895682048
+84,1.400000000,BASELINE,764.733577798,742,711.733577798,670,662.266422202,632,875.266422202,782,798.532844404,649.733577798,625.266422202,648,0.400929670848,-0.00545414536902,0.0499158127993,0.999999973182,1.38739581332e-06,-0.000229044317378,-3.42481959137e-05,1793189889912348928
+85,1.416666667,BASELINE,765,742.316361665,711.683638335,670,662.316361665,632,875.316361665,782,798.316361665,650,625.316361665,648,0.400929573546,-0.00545352294223,0.0499155252128,0.999999973212,3.19661330594e-06,-0.000228898211834,-3.42377693378e-05,1793189889929015808
+86,1.433333333,BASELINE,765,742.906316104,711.093683896,670,662.906316104,632,875.906316104,782,798.906316104,650,625.906316104,648,0.400929887647,-0.00545237669806,0.049915137416,0.999999973361,6.25362220092e-06,-0.000228186153072,-3.42071959295e-05,1793189889945682688
+87,1.450000000,BASELINE,765,742.513002988,711,670,663,632,875.513002988,782,799.486997012,650,625.513002988,648,0.400930752098,-0.00545306454313,0.0499158084051,0.999999973432,5.35153516435e-06,-0.000227935999005,-3.3947182095e-05,1793189889962349056
+88,1.466666667,BASELINE,765,742,711,670,663.065581014,632,875.065581014,782,799.934418986,650,625,648,0.400931636911,-0.00545398171072,0.0499166304868,0.999999973511,3.74120546545e-06,-0.000227655430861,-3.3710913878e-05,1793189889979015424
+89,1.483333333,BASELINE,765,742,711,670,663.641470455,632,875.641470455,782,799.358529545,650,625,648,0.400931871745,-0.00545398916729,0.0499170729897,0.999999973777,2.43543014891e-06,-0.000226459694737,-3.39964503646e-05,1793189889995682048
+90,1.500000000,BASELINE,764.783518332,742,711,670,663.783518332,632,875.783518332,782,799,650,625.216481668,648,0.400932285965,-0.00545420342732,0.0499171855929,0.999999973893,1.67081184329e-06,-0.00022593494734,-3.41123153876e-05,1793189890012348672
+91,1.516666667,BASELINE,764.209955788,742,711,670,663.209955788,632,875.209955788,782,799,650,625.790044212,648,0.400932996074,-0.00545475880425,0.0499167540349,0.999999973767,1.79881806769e-06,-0.000226516978494,-3.39483117206e-05,1793189890029015296
+92,1.533333333,BASELINE,764,742,711,670,663,632,875.375355595,782,798.624644405,650,626,648,0.400932745461,-0.00545497635126,0.0499158467807,0.99999997365,1.48678044153e-06,-0.000227048718191,-3.38738707263e-05,1793189890045682432
+93,1.550000000,BASELINE,764,742,711,670,663,632,875.967451113,782,798.032548887,650,626,648,0.400931940103,-0.00545499882667,0.0499146648473,0.999999973537,9.20650250612e-07,-0.000227551418368,-3.38511454949e-05,1793189890062349568
+94,1.566666667,BASELINE,764.545409123,742,711,670,663,632,876,782,798.545409123,650,626,648,0.400930641872,-0.00545433774847,0.0499150459688,0.999999973343,1.91502477477e-06,-0.000228408010802,-3.37751523871e-05,1793189890079017216
+95,1.583333333,BASELINE,765,742,711,670,663,632,875.877828744,782,798.877828744,650,625.877828744,648,0.400929498079,-0.00545386449584,0.0499152589286,0.999999973148,2.66869388082e-06,-0.000229259295014,-3.37293211902e-05,1793189890095684608
+96,1.600000000,BASELINE,765,742,711,670,663,632,875.302451965,782,798.302451965,650,625.302451965,648,0.400929033543,-0.00545423550151,0.0499145107897,0.999999972973,2.1927071845e-06,-0.000230014522661,-3.38068728907e-05,1793189890112350976
+97,1.616666667,BASELINE,765,742,711,670,663.272444325,632,875.544888651,782,798.272444325,650,625.272444325,648,0.400930127248,-0.00545400236432,0.04991495322,0.999999973242,2.41423994149e-06,-0.0002288070629,-3.40212206263e-05,1793189890129017088
+98,1.633333333,BASELINE,765,742,711,670,663.846808109,632,876.693616219,782,798.846808109,650,625.846808109,648,0.400932947777,-0.00545309972342,0.0499167150246,0.999999973995,3.40875522605e-06,-0.000225424576988,-3.43871640446e-05,1793189890145682688
+99,1.650000000,BASELINE,764.563729854,742,711,670,663.563729854,632,876.563729854,781.563729854,799,650,625.563729854,648,0.400934072374,-0.00545307210605,0.0499173115623,0.999999974216,3.64911346317e-06,-0.000224475092116,-3.4141425739e-05,1793189890162349312
+100,1.666666667,BASELINE,764.030175604,742,711.030175604,669.969824396,663,632,876,781.030175604,798.969824396,650,625.030175604,648,0.400934522853,-0.00545328262401,0.0499174589726,0.999999974241,3.74141106202e-06,-0.00022442572675,-3.37247842669e-05,1793189890179015936
+101,1.683333333,BASELINE,764.605155987,742,711.605155987,669.394844013,663,632,876,781.605155987,798.394844013,650,625.605155987,648,0.40093393952,-0.00545204634716,0.0499171498278,0.999999974161,6.11303560888e-06,-0.00022465024049,-3.42394364762e-05,1793189890195682560
+102,1.700000000,BASELINE,765,742,711.820008798,669.179991202,663,632,875.820008798,782,798.179991202,650,626,648,0.400933285132,-0.00545159180126,0.0499168213064,0.99999997405,7.50983044477e-06,-0.000225067888244,-3.44557677812e-05,1793189890212349184
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+105,1.750000000,BASELINE,764.074802356,742,711,670,663,632,875,782,799,650,625.074802356,648,0.400932709356,-0.00545406277522,0.0499158539995,0.999999973856,5.20078226176e-06,-0.000226102022279,-3.37351852565e-05,1793189890262350592
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+108,1.800000000,POSE1_TO_POSE2_PRESS,765,742.42581779,711.42581779,670.42581779,663,632,875.42581779,782,798.57418221,649.42581779,625,648,0.400931231658,-0.0054546721581,0.0499158986051,0.99999997371,2.65705087964e-06,-0.000226755579208,-3.39825439076e-05,1793189890338749184
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+116,1.933333333,POSE1_TO_POSE2_PRESS,765,742,711.766661314,669.766661314,663,632.766661314,875.766661314,782,798.233338686,650,625,648,0.400989652673,-0.00545572022804,0.0499272109375,0.999999981614,2.95867151833e-06,-0.000188673406062,-3.41482748716e-05,1793189890472081920
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,742,711.187752388,669.187752388,663,632.187752388,875.187752388,782,798.812247612,650,625,648,0.401021961526,-0.00545560759596,0.0499328438411,0.999999984925,3.01010696173e-06,-0.000170171293437,-3.43803018381e-05,1793189890488748544
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,742,711,669.388367857,663,632,875.388367857,782,799,650,625,648,0.401066109724,-0.00545694436877,0.0499388591717,0.999999988694,1.90557934683e-06,-0.000146282779439,-3.47739054548e-05,1793189890505415424
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,742,711,669.963149605,663,632,875.963149605,782,799,650,625,648,0.40111594073,-0.00545897684592,0.0499450580652,0.999999992202,2.46197445548e-07,-0.000119808828241,-3.52450647524e-05,1793189890522082560
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.462370127,742,711,670,663.537629873,632,875.462370127,782,799,650,625,648,0.401177615478,-0.00546009387745,0.0499494847672,0.999999994211,5.41716853683e-07,-0.000101726151277,-3.50682020991e-05,1793189890538749440
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.115528497,742,711,670,663.884471503,632,875,781.884471503,799,649.884471503,625,648,0.401242215476,-0.00546175875308,0.0499529831086,0.999999995481,-5.69339824072e-08,-8.8503019619e-05,-3.4717798372e-05,1793189890555416576
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.707613246,742,711,670,663.292386754,632,875,781.292386754,799,649.292386754,625,648,0.401315535385,-0.00546594217765,0.049953152739,0.999999995095,-4.89646085756e-06,-9.29543571388e-05,-3.38346534672e-05,1793189890572082944
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,742,711.293380569,670.293380569,663.293380569,632,875.293380569,781.293380569,798.706619431,649.293380569,625.293380569,648,0.401400990279,-0.00546935914241,0.0499522475592,0.999999994778,-5.99634639128e-06,-9.65443401693e-05,-3.29690820337e-05,1793189890588749056
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,742,711.872984547,670.872984547,663.872984547,632,875.872984547,781.872984547,798.127015453,649.872984547,625.872984547,648,0.401498284113,-0.00547202834527,0.0499502937897,0.999999994549,-3.44782062705e-06,-9.92939815988e-05,-3.21206554121e-05,1793189890605415168
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,742,711.551265944,671,663.551265944,632,875.551265944,782,798.897468112,650,625.551265944,648,0.401618009404,-0.00547717846372,0.0499502355252,0.999999994461,-7.26673041169e-06,-0.000100336377293,-3.09470187113e-05,1793189890622081792
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.976095281,742,711.023904719,670.976095281,663.023904719,632,875.023904719,782,799.952190563,650,625,648,0.401745311869,-0.00548308167218,0.0499507309889,0.9999999944,-1.27758141222e-05,-0.00010078035852,-2.96657973359e-05,1793189890638748672
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.389078278,742,711.610921722,670.389078278,663.610921722,632,875.610921722,782,798.778156556,650,625,648,0.401902812888,-0.00549032384399,0.0499517392664,0.999999994637,-1.60046891304e-05,-9.84142996609e-05,-2.8000203777e-05,1793189890655415296
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711.804644731,670,664,632,875.804644731,782.195355269,798,650,625.195355269,648,0.402070013807,-0.00549753301271,0.0499511648576,0.999999994527,-1.9480492987e-05,-9.9307998172e-05,-2.65247438342e-05,1793189890672081920
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711.225289422,670,664,632,875.225289422,782.774710578,798,650,625.774710578,648,0.402256281314,-0.0055046773081,0.0499474794416,0.999999993719,-2.34416720961e-05,-0.000106609238282,-2.54230201862e-05,1793189890688748288
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.352681319,742,711.352681319,670,663.647318681,632,875,782.647318681,798.352681319,650,625.647318681,648,0.402472357476,-0.00551251601138,0.0499468101738,0.999999993626,-2.81483174839e-05,-0.000106714750214,-2.3832105793e-05,1793189890705415168
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.929771127,742,711.929771127,670,663.070228873,632,875,782.070228873,798.929771127,650,625.070228873,648,0.402707400681,-0.00552079656192,0.0499480600583,0.999999993977,-3.33292978842e-05,-0.000102241674782,-2.19299228751e-05,1793189890722081792
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,742.504651709,711.495348291,670.504651709,663,632,875.504651709,782,799,650,625,648,0.402979538111,-0.00553283702423,0.0499507336898,0.999999994682,-3.98649463509e-05,-9.31347708283e-05,-1.93012176881e-05,1793189890738748416
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,742.918690836,711,670.918690836,663,632,876,782,798.918690836,650,625,648,0.403262589628,-0.00554488767455,0.0499546039235,0.999999995471,-4.5988303235e-05,-8.16658638516e-05,-1.65586741912e-05,1793189890755415040
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,742.329009673,711,670.329009673,663,632,876,782,798.329009673,650,625,648,0.403581745003,-0.00555374481245,0.04996472232,0.99999999697,-4.8360327845e-05,-5.94432144908e-05,-1.37337617029e-05,1793189890772081664
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,742,711,670,663,632.256005614,876,782,798.256005614,650.256005614,625.256005614,648,0.403922045552,-0.00556335728412,0.0499738160021,0.999999997809,-5.04626122604e-05,-4.16042999991e-05,-1.02632902315e-05,1793189890788748288
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,742,711,670,663,632.835131775,876,782,798.835131775,650.835131775,625.835131775,648,0.404289034715,-0.00557392310882,0.049981616328,0.999999998189,-5.22244407386e-05,-2.92983702583e-05,-5.97801894354e-06,1793189890805414912
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,742,711,670,663,632.587247096,876,781.587247096,799,650.587247096,625.587247096,648,0.40469260255,-0.00557917151794,0.049986433648,0.999999998785,-4.53920113345e-05,-1.91571518123e-05,-1.61998931765e-06,1793189890822081792
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,742,711,670,663,632.010224959,876,781.010224959,799,650.010224959,625.010224959,648,0.405110728117,-0.00558230367816,0.0499900637779,0.99999999933,-3.51392010028e-05,-9.87745506249e-06,2.76699689217e-06,1793189890838748160
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,742,711,670,663,632,876,781.563832176,799,650,625,648,0.405519417501,-0.00557093617148,0.049973126075,0.999999999071,-1.06462946053e-05,-4.15251452825e-05,4.45248164534e-06,1793189890855414784
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.858274,742,711,670,663,632,876,782,799,650,625,648,0.40593470674,-0.00556153688855,0.0499538652037,0.999999996987,1.14246082066e-05,-7.65425372898e-05,6.09561674558e-06,1793189890872081664
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.268070204,742,711,670,663,632,876,782,799,650,625,648,0.406371419153,-0.00555919357541,0.0499284270248,0.999999992471,2.50184152973e-05,-0.000119886650755,7.75895667366e-06,1793189890888748288
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.315596493,742,711.315596493,670,663,632,876,782,799,650,625.315596493,648,0.406853027082,-0.00556100070033,0.0499143269444,0.999999989095,3.39513504975e-05,-0.000143325813819,1.07450815425e-05,1793189890905414912
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.893823272,742,711.893823272,670,663,632,876,782,799,650,625.893823272,648,0.40737199581,-0.00556626169964,0.0499096620992,0.999999987849,3.90056442719e-05,-0.000150200657055,1.48319900211e-05,1793189890922081280
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.531517527,742.468482473,711.531517527,670.468482473,663,632,876.468482473,782,799,650,625.531517527,648,0.407972021025,-0.00556868447999,0.0499282261305,0.999999992859,4.64936057524e-05,-0.000108417889878,1.91279114665e-05,1793189890938747904
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.043107254,742.956892746,711,670.956892746,663.043107254,632,877,782,798.956892746,650,625.043107254,648,0.40859011105,-0.00557065985619,0.0499519824802,0.999999996739,5.22686307478e-05,-5.70716047241e-05,2.30783545823e-05,1793189890955414784
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.627374103,742.372625897,711,670.372625897,663.627374103,632,877,782,798.372625897,650,625.627374103,648,0.409206105484,-0.00557503285156,0.0499753311085,0.99999999905,2.96678998099e-05,-2.30606233702e-05,2.21015511106e-05,1793189890972082176
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,742,711.211323874,670,664,632,876.788676126,782,798.211323874,650,625.788676126,647.788676126,0.409825473082,-0.00557731564961,0.0499877204196,0.99999999959,1.68660477711e-05,-7.05284885335e-06,2.20231255924e-05,1793189890988749568
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,742,711.794715348,670,664,632,876.205284652,782,798.794715348,650,625.205284652,647.205284652,0.410450779609,-0.00557591833932,0.0499808141958,0.999999999237,2.13166035529e-05,-2.27424414055e-05,2.35264302667e-05,1793189891005415936
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.639824076,742,712,670,663.639824076,632,876,782,799,650,625,647.360175924,0.411071171655,-0.00556833652961,0.0499548380465,0.999999996208,3.04986047371e-05,-7.85279731136e-05,2.20737035659e-05,1793189891022082304
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.084098698,742,712,670,663.084098698,632,876,782,799,650,625,647.915901302,0.411688895475,-0.00555739698445,0.0499185083083,0.999999986746,4.22494379714e-05,-0.000156082696343,1.90160656582e-05,1793189891038748416
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,712,670.504151806,663,632,876.504151806,782,798.495848194,650,625,648,0.412430842426,-0.00554842234206,0.0499250869827,0.999999990341,5.1119486461e-05,-0.000128035291364,1.76773489582e-05,1793189891055415040
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711.902087437,670.902087437,663.097912563,632,877,782,798,649.902087437,625,648,0.413192643561,-0.00554146908498,0.0499398967488,0.999999994601,5.70557072957e-05,-8.51350210424e-05,1.71458508685e-05,1793189891072081920
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711.309788676,670.309788676,663.690211324,632,877,782,798,649.309788676,625,648,0.413942847185,-0.00554295320468,0.0499576341969,0.999999996586,5.07720195654e-05,-6.23192657231e-05,1.91425543609e-05,1793189891088749568
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.276434108,742,711,670.276434108,663.723565892,632,877,782,798,649.276434108,625,648,0.414682539835,-0.0055445413842,0.049954358392,0.999999996316,4.51833195399e-05,-7.02426707098e-05,1.98086588923e-05,1793189891105416960
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.855994305,742,711,670.855994305,663.144005695,632,877,782,798,649.855994305,625,648,0.415410706686,-0.00554624367156,0.0499280403344,0.999999992747,4.03567131547e-05,-0.000111873351135,1.90156844538e-05,1793189891122083840
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,742,711,671,663,632,876.566413803,782,798,650,625,648,0.416181808515,-0.00554692168956,0.0499168471343,0.99999999125,3.61043240429e-05,-0.00012596887826,1.81410343148e-05,1793189891138749952
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,742.01069213,711,670.98930787,663.01069213,632,876.01069213,782,798.01069213,650,625,647.98930787,0.416968034112,-0.00554733797674,0.0499113053321,0.9999999909,3.18551327898e-05,-0.000129949372942,1.7267034304e-05,1793189891155415808
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,742.596667618,711,670.403332382,663.596667618,632,876.596667618,782,798.596667618,650,625,647.403332382,0.417804211112,-0.00555189286462,0.0499407753613,0.999999996524,1.75631601461e-05,-7.95233579177e-05,1.78809504236e-05,1793189891172082688
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.819330923,742.819330923,711.180669077,670.180669077,664,632,877,782,799,650,625,647.180669077,0.418625656576,-0.00555432515077,0.0499587395864,0.999999998388,8.86053364393e-06,-5.2768069525e-05,1.90199862167e-05,1793189891188749312
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.239688766,742.239688766,711.760311234,670.760311234,664,632,877,782,799,650,625,647.760311234,0.419414570211,-0.00555207007693,0.0499512954431,0.99999999663,1.25009093563e-05,-7.82850542342e-05,2.1318648359e-05,1793189891205415424
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.338747462,742.338747462,711.661252538,671,663.661252538,632,877,782,799.338747462,650,625,648,0.420225569128,-0.00554923797372,0.0499425558472,0.999999996011,1.60921531214e-05,-8.5228500901e-05,2.13221673006e-05,1793189891222081792
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.916333408,742.916333408,711.083666592,671,663.083666592,632,877,782,799.916333408,650,625,648,0.421052139538,-0.00554599902823,0.0499329028751,0.999999996486,1.96487555921e-05,-7.9076422081e-05,1.97074643675e-05,1793189891238748416
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.508014405,742.508014405,711.491985595,671,663.491985595,632,876.508014405,782,800,650,625,648,0.421918463722,-0.00555172590455,0.0499543687072,0.999999999004,1.00049981575e-05,-3.75328877202e-05,2.19638749089e-05,1793189891255415296
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,712,671,664,632,876.137690027,782,799.931154987,650,625,648,0.422783912626,-0.00555826665241,0.0499762734077,0.999999999698,-4.23958141046e-07,8.58178181247e-07,2.45522919533e-05,1793189891272081920
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,712,671,664,632,877.314575567,782,799.342712216,650,625,648,0.423591930973,-0.00555948743249,0.0499617059081,0.999999999251,9.71920526784e-08,-2.97905225402e-05,2.46973732113e-05,1793189891288748544
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,711.757977534,671,664,632,877.757977534,782,798.757977534,650,625,648,0.424411497029,-0.00555998647335,0.0499533798524,0.999999998576,-1.12616065767e-06,-4.71505473034e-05,2.49876372776e-05,1793189891305415168
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,711.178414314,671,664,632,877.178414314,782,798.178414314,650,625,648,0.425247168411,-0.0055594789285,0.0499537585307,0.999999998607,-4.78251397482e-06,-4.597729829e-05,2.54803830659e-05,1793189891322081792
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.399011964,742.399011964,711,671,664,632,877,782,798.399011964,650,625,648,0.426081079524,-0.00556047607392,0.0499680501116,0.999999999189,-7.05186693247e-06,-2.88669315097e-05,2.71798851981e-05,1793189891338748416
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.975487786,742.975487786,711,671,664,632,877,782,798.975487786,650,625,648,0.426914207693,-0.00556214244274,0.0499885295705,0.999999999519,-8.70433983359e-06,-4.66840039497e-06,2.94161021105e-05,1793189891355414784
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,742.453025333,711.546974667,671,664,632,876.453025333,782,797.906050666,650,625,647.453025333,0.427660634808,-0.00556135079207,0.0499638593695,0.999999997749,-6.44458736985e-06,-5.98206891048e-05,2.97037922568e-05,1793189891372082176
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.877098501,742.122901499,712,671,663.877098501,632,876,781.877098501,797.122901499,650,625,647.122901499,0.428414919837,-0.00556032570928,0.0499395513337,0.999999993621,-3.1577535631e-06,-0.000108962984796,2.95912628823e-05,1793189891388749056
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.283311581,742.716688419,712,671,663.283311581,632,876,781.283311581,797.716688419,650,625,647.716688419,0.429214063804,-0.00555882448383,0.0499243130836,0.999999992204,3.39858226721e-06,-0.000121577074534,2.82768712146e-05,1793189891405415936
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.302943488,742.697056512,711.697056512,671,663.605886977,632,876.302943488,781.302943488,798.302943488,649.697056512,625,648,0.430013097382,-0.00555848365266,0.0499280529783,0.999999993919,1.26316038275e-05,-0.000105947462452,2.78879209173e-05,1793189891422082560
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.882325644,742.117674356,711.117674356,671,664.764651288,632,876.882325644,781.882325644,798.882325644,649.117674356,625,648,0.430812030186,-0.00555920169183,0.0499491106024,0.99999999722,2.43071249011e-05,-6.45452167183e-05,2.83434442593e-05,1793189891438748928
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,742.459047974,711,671,664.081904052,632,877,782,798.540952026,649.459047974,625,648,0.431532823125,-0.00556005180302,0.0499353466218,0.999999995172,3.0688084259e-05,-8.92514594827e-05,2.73564948663e-05,1793189891455415552
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,742.964274182,711,671,663,632,877,782,798.035725818,649.964274182,625.035725818,648,0.432234921823,-0.00556091291034,0.0499142198604,0.999999990877,3.53014863853e-05,-0.000127744143226,2.61056174317e-05,1793189891472082176
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,742.377832841,711,671,663,632,877,782,798.622167159,649.377832841,625.622167159,648,0.432955842715,-0.00556142463839,0.0499164025065,0.999999992006,3.34691538169e-05,-0.000119028624785,2.64534609753e-05,1793189891488748800
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.794075903,742,711.205924097,671,663.205924097,632,877.205924097,781.794075903,799,649.205924097,625.794075903,647.794075903,0.433674451682,-0.00556183645711,0.0499281336819,0.999999994399,3.235598169e-05,-9.69449050934e-05,2.75201681935e-05,1793189891505415424
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.215180871,742,711.784819129,671,663.784819129,632,877.784819129,781.215180871,799,649.784819129,625.215180871,647.215180871,0.434388873401,-0.00556206731954,0.0499571592098,0.999999997741,3.25453568329e-05,-5.06486190372e-05,2.98888855507e-05,1793189891522082560
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.362586748,742.362586748,711.637413252,671,664,632,877.637413252,781.362586748,798.637413252,649.637413252,625.362586748,647.362586748,0.435048436699,-0.00556135981204,0.0499683237323,0.999999998206,3.19246720064e-05,-3.99713451761e-05,3.11582852327e-05,1793189891538749440
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.939687331,742.939687331,711.060312669,671,664,632,877.060312669,781.939687331,798.060312669,649.060312669,625.939687331,647.939687331,0.435675544574,-0.00556009714542,0.0499689213121,0.999999997752,3.08247389256e-05,-5.03670200347e-05,3.17773056738e-05,1793189891555416320
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,743,711.514595519,671,663.485404481,632,877,782,798,649.514595519,626,647.485404481,0.436240558493,-0.00556284391568,0.0499423231404,0.999999993754,2.52217967388e-05,-0.000104263559914,3.13985165326e-05,1793189891572083200
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,743,712,671,663.091715391,632,877,782,798.091715391,650,625.908284609,647.091715391,0.436806001281,-0.00556540660614,0.0499195517807,0.999999988392,2.03634247041e-05,-0.000147792152791,3.09801639233e-05,1793189891588749824
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,743,712,671,663.682255861,632,877,782,798.682255861,650,625.317744139,647.682255861,0.437413190704,-0.00556442312917,0.0499348563136,0.99999999351,2.24129310552e-05,-0.000107319025342,3.09799915259e-05,1793189891605416448
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.732507026,742.732507026,711.732507026,671,664,632,877,782,798.732507026,650,625,648,0.437999827422,-0.00556406088064,0.0499528096162,0.99999999691,2.25717884311e-05,-6.84317800074e-05,3.14219398866e-05,1793189891622082816
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.153447129,742.153447129,711.153447129,671,664,632,877,782,798.153447129,650,625,648,0.438562524989,-0.00556442221841,0.0499738481167,0.999999998772,2.05284805942e-05,-3.13917203417e-05,3.23788558243e-05,1793189891638749440
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.422224206,742,711.422224206,671.422224206,664,631.577775794,877,782,798,649.577775794,625,647.577775794,0.439039245997,-0.00556295215632,0.049962765025,0.999999998058,1.99357692513e-05,-4.98686593046e-05,3.16131838575e-05,1793189891655416064
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.996673902,742,711.996673902,671.996673902,664,631.003326098,877,782,798,649.003326098,625,647.003326098,0.43948496972,-0.00556082181535,0.0499401010615,0.999999995442,1.9866044701e-05,-8.83612697792e-05,3.02264632543e-05,1793189891672082432
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,742,712,671.426746555,664,631.573253445,877,782,798,649,625,647,0.439889216183,-0.00555872348691,0.0499125855505,0.999999991149,2.00797599141e-05,-0.000128474783768,2.81707117988e-05,1793189891688749312
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,742,712,671,664,632,877,782,798.307417667,649.153708834,625,647.153708834,0.440293385826,-0.00555795597032,0.0498927734008,0.999999987022,1.94405446401e-05,-0.000157656569897,2.68945219092e-05,1793189891705416192
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,742,712,671,664,632,877,782,799.4903342,649.7451671,625,647.7451671,0.440698024708,-0.00556097795905,0.0498949802155,0.99999998736,1.63675563869e-05,-0.000155678868862,2.78495517049e-05,1793189891722082304
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,742.32947897,711.67052103,671.32947897,664.32947897,632.32947897,877,782,799.67052103,650,625,648,0.441085561836,-0.00556176163645,0.049906765072,0.999999990166,1.59999340248e-05,-0.000136308974993,2.88322040455e-05,1793189891738748672
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,742.908380824,711.091619176,671.908380824,664.908380824,632.908380824,877,782,799.091619176,650,625,648,0.441460152533,-0.00556085086237,0.0499258007183,0.999999994014,1.76803337857e-05,-0.000103772805605,2.98357671842e-05,1793189891755415296
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,742.517431053,711.482568947,672,664.517431053,632.517431053,877,782,799,650,625,648,0.441787926879,-0.0055611034089,0.0499329691342,0.999999995322,1.55457748219e-05,-9.07133033527e-05,2.97679758612e-05,1793189891772081920
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.942537027,742,712,672,663.942537027,631.942537027,877,781.942537027,799.057462973,649.942537027,625.057462973,648,0.442100429806,-0.00556160116086,0.0499365522697,0.999999995992,1.29364291355e-05,-8.35225714324e-05,2.95379830534e-05,1793189891788748800
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.352897457,742,712,672,663.352897457,631.352897457,877,781.352897457,799.647102543,649.352897457,625.647102543,648,0.442353022152,-0.00556234412391,0.0499275957584,0.999999994799,1.25729641218e-05,-9.67690665489e-05,2.96713557213e-05,1793189891805415168
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.23256883,712,672,663.23256883,631,877,781.23256883,799.76743117,649,625.76743117,647.76743117,0.442591850501,-0.00556165111607,0.0499176224377,0.999999993085,1.26680653411e-05,-0.000113175988059,2.93407528678e-05,1793189891822081792
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.8118142,712,672,663.8118142,631,877,781.8118142,799.1881858,649,625.1881858,647.1881858,0.442810161655,-0.00555881759167,0.0499061334204,0.999999990491,1.34467240348e-05,-0.000134293968254,2.83185292513e-05,1793189891838748416
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.388712796,743,712,672,664,631,877,781.611287204,799.388712796,649.388712796,625,647,0.443004802443,-0.00555721213671,0.0498970468154,0.9999999888,1.48000927123e-05,-0.000146407985362,2.72899672796e-05,1793189891855415296
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+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711.871262163,671.871262163,663.871262163,631,877,781.871262163,799,650,625,647.871262163,0.443471462915,-0.00555995844466,0.0498758405698,0.999999983537,7.54309386615e-06,-0.000179448001418,2.58285450812e-05,1793189891905414912
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+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.707061249,711.292938751,671.292938751,663,631,877,781.292938751,799,650,625,647.292938751,0.44371088459,-0.0055561388715,0.0498691993138,0.999999981451,9.53556499799e-06,-0.000190737789196,2.5028661068e-05,1793189891938748416
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.129089224,711.870910776,671.870910776,663,631,877,781.870910776,799,650,625,647.870910776,0.443817045098,-0.00555494695286,0.0498696862802,0.999999981638,1.20502002354e-05,-0.000189587790614,2.51855833241e-05,1793189891955415040
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+207,3.450000000,POSE1_TO_POSE2_PRESS,765,742,711.024528811,672,663.024528811,631,877.024528811,781.024528811,799.024528811,649.024528811,625,648,0.443976084249,-0.00555735764518,0.049872847217,0.999999982312,5.41138828804e-06,-0.000186317117359,2.51384965056e-05,1793189891988748800
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,742,711.611507298,672,663.611507298,631,877.611507298,781.611507298,799.611507298,649.611507298,625,648,0.444030983346,-0.0055573079002,0.0498719797381,0.999999982045,6.48154831986e-06,-0.000187717765107,2.50815910918e-05,1793189892005415424
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+230,3.833333333,POSE1_TO_POSE2_PRESS,764.377624289,743,711.622375711,672,663,631,877,781.755248579,799,650,625,648,0.444223227093,-0.00554901622081,0.049856746304,0.99999997744,1.0301011145e-05,-0.000211049604166,2.17243088509e-05,1793189892372081664
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.953389642,743,711.046610358,672,663,631,877,782.906779285,799,650,625,648,0.444220551816,-0.00555031888932,0.0498542998066,0.999999976723,9.42416684271e-06,-0.000214460193125,2.17438658108e-05,1793189892388748288
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.460954638,742.460954638,711.539045362,672,663.539045362,631,876.460954638,782.460954638,799,650,625,648,0.444220429795,-0.0055486671292,0.0498548478069,0.99999997669,1.26118879741e-05,-0.000214438594115,2.18497523006e-05,1793189892405414912
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.124020624,742.124020624,712,672,663.875979376,631,876.124020624,782,799.124020624,649.875979376,625,648,0.444220861088,-0.00554707601931,0.0498557368923,0.999999976764,1.54928895805e-05,-0.000213897625795,2.18987580881e-05,1793189892422081792
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.703299918,742.703299918,712,672,663.296700082,631,876.703299918,782,799.703299918,649.296700082,625,648,0.444222497925,-0.00554666284124,0.0498569097924,0.999999977047,1.59337250536e-05,-0.000212559915875,2.17110503675e-05,1793189892438748416
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,742.718002571,711.718002571,671.718002571,663.281997429,631,877,782,799.718002571,649.281997429,625,648,0.444223746205,-0.00554674856316,0.0498577289922,0.99999997731,1.51909508058e-05,-0.000211387891854,2.15491703107e-05,1793189892455415296
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,742.139915843,711.139915843,671.139915843,663.860084157,631,877,782,799.139915843,649.860084157,625,648,0.444224586513,-0.00554735811587,0.049858176817,0.999999977552,1.32054199911e-05,-0.000210389833161,2.14144085449e-05,1793189892472081920
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.564492455,742,711,671.435507545,663.564492455,631,877.435507545,782,799,650,625,648,0.444223925635,-0.00554830956534,0.0498576008438,0.999999977344,1.17371000332e-05,-0.000211425481833,2.17685901271e-05,1793189892488748544
+238,3.966666667,HOLD_POSE2,764,743,711,672,664,631,877,782,799,650,625,648,0.444223378294,-0.00554552646282,0.0498557511302,0.999999977062,1.56996728575e-05,-0.000212585210333,2.09145097903e-05,1793189892533396224
+239,3.983333333,HOLD_POSE2,764,742.420970339,711.579029661,671.420970339,664,631,878.158059321,781.420970339,799,649.420970339,625,648,0.44422443508,-0.00554730488951,0.0498571399613,0.999999977309,1.35404093199e-05,-0.000211503620973,2.15649843658e-05,1793189892550063616
+240,4.000000000,HOLD_POSE2,764.157006391,742.157006391,712,671.157006391,663.842993609,631,878.685987217,781.157006391,799,649.157006391,625,648,0.444224891139,-0.00554846710462,0.0498578192446,0.999999977406,1.20995430485e-05,-0.000211095093507,2.19221668395e-05,1793189892566730752
+241,4.016666667,HOLD_POSE2,764.732178907,742.732178907,712,671.732178907,663.267821093,631,877.535642186,781.732178907,799,649.732178907,625,648,0.444223747238,-0.0055479881206,0.0498566087402,0.999999977116,1.2572034082e-05,-0.000212479178706,2.14982040498e-05,1793189892583397120
+242,4.033333333,HOLD_POSE2,764.69438317,742.69438317,711.69438317,671.69438317,663,631,877,781.69438317,799,650,625,647.69438317,0.444223647782,-0.0055470961516,0.0498561633351,0.999999976983,1.41021394366e-05,-0.000213028182744,2.12886139358e-05,1793189892600063744
+243,4.050000000,HOLD_POSE2,764.122456778,742.122456778,711.122456778,671.122456778,663,631,877,781.122456778,799,650,625,647.122456778,0.444224458438,-0.00554584431419,0.0498563846254,0.999999976984,1.6553832777e-05,-0.000212849510478,2.12658247297e-05,1793189892616729856
+244,4.066666667,HOLD_POSE2,764,742.468153705,711,671.468153705,663,631,876.531846295,781.468153705,799,649.531846295,625,647.468153705,0.444225092105,-0.00554799983916,0.0498572926845,0.999999977275,1.21904363935e-05,-0.000211765420406,2.13958488308e-05,1793189892633396480
+245,4.083333333,HOLD_POSE2,764.061871427,743,711.061871427,672,663.061871427,631,876.061871427,782,799,649.061871427,625,648,0.444225539727,-0.00555059479163,0.049858161963,0.999999977542,6.84507606936e-06,-0.000210727767305,2.15194198798e-05,1793189892650063360
+246,4.100000000,HOLD_POSE2,764.639071162,743,711.639071162,672,663.639071162,631,876.639071162,782,799,649.639071162,625,648,0.444224839415,-0.00554911769399,0.0498571498086,0.999999977236,8.78584777548e-06,-0.000212131479601,2.12424765367e-05,1793189892666729728
+247,4.116666667,HOLD_POSE2,765,743,712,671.784751311,663.784751311,631,877,782,799.215248689,650,625,647.784751311,0.444224824728,-0.00554750409237,0.0498564727517,0.999999977105,1.15399756773e-05,-0.000212643354701,2.09869344306e-05,1793189892683396352
+248,4.133333333,HOLD_POSE2,765,743,712,671.210279775,663.210279775,631,877,782,799.789720225,650,625,647.210279775,0.444225954262,-0.005545662683,0.0498563549303,0.99999997726,1.56514920332e-05,-0.000211666866142,2.07671083105e-05,1793189892700062976
+249,4.150000000,HOLD_POSE2,765,743,712,671.370636421,663,631,877,782,799.629363579,649.629363579,625,647.370636421,0.444225863548,-0.00554585942963,0.0498566606128,0.999999977294,1.55457261954e-05,-0.000211510331914,2.08242219654e-05,1793189892716729856
+250,4.166666667,HOLD_POSE2,765,743,712,671.955273738,663,631,877,782,799.044726262,649.044726262,625,647.955273738,0.444225068277,-0.00554723298222,0.0498572108212,0.999999977259,1.30049540387e-05,-0.000211827229108,2.1041237209e-05,1793189892733396736
+251,4.183333333,HOLD_POSE2,765,743,712,672,663,631,877,782,799,649.540213114,625,648,0.444225041882,-0.00554630965887,0.0498566237988,0.999999977128,1.40596360696e-05,-0.000212345559955,2.13245754752e-05,1793189892750063360
+252,4.200000000,HOLD_POSE2,764.877033555,743,711.877033555,671.877033555,663.122966445,631,877,782,799,650,625,648,0.444225046207,-0.00554564642543,0.0498561712244,0.999999977032,1.46599456149e-05,-0.00021274470046,2.14682050323e-05,1793189892766729984
+253,4.216666667,HOLD_POSE2,764.302401487,743,711.302401487,671.302401487,663.697598513,631,877,782,799,650,625,648,0.444224929418,-0.00554663741205,0.0498565585228,0.999999977091,1.24972906747e-05,-0.000212644753564,2.10784927177e-05,1793189892783396352
+254,4.233333333,HOLD_POSE2,764.272828471,742.727171529,711.272828471,671.545656942,663.727171529,631,877.272828471,782,799,650,625,648,0.444224566755,-0.0055469738833,0.0498562156682,0.999999977001,1.16811763869e-05,-0.000213142921183,2.07821204724e-05,1793189892800062976
+255,4.250000000,HOLD_POSE2,764.848722548,742.151277452,711.848722548,672.697445097,663.151277452,631,877.848722548,782,799,650,625,648,0.444223930967,-0.00554658330024,0.0498550617388,0.999999976748,1.23608377906e-05,-0.00021430549138,2.05894330478e-05,1793189892816729856
+256,4.266666667,POSE2_TO_POSE3_RETREAT,765,743,711,672,663,631,877,781,799,650,625,648,0.444228271669,-0.00554857090369,0.0498579762269,0.999999977756,1.22676140503e-05,-0.000209513736622,2.09931396599e-05,1793189892849503488
+257,4.283333333,POSE2_TO_POSE3_RETREAT,764.420905818,743,711.579094182,671.420905818,663,631,877,781.579094182,799,650,625.579094182,648,0.444226616557,-0.00554786494196,0.0498565608248,0.99999997729,1.17835843927e-05,-0.000211758497972,2.09633393468e-05,1793189892866170112
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,742.842158505,711.842158505,671,663,631,877.157841495,781.842158505,799,650,625.842158505,648,0.444224960621,-0.00554713227807,0.049855352797,0.999999976831,1.17461179835e-05,-0.000213925395626,2.08761104549e-05,1793189892882836736
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,742.264334005,711.264334005,671,663,631,877.735665995,781.264334005,799,650,625.264334005,648,0.444223302488,-0.00554632856521,0.0498546965478,0.999999976401,1.28968622981e-05,-0.000215885114865,2.06360761932e-05,1793189892899502848
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764.31252996,742.31252996,711.31252996,671.62505992,663.31252996,631,877.68747004,781,799,650,625,647.68747004,0.444222479139,-0.00554629825076,0.0498546059499,0.999999976294,1.26484111534e-05,-0.00021639874792,2.05682902873e-05,1793189892916169216
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764.888583972,742.888583972,711.888583972,672.777167944,663.888583972,631,877.111416028,781,799,650,625,647.111416028,0.444222359675,-0.00554692006291,0.0498549923069,0.999999976462,1.12201637451e-05,-0.000215693046588,2.06457435426e-05,1793189892932835584
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764.524795321,742.524795321,712,672.524795321,663.524795321,631,877,781,799,650,625,647.475204679,0.44421919861,-0.00554702007199,0.0498531621178,0.999999975852,1.16370633132e-05,-0.000218505977874,2.03966576382e-05,1793189892949502208
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764.063226007,742,712,672,663.063226007,631,877,781.063226007,798.936773993,650,625.063226007,648,0.444213729875,-0.00554687609756,0.0498501891997,0.999999974796,1.23877892177e-05,-0.000223274617108,2.00541408461e-05,1793189892966168832
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.64200724,742,712,672,663.64200724,631,877,781.64200724,798.35799276,650,625.64200724,648,0.444195391246,-0.00554576292073,0.049842232284,0.999999971622,1.22527822654e-05,-0.000237110453323,1.95882538085e-05,1793189892982835456
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.780608692,742.219391308,712,672,664,631,877,781.780608692,798.219391308,650,625.780608692,648,0.444165722669,-0.00554472534211,0.0498298601422,0.999999966237,1.20113331579e-05,-0.000258887246408,1.89344674279e-05,1793189892999502336
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.205490082,742.794509918,712,672,664,631,877,781.205490082,798.794509918,650,625.205490082,648,0.444117683393,-0.00554381034071,0.0498103290281,0.999999956688,1.15972957213e-05,-0.000293539731118,1.79760157476e-05,1793189893016168960
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.377808386,743,712,672,663.622191614,631,877,781.377808386,799,650,624.622191614,647.622191614,0.444056765109,-0.00554045595945,0.0497922587578,0.999999947574,1.33129712582e-05,-0.000323118779874,1.64053370469e-05,1793189893032835840
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.965654392,743,712,672,663.034345608,631,877,781.965654392,799,650,624.034345608,647.034345608,0.443988686905,-0.00553574543684,0.0497750006227,0.999999938556,1.62126327713e-05,-0.000349877321582,1.44942986662e-05,1793189893049502464
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,743,712,672,663,631,877,781.454915601,799,649.454915601,624.545084399,647.545084399,0.443910015183,-0.00553210990947,0.049769940402,0.999999936707,2.03137524054e-05,-0.000354955932853,1.33857311107e-05,1793189893066169344
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.876303294,742.876303294,712,672,663,631,877,781,798.876303294,649,625.123696706,647.876303294,0.443826446683,-0.00552868588189,0.0497667982615,0.99999993572,2.36017514047e-05,-0.000357557234408,1.25079152841e-05,1793189893082835968
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.298774889,742.298774889,712,672,663,631,877,781,798.298774889,649,625.701225111,647.298774889,0.443727324081,-0.00552579309117,0.04976791638,0.999999936275,2.36329616783e-05,-0.000356005207931,1.22940139066e-05,1793189893099502336
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.277343015,742.277343015,711.722656985,672,663,631,877,781,798.277343015,649.277343015,625.722656985,647.277343015,0.443615756962,-0.00552141312285,0.0497702500355,0.999999937615,2.68212935004e-05,-0.000352006617801,1.19354283345e-05,1793189893116168704
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.851949076,742.851949076,711.148050924,672,663,631,877,781,798.851949076,649.851949076,625.148050924,647.851949076,0.443490851511,-0.00551543916129,0.0497738865332,0.999999939732,3.3393505619e-05,-0.000345385740818,1.14217667067e-05,1793189893132835328
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.562376918,743,711,672,663,631,877,781,798.562376918,650,625,648,0.443340061241,-0.00550884154821,0.0497754704502,0.999999940302,3.79882339157e-05,-0.000343290671244,1.02198985849e-05,1793189893149502208
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.053332039,742.973333981,711.026666019,672,663,631,877,781.026666019,798.026666019,649.973333981,625,647.973333981,0.443178124484,-0.00550195381923,0.0497762471844,0.999999940305,4.20148652851e-05,-0.000342852375126,8.78876919994e-06,1793189893166168832
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,764.728474096,742,711.728474096,669.728474096,663,632,876,781.728474096,798.728474096,650,625,648,0.402835361185,-0.00539184774756,0.0498417074439,0.999999950771,1.64678233624e-05,-0.000307797719446,-5.87060251103e-05,1793189894249502976
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.694507906,742,711.694507906,669.694507906,663,632.305492094,876,782,799,649.694507906,625.305492094,648,0.402554205001,-0.00538900401396,0.0498281978982,0.999999941977,2.3230689329e-05,-0.000334605261075,-5.95398732192e-05,1793189894266170368
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764.11475701,742,711.11475701,669.11475701,663,632.88524299,876,782,799,649.11475701,625.88524299,648,0.402297866053,-0.00538572377315,0.0498167437676,0.999999934401,3.07373967845e-05,-0.000355881412975,-6.00193828522e-05,1793189894282837760
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+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.938837936,742,711,670,663,632,875.061162064,782,798.938837936,649,625.061162064,648,0.401886303506,-0.00538521445245,0.0498063870181,0.999999929599,4.91629970997e-05,-0.000367437235336,-5.80875318744e-05,1793189894316169984
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.943949952,742,711.943949952,670.943949952,663,632,876,782,798.943949952,650,625.056050048,648,0.400966377221,-0.0054097772674,0.0498486490954,0.999999960315,4.09446789733e-05,-0.000273560341841,-5.34651031442e-05,1793189894832835072
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+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742.205685386,711,670,663,632,875.794314614,782,798.205685386,650,625.794314614,648,0.400966453345,-0.00540969386196,0.0498496001277,0.999999960551,4.33117421209e-05,-0.000272318565086,-5.3522633184e-05,1793189894866168576
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.10838512,742.89161488,712,670.89161488,663.89161488,632,875,782,798.89161488,649.10838512,626,648,0.400967571898,-0.00540936009458,0.0498499815963,0.999999960974,4.14958810313e-05,-0.000271017731262,-5.36694654636e-05,1793189894949503488
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711.5729576,670,663,632.5729576,875.4270424,782,798,650,626,648,0.400967774684,-0.00540854006063,0.0498505617675,0.999999961301,4.29800364517e-05,-0.000269582323137,-5.36235416483e-05,1793189895016168192
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,670,663.594285718,632,875.405714282,781.405714282,798,650,625.405714282,648.594285718,0.400967420812,-0.00541055425415,0.0498501341669,0.999999961322,4.15401328157e-05,-0.000269806864605,-5.32455802318e-05,1793189895049501696
diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8e50c4448c44f24b67c34dffcef68d0ac512dfba
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,390 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+2,0.033333333,pose1_baseline,0.575722579609,0.000219692833112,1.04002858544,0.546292992661,0.00889141109536,1.03969958964
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+6,0.100000000,pose1_baseline,0.575722579609,0.000219692833112,1.04002858544,0.546292992661,0.00889141109536,1.03969958964
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+378,6.300000000,pose2_to_pose3_retreat,0.575723607963,0.000219793958451,1.04002839384,0.546294019043,0.00889150543423,1.03969939546
+379,6.316666667,pose2_to_pose3_retreat,0.575723547899,0.000219808036883,1.04002839807,0.5462939588,0.00889151893641,1.03969940047
+380,6.333333333,pose2_to_pose3_retreat,0.575723412619,0.000219839745289,1.04002840758,0.546293823118,0.00889154934693,1.03969941174
+381,6.350000000,pose2_to_pose3_retreat,0.575723287988,0.000219868957736,1.04002841634,0.546293698117,0.00889157736365,1.03969942212
+382,6.366666667,pose2_to_pose3_retreat,0.575723090699,0.000219915200376,1.04002843021,0.546293500242,0.0088916217135,1.03969943856
+383,6.383333333,pose2_to_pose3_retreat,0.575722825846,0.000219922408241,1.04002844118,0.546293235312,0.0088916287919,1.03969945303
+384,6.400000000,pose2_to_pose3_retreat,0.575722718271,0.000219844151499,1.04002843433,0.546293128756,0.00889155405057,1.03969944768
+385,6.416666667,pose2_to_pose3_retreat,0.575722687376,0.000219821676555,1.04002843236,0.546293098153,0.00889153258524,1.03969944614
+386,6.433333333,pose2_to_pose3_retreat,0.575722579667,0.000219743322037,1.0400284255,0.546292991464,0.00889145775052,1.03969944077
+387,6.450000000,pose2_to_pose3_retreat,0.575722554631,0.000219695801889,1.04002851682,0.546292967393,0.00889141327443,1.03969952601
+388,6.466666667,pose2_to_pose3_retreat,0.575722579609,0.000219692833112,1.04002858544,0.546292992661,0.00889141109525,1.03969958964
diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2ce07b681cc5b6730de3f57a21cf2774ea584bcb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24926cc31da193634ca9cf6dbc363a77fdc6725354dd7b398140e9ebc7a33f8c
+size 24865428
diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..98a48ac364a872f110db4d2683ffbccc78588c81
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_02/franka_data.csv
@@ -0,0 +1,392 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,742,711,670,664,632,875,782,799,650,625,648,0.400968989685,-0.0054108940022,0.049851927478,0.999999962009,4.14325968475e-05,-0.000267275353873,-5.31816859854e-05,1793189895176140544
+1,0.016666667,BASELINE,764,742,711,669.425560758,663.425560758,632,875.574439242,782,798.425560758,650,625,648,0.400970540235,-0.0054112054399,0.0498528695318,0.999999962524,4.06208226314e-05,-0.000265517755642,-5.29282115521e-05,1793189895192807168
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+3,0.050000000,BASELINE,764,742,711,669.740961657,663,632,876,782,798,650,625,648,0.400968475771,-0.0054108687563,0.0498518768868,0.999999961959,4.12769468763e-05,-0.000267503946672,-5.30957906126e-05,1793189895226140672
+4,0.066666667,BASELINE,764,742,711,670,663,632,875.673816502,782,798.326183498,649.673816502,625,648,0.400966926296,-0.0054107395641,0.0498508990922,0.999999961524,4.10367089563e-05,-0.000269131888255,-5.32545888665e-05,1793189895242807552
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+9,0.150000000,BASELINE,764.785769955,742,711,670,663,632,875,782,798.214230045,650,625.214230045,648,0.400968331916,-0.00541209336795,0.0498514619122,0.999999961941,4.38947883879e-05,-0.000267305705725,-5.23250755002e-05,1793189895326140928
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+13,0.216666667,BASELINE,764.457935378,742.457935378,711.457935378,670,663.457935378,632.542064622,875,782,798.542064622,649.457935378,625.542064622,648,0.40096769497,-0.00541116678559,0.0498508292084,0.999999961735,4.20987161923e-05,-0.000268206532304,-5.31402115972e-05,1793189895392807168
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+15,0.250000000,BASELINE,764,742,711,670,663,632.291354392,875,782,799,649.708645608,626,648,0.400969314061,-0.00541115543251,0.0498522520253,0.999999962531,4.17488286426e-05,-0.000265292514593,-5.3061812922e-05,1793189895426140928
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+17,0.283333333,BASELINE,764,742,711.871740768,670,663,632,875.871740768,782,799,650,626,648,0.400968974822,-0.00541148096601,0.049852456786,0.999999962382,4.15499577435e-05,-0.0002659410487,-5.27701754796e-05,1793189895459473920
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+20,0.333333333,BASELINE,764,742,711.406892697,670,663,632,876,781.406892697,799,650,625,648,0.400969527401,-0.00541087371822,0.0498527814366,0.999999962786,4.09452425049e-05,-0.000264470974211,-5.29765627689e-05,1793189895509474560
+21,0.350000000,BASELINE,764,742,711,670,663,632,875.826134061,781.173865939,798.826134061,650,625.173865939,648,0.400968630231,-0.00541118800698,0.0498523757474,0.999999962501,4.08512164198e-05,-0.000265572778861,-5.29122975103e-05,1793189895526141440
+22,0.366666667,BASELINE,764,742,711,670,663,632,875.232364409,781.767635591,798.232364409,650,625.767635591,648,0.400967033567,-0.0054120438405,0.0498512503548,0.999999961855,3.95293740917e-05,-0.00026821713673,-5.27972989652e-05,1793189895542808064
+23,0.383333333,BASELINE,764,742.351606337,711.351606337,670,663,632,875.351606337,782,798.351606337,650,625.648393663,648,0.400967375655,-0.00541190215452,0.0498514488117,0.999999961987,4.00912038441e-05,-0.000267633430964,-5.283104394e-05,1793189895559474432
+24,0.400000000,BASELINE,764,742.929276965,711.929276965,670,663,632,875.929276965,782,798.929276965,650,625.070723035,648,0.400968964258,-0.00541111911631,0.0498524984336,0.999999962616,4.18641350493e-05,-0.000264974251165,-5.29604231246e-05,1793189895576140800
+25,0.416666667,BASELINE,764.504556295,742.495443705,712,670,663,632,875.495443705,782,799.504556295,650,625,648,0.400968614487,-0.00541108844523,0.0498523814783,0.999999962575,4.14449905854e-05,-0.000265156744224,-5.31342086107e-05,1793189895592807168
+26,0.433333333,BASELINE,764.918569447,742.081430553,711.918569447,670,663,632,875,782,799.918569447,650,625,648,0.400967994849,-0.00541113166562,0.0498521186444,0.999999962445,4.08052638934e-05,-0.000265724376798,-5.32507605947e-05,1793189895609474048
+27,0.450000000,BASELINE,764.329676639,742.670323361,711.329676639,670,663,632,875,782,799.329676639,650,625,648,0.400967378653,-0.0054109812661,0.0498519609281,0.999999962332,4.06966701948e-05,-0.000266221618439,-5.29720362187e-05,1793189895626140672
+28,0.466666667,BASELINE,764,742.744900768,711.255099232,670,663,632,875,782,799,650,625,648,0.400967314208,-0.00541131579106,0.0498519442966,0.999999962359,4.01565354384e-05,-0.000266233919856,-5.28083186332e-05,1793189895642807552
+29,0.483333333,BASELINE,764,742.16536094,711.83463906,670,663,632,875,782,799,650,625,648,0.400967951492,-0.00541226705324,0.0498521070999,0.999999962564,3.9067557649e-05,-0.000265629464014,-5.27908691313e-05,1793189895659474176
+30,0.500000000,BASELINE,764,742,711.589287331,670.410712669,663,632,875,782,799,650,625.410712669,648,0.400969119964,-0.00541194198612,0.0498531211518,0.999999962948,3.9378738005e-05,-0.000264104163967,-5.29279867151e-05,1793189895676140800
+31,0.516666667,BASELINE,764,742,711.014597624,670.985402376,663,632,875,782,799,650,625.985402376,648,0.400970500513,-0.00541110734447,0.0498544750646,0.999999963401,4.02489315449e-05,-0.000262211216873,-5.312681521e-05,1793189895692807680
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+33,0.550000000,BASELINE,764,742,711,670.859808591,663,632,875.859808591,782,799,649.140191409,625,648,0.400966510982,-0.00541052609099,0.0498518986062,0.999999962252,4.08437972378e-05,-0.000266498460745,-5.29680336306e-05,1793189895726140672
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+38,0.633333333,BASELINE,764,742,711.955319668,670,663.955319668,632,875.044680332,781,798.044680332,650,625,648,0.40096861523,-0.0054110009581,0.0498518054126,0.999999962569,3.93743953964e-05,-0.000265507896584,-5.30825325177e-05,1793189895809475840
+39,0.650000000,BASELINE,764,742,711.38303724,670,663.38303724,632,875.61696276,781,798.61696276,650,625,648,0.400968432922,-0.00541064221141,0.0498518284136,0.99999996256,4.20495979294e-05,-0.000265131982232,-5.30680733646e-05,1793189895826142464
+40,0.666666667,BASELINE,764,742,711,670,663,632,875.803064607,781.196935393,798.803064607,650,625.196935393,648,0.400968091847,-0.00541130251122,0.0498519730381,0.999999962589,4.26139410493e-05,-0.000264975669742,-5.28638724246e-05,1793189895842808832
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+42,0.700000000,BASELINE,764,742,711,670,663,632,875.375464968,782,798,649.624535032,625.624535032,648,0.400967800877,-0.00541349715101,0.0498523818858,0.999999962663,3.89969028298e-05,-0.000265343429892,-5.24041202634e-05,1793189895876141568
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+49,0.816666667,BASELINE,764,742,711.435028462,670,663.435028462,632,875.564971538,781.435028462,799.564971538,649.564971538,625,647.435028462,0.400968293914,-0.00541129811527,0.0498521514913,0.999999962482,4.14979675076e-05,-0.000265525347049,-5.30147180531e-05,1793189895992807936
+50,0.833333333,BASELINE,764,742,711.990174664,670,663.990174664,632,875.009825336,782,799,649.009825336,625,648,0.400968059517,-0.0054121126484,0.049852899114,0.999999962556,4.28158585402e-05,-0.000265121565758,-5.25831219728e-05,1793189896009474304
+51,0.850000000,BASELINE,764,742,711.415972356,670,663.415972356,632,875.584027644,782,799,649.584027644,625,648,0.400968025476,-0.00541091220161,0.049852282801,0.999999962384,4.47001017366e-05,-0.000265450212195,-5.26372818791e-05,1793189896026140928
+52,0.866666667,BASELINE,764,742,711.163408545,670,663,632.163408545,875.836591455,782,799,650,625.163408545,648,0.400968467568,-0.0054107076543,0.0498520329207,0.999999962472,4.47968897224e-05,-0.000265094468435,-5.26619576668e-05,1793189896042807296
+53,0.883333333,BASELINE,764,742,711.756403465,670,663,632.756403465,875.243596535,782,799,650,625.756403465,648,0.400970161367,-0.00541312123727,0.049852746359,0.99999996324,4.01946185288e-05,-0.000262939524346,-5.26091223535e-05,1793189896059473920
+54,0.900000000,BASELINE,764.339289,742,712,670,663,633,875.339289,782,799,650,625.660711,648,0.400970412573,-0.00541324823535,0.0498530451716,0.999999963361,3.89198176226e-05,-0.000262661573203,-5.26496939469e-05,1793189896076140800
+55,0.916666667,BASELINE,764.915126365,742,712,670,663,633,875.915126365,782,799,650,625.084873635,648,0.400969658019,-0.00541178105281,0.0498530549122,0.999999963043,3.9964890687e-05,-0.000263692239915,-5.27553877577e-05,1793189896092807680
+56,0.933333333,BASELINE,765,742,712,670,663.490432839,632.509567161,875.509567161,781.509567161,799,650,625.490432839,648,0.400968253585,-0.00541063285502,0.0498522284726,0.999999962565,4.21250556594e-05,-0.000265155592735,-5.28049590741e-05,1793189896109474560
+57,0.950000000,BASELINE,764.932611198,742,711.932611198,670,663.932611198,632,875.134777603,781,799,650,625.932611198,648,0.400966966238,-0.00540972653908,0.0498514306726,0.999999962119,4.42532588946e-05,-0.000266482690079,-5.2828163789e-05,1793189896126140928
+58,0.966666667,BASELINE,764.342139568,742,711.342139568,670,663.342139568,632,876.315720864,781,799,650,625.342139568,648,0.400967459773,-0.00541026971813,0.0498519772118,0.99999996219,4.4637075158e-05,-0.000266171546717,-5.27220149828e-05,1793189896142807296
+59,0.983333333,BASELINE,764,742,711.24371057,670,663,632,876.75628943,781,799,650,625,648,0.400967001801,-0.00541148811612,0.0498518376079,0.999999962175,4.26890119936e-05,-0.000266540304707,-5.27613289637e-05,1793189896159473920
+60,1.000000000,BASELINE,764,742,711.823193529,670,663,632,876.176806471,781,799,650,625,648,0.400965232888,-0.00541363679748,0.0498507526699,0.999999962021,3.75282005612e-05,-0.000267845797157,-5.30010543735e-05,1793189896176141056
+61,1.016666667,BASELINE,764,742,712,670,663,632,875.6002567,781.3997433,799,649.6002567,625,648,0.400966047557,-0.00541309028267,0.0498517295425,0.999999962361,3.73079050464e-05,-0.000266589681,-5.30744435239e-05,1793189896192807936
+62,1.033333333,BASELINE,764,742,712,670,663,632,875.024994863,781.975005137,799,649.024994863,625,648,0.40096799662,-0.00541136036607,0.049853611711,0.999999962918,3.92568822917e-05,-0.00026420881847,-5.30747980476e-05,1793189896209474560
+63,1.050000000,BASELINE,764,742,711.449499413,670,663,632,875,782,799,649.550500587,625,648,0.40096887618,-0.00541099302271,0.0498535639186,0.999999962922,4.07356550088e-05,-0.000264031547617,-5.27615690305e-05,1793189896226140928
+64,1.066666667,BASELINE,764.129449734,742,711,670,663,632,875,782,798.870550266,650,625,648,0.40096921388,-0.00541089184111,0.0498532711208,0.999999962834,4.1613478251e-05,-0.000264274838952,-5.25310245307e-05,1793189896242807296
+65,1.083333333,BASELINE,764.720681262,742,711,670,663,632,875,782,798.279318738,650,625,648,0.400967791921,-0.00541151934304,0.0498524170478,0.999999962509,4.04237443735e-05,-0.00026566132563,-5.26462498075e-05,1793189896259473920
+66,1.100000000,BASELINE,765,742,711.305470673,670,663,632,875,782,798,650,625,648,0.400967756263,-0.00541101224399,0.0498524695017,0.999999962544,4.08866661487e-05,-0.000265447330287,-5.27138820718e-05,1793189896276140800
+67,1.116666667,BASELINE,765,742,711.884491121,670,663,632,875,782,798,650,625,648,0.400968962041,-0.00540948910683,0.049853333753,0.999999962897,4.28295453809e-05,-0.000263800099096,-5.27388946646e-05,1793189896292807680
+68,1.133333333,BASELINE,764.540597248,742.459402752,711.540597248,670,663,632,875,781.540597248,798.459402752,650,625,648,0.400968451427,-0.00541107458442,0.0498529130865,0.999999962781,4.14996425836e-05,-0.000264475510334,-5.26146188635e-05,1793189896309474048
+69,1.150000000,BASELINE,764,742.966886189,711,670,663,632,875,781.033113811,799,650,625,648,0.400967605339,-0.00541319500335,0.0498522314206,0.999999962561,3.96190819405e-05,-0.000265620996693,-5.24742935739e-05,1793189896326140672
+70,1.166666667,BASELINE,764,742.396044216,711,670,663,632,875,781.603955784,799,650,625,648,0.400968257428,-0.00541142237294,0.0498525112054,0.999999962616,4.20407004457e-05,-0.000265000734592,-5.26774798716e-05,1793189896342808320
+71,1.183333333,BASELINE,764,742,711,670,663,632,875,782,799,650,625.182990853,648,0.400968833916,-0.00541084423363,0.0498528430048,0.999999962769,4.33553718989e-05,-0.000264212239366,-5.26653647854e-05,1793189896359475456
+72,1.200000000,BASELINE,764,742,711,670,663,632,875,782,799,650,625.780589367,648,0.400969239115,-0.005412972487,0.0498532926552,0.999999963155,4.21620019089e-05,-0.000263042573368,-5.21654351733e-05,1793189896376141824
+73,1.216666667,BASELINE,764,742,711,670,663,632,875,782,799,650,626,648,0.400968436379,-0.00541334369871,0.0498527692824,0.99999996289,4.16522746966e-05,-0.000264146896959,-5.20630646057e-05,1793189896392807680
+74,1.233333333,BASELINE,764,742,711,670,663,632,875,782,799,650,626,648,0.400966932845,-0.00541269553982,0.0498516813976,0.999999962245,4.15391717661e-05,-0.000266570505126,-5.21913430956e-05,1793189896409473792
+75,1.250000000,BASELINE,764,742,711,670,663,632,875,782,798.485031339,650,625.485031339,648,0.400967043344,-0.0054114658939,0.0498518409308,0.999999962237,4.27845592579e-05,-0.000266347830749,-5.24775846387e-05,1793189896426140672
+76,1.266666667,BASELINE,764.091404064,742,711,670,663,632.091404064,875.091404064,782,798.091404064,650,625,648,0.400967543583,-0.00541089390751,0.0498522236585,0.999999962424,4.31795515252e-05,-0.000265550052679,-5.26432461759e-05,1793189896442807296
+77,1.283333333,BASELINE,764.679500087,742,711,670,663,632.679500087,875.679500087,782,798.679500087,650,625,648,0.400969151356,-0.00541425964861,0.0498530383938,0.99999996326,3.81031105958e-05,-0.00026328362096,-5.20547939706e-05,1793189896459473664
+78,1.300000000,BASELINE,764.734967484,742,711,670,663,632.734967484,875.734967484,781.734967484,798.734967484,650,625,648,0.400969505084,-0.00541472332005,0.0498530501549,0.999999963453,3.68276597365e-05,-0.000262725691786,-5.20775750601e-05,1793189896476140544
+79,1.316666667,BASELINE,764.152505514,742,711,670,663,632.152505514,875.152505514,781.152505514,798.152505514,650,625,648,0.400968356841,-0.00541171118234,0.0498521001936,0.999999962896,4.01046551892e-05,-0.000264214036341,-5.28324303323e-05,1793189896492807168
+80,1.333333333,BASELINE,764,742,711,670,663,632,875,781.423269575,798.423269575,650,625,648,0.40096956681,-0.00541173188636,0.0498531755056,0.999999963142,4.12550352356e-05,-0.000263153713382,-5.25794140938e-05,1793189896509474560
+81,1.350000000,BASELINE,764,742,711,670,663,632,875,781.996672873,798.996672873,650,625,648,0.400971613238,-0.00541282833915,0.0498549691821,0.999999963672,4.16511050344e-05,-0.000261189378142,-5.19689058779e-05,1793189896526142208
+82,1.366666667,BASELINE,764,742,711,670.570369498,663,632,875,782,799,650,625,648,0.400968993111,-0.00541338532711,0.049853743083,0.999999963228,4.13223345092e-05,-0.000262888904946,-5.22042298422e-05,1793189896542808832
+83,1.383333333,BASELINE,764.148359502,742,711,670.851640498,663,632,875,782,798.851640498,650,625,648,0.40096658285,-0.00541353614759,0.0498524198057,0.999999962691,4.09798372096e-05,-0.000264939698522,-5.24079207635e-05,1793189896559475200
+84,1.400000000,BASELINE,764.739148001,742,711,670.260851999,663,632,875,782,798.260851999,650,625,648,0.400964879659,-0.00541248510856,0.0498508592873,0.999999961892,4.0609020223e-05,-0.000267974251517,-5.2502556147e-05,1793189896576141568
+85,1.416666667,BASELINE,764.675975458,742,711.324024542,669.675975458,663.324024542,632,875.324024542,782,798,649.675975458,625.324024542,648,0.40096526612,-0.00541273896425,0.0498509185627,0.999999961856,4.02666635034e-05,-0.000268187089193,-5.23621106353e-05,1793189896592807936
+86,1.433333333,BASELINE,764.095773022,742,711.904226978,669.095773022,663.904226978,632,875.904226978,782,798,649.095773022,625.904226978,648,0.400967304687,-0.00541402448626,0.0498522584676,0.999999962425,3.99468078526e-05,-0.000266169042927,-5.20358071942e-05,1793189896609474304
+87,1.450000000,BASELINE,764,742,712,669.480512431,663.519487569,632,876,782,798.480512431,649.480512431,625.519487569,648,0.400968049662,-0.00541267285993,0.0498529556954,0.999999962692,4.08964210913e-05,-0.000264977989063,-5.22454517862e-05,1793189896626140928
+88,1.466666667,BASELINE,764.055888904,742,711.944111096,670,663,632,875.944111096,781.944111096,799,650,625,648,0.400968289889,-0.00541105207628,0.0498533048954,0.999999962844,4.1772694324e-05,-0.000264209123391,-5.25475204211e-05,1793189896642807808
+89,1.483333333,BASELINE,764.630017478,742,711.369982522,670,663,632,875.369982522,781.369982522,799,650,625,648,0.400966221206,-0.00541176999238,0.0498516051235,0.999999962489,3.96416768613e-05,-0.00026583900172,-5.2724089426e-05,1793189896659475456
+90,1.500000000,BASELINE,764.789911119,742,711,670,663,632,875,781.210088881,799,650,625,647.789911119,0.400965373637,-0.00541254764546,0.049850762146,0.99999996229,3.85133057481e-05,-0.000266763905457,-5.2674086667e-05,1793189896676143104
+91,1.516666667,BASELINE,764.199069339,742,711,670,663,632,875,781.800930661,799,650,625,647.199069339,0.400966739147,-0.0054134335623,0.0498514719734,0.999999962381,3.92020729423e-05,-0.000266411153968,-5.2213458369e-05,1793189896692810752
+92,1.533333333,BASELINE,764,742.384454943,711.384454943,670,663,632,875,782,798.615545057,650,625,647.384454943,0.400967697711,-0.00541256861725,0.049852133891,0.999999962583,4.14348582886e-05,-0.000265281178384,-5.23762824533e-05,1793189896709477120
+93,1.550000000,BASELINE,764,742.964261075,711.964261075,670,663,632,875,782,798.035738925,650,625,647.964261075,0.400968449496,-0.00541081401547,0.0498527714646,0.999999962831,4.44521980031e-05,-0.000263756275732,-5.28558982708e-05,1793189896726142720
+94,1.566666667,BASELINE,764,742.461384002,712,670.538615998,663,632,875,781.461384002,798.538615998,649.461384002,625,648,0.400967859188,-0.00541181170382,0.0498527647271,0.999999962791,4.24269347201e-05,-0.000264305049124,-5.25423848247e-05,1793189896742809344
+95,1.583333333,BASELINE,764,742,711.884508246,670.884508246,663,632,875.115491754,781.115491754,799,649.115491754,625.115491754,648,0.400967336202,-0.00541271866882,0.0498527627455,0.999999962738,4.05844200409e-05,-0.000264848744333,-5.22665794565e-05,1793189896759476224
+96,1.600000000,BASELINE,764,742,711.295837164,670.295837164,663,632,875.704162836,781.704162836,799,649.704162836,625.704162836,648,0.400967450241,-0.00541251320654,0.0498529536529,0.999999962732,4.08477616388e-05,-0.000264813543531,-5.2358722778e-05,1793189896776143360
+97,1.616666667,BASELINE,764.289071906,742.289071906,711,670.289071906,663,632,875.710928094,782,799,650,625.710928094,648,0.400967127434,-0.00541217778934,0.0498523647107,0.999999962558,4.11153926693e-05,-0.000265389465112,-5.25537956501e-05,1793189896792809472
+98,1.633333333,BASELINE,764.870180346,742.870180346,711,670.870180346,663,632,875.129819654,782,799,650,625.129819654,648,0.400966363299,-0.00541171108445,0.0498509879209,0.999999962214,4.13873571077e-05,-0.000266582776552,-5.28528536798e-05,1793189896809475072
+99,1.650000000,BASELINE,765,742.553058758,711,670.106117516,663,632.446941242,875,782,798.553058758,650,625,648,0.400966818056,-0.00541125104017,0.0498516724005,0.999999962421,4.15421227315e-05,-0.000265812871826,-5.2679402623e-05,1793189896826141184
+100,1.666666667,BASELINE,764.977745216,742,711,669.022254784,663,632.977745216,875,782,798,650,625.022254784,648,0.400967622056,-0.0054108477205,0.0498529219644,0.999999962779,4.1637745517e-05,-0.000264505959503,-5.23827427281e-05,1793189896842807808
+101,1.683333333,BASELINE,764.407277388,742,711,669.592722612,663,632.407277388,875,782,798,650,625.592722612,648,0.400968391847,-0.00541179452737,0.0498534850153,0.999999962965,4.11069650428e-05,-0.000263882368023,-5.23993009731e-05,1793189896859474432
+102,1.700000000,BASELINE,764,742,711,670,663,632,875.170024333,781.829975667,798,650,626,648,0.40096871492,-0.00541266117662,0.0498537208098,0.999999963082,4.01129945596e-05,-0.000263602937469,-5.23511382211e-05,1793189896876141056
+103,1.716666667,BASELINE,764,742,711,670,663,632,875.764381433,781.235618567,798,650,626,648,0.400967923113,-0.00541332777489,0.0498531398641,0.999999963024,3.79630325657e-05,-0.000264182435585,-5.21414501166e-05,1793189896892807168
+104,1.733333333,BASELINE,764,742.349712617,711,670,663,632,875.650287383,781.349712617,798,650,626,648,0.400968516361,-0.00541301933178,0.0498537943087,0.999999963382,3.79901626941e-05,-0.00026280945171,-5.21973376404e-05,1793189896909473792
+105,1.750000000,BASELINE,764,742.929115659,711,670,663,632,875.070884341,781.929115659,798,650,626,648,0.400970019312,-0.00541207048386,0.0498552601545,0.999999964008,3.94472016058e-05,-0.000260154082303,-5.24276545927e-05,1793189896926140416
+106,1.766666667,BASELINE,764.504031119,742.495968881,711,670,663,632,875.504031119,782,798,650,626,648,0.400970193775,-0.00541218411981,0.0498547705362,0.999999963791,4.09922648369e-05,-0.000260759831768,-5.23716290649e-05,1793189896942807808
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663,632,875,782,798,650,625,648,0.400964108617,-0.00541341235244,0.049851286549,0.999999961821,3.87667991843e-05,-0.000268541655326,-5.23407772666e-05,1793189896985558784
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.580758936,670.419241064,663,632,875,782,798.580758936,650,625.580758936,648,0.400967230302,-0.00541168251408,0.0498521416955,0.999999962413,4.09124147491e-05,-0.000265956039154,-5.26133890218e-05,1793189897002225664
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.159743146,742,711.840256854,670,663,632,875.159743146,782,799,650,625.840256854,648,0.400969268593,-0.00541068318709,0.0498527391356,0.99999996287,4.21870892943e-05,-0.000264003608937,-5.27537479146e-05,1793189897018892544
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.734120939,742,711.265879061,670,663,632,875.734120939,782,799,650,625.265879061,648,0.40096849479,-0.00541157999946,0.0498526676644,0.999999963003,4.12011206863e-05,-0.000263694696795,-5.25508269179e-05,1793189897035559168
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.690588054,742,711.309411946,670,663,632,876,782,799,650,625,648,0.400967799225,-0.00541216720171,0.0498524964419,0.999999962938,4.02334644928e-05,-0.00026409512368,-5.25256700039e-05,1793189897052226816
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.114510029,742,711.885489971,670,663,632,876,782,799,650,625,648,0.400967171091,-0.00541248756705,0.0498522392489,0.999999962701,3.92815908767e-05,-0.000265106893032,-5.26537187286e-05,1793189897068894976
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.472165337,742,712,670,663,632,875.527834663,781.527834663,799,649.527834663,625.472165337,648,0.40096892677,-0.00541227773358,0.0498535827176,0.999999963059,4.15362867588e-05,-0.000263488321298,-5.22507368442e-05,1793189897085561600
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,742,711.939564856,670,663,632.060435144,875.060435144,781.060435144,799,649,625.939564856,648,0.400972143195,-0.00541201585368,0.0498554982139,0.999999963725,4.41099517348e-05,-0.000260616361385,-5.18010399086e-05,1793189897102227712
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,742,711.360179392,670,663,632.639820608,875.639820608,781.639820608,799,649,625.360179392,648,0.40098282463,-0.00541243654754,0.0498589157362,0.999999965837,4.25915646833e-05,-0.00025258514502,-5.20814687213e-05,1793189897118893824
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,742,711.217235574,670,663,632.782764426,875.782764426,782,798.782764426,649,625.217235574,648,0.40100071675,-0.00541346805611,0.04986577299,0.999999969426,4.09989845134e-05,-0.000238299139698,-5.17658597643e-05,1793189897135560192
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,742,711.79141274,670,663,632.20858726,875.20858726,782,798.20858726,649,625.79141274,648,0.401030456806,-0.0054155031994,0.0498782820952,0.999999975113,3.92844971452e-05,-0.000213735838949,-5.04708961091e-05,1793189897152227584
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.634483441,742.365516559,711.634483441,670,663.365516559,632,875.365516559,782,798,649.365516559,626,648,0.401075094209,-0.00541706204713,0.0498934317161,0.999999981464,3.97576773815e-05,-0.000181828055962,-4.93011471668e-05,1793189897168894208
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.060421416,742.939578584,711.060421416,670,663.939578584,632,875.939578584,782,798,649.939578584,626,648,0.401128231298,-0.00541834914462,0.0499100878845,0.999999987359,4.14790311385e-05,-0.000145729876291,-4.82028393137e-05,1793189897185561088
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.469286547,711,670,663.469286547,632.530713453,876,782,798.530713453,650,626,648,0.401197901258,-0.00542162968502,0.0499232657575,0.999999991471,3.80591939718e-05,-0.000115623205686,-4.73370822078e-05,1793189897202227456
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,670.120807817,663,632.879192183,875.879192183,782,799,650,626,648,0.401270613617,-0.00542508741354,0.0499339097581,0.999999994021,3.46626568968e-05,-9.27888862775e-05,-4.63372451312e-05,1793189897218894080
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,670.699350424,663,632.300649576,875.300649576,782,799,650,626,648,0.401347484659,-0.00542832800657,0.0499365033504,0.999999993937,3.36458715972e-05,-9.48386710208e-05,-4.47257358815e-05,1793189897235560960
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,670.723996063,663,632,875,782,799.276003937,650,626,648,0.401431566655,-0.0054316616631,0.0499360419047,0.99999999352,3.19502428001e-05,-0.00010018754438,-4.36110103176e-05,1793189897252227584
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,670.149386377,663,632,875,782,799.850613623,650,626,648,0.4015234501,-0.00543509600384,0.0499322752452,0.999999992686,2.95201804374e-05,-0.000109105666811,-4.30337498815e-05,1793189897268893952
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711.435223698,670,663,632,875,782,799.564776302,650,625.564776302,648,0.401640229929,-0.00544044566107,0.0499332801659,0.999999992827,2.6254122291e-05,-0.000109183036787,-4.16710917801e-05,1793189897285560832
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711.977017887,670,663.022982113,632,875,782,799,650,625,648,0.401767125304,-0.00544648880119,0.049935920852,0.999999993293,2.27405554393e-05,-0.000106278854965,-4.00275031467e-05,1793189897302227456
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711.398086916,670,663.601913084,632,875,782,799,650,625,648,0.401927140674,-0.00545303045574,0.049937580575,0.999999993402,2.03442806388e-05,-0.000106381972265,-3.82627119783e-05,1793189897318894080
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742.180520287,711,670.180520287,663.819479713,632,875,782,799,650,625.180520287,648,0.402097269312,-0.00545900662967,0.0499377096069,0.999999993265,1.82869975671e-05,-0.00010853835229,-3.68126880957e-05,1793189897335560704
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742.758414709,711,670.758414709,663.241585291,632,875,782,799,650,625.758414709,648,0.402289659973,-0.00546373802645,0.0499344691722,0.999999992569,1.69759275931e-05,-0.000115214520711,-3.6055552654e-05,1793189897352227584
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742.667499478,711,670.667499478,663,632,875.332500522,782,799,650,625.667499478,648,0.402500163661,-0.00547138889944,0.0499333857579,0.999999992411,1.33288970508e-05,-0.000117610565713,-3.41813389063e-05,1793189897368894464
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.096149493,711,670.096149493,663,632,875.903850507,782,799,650,625.096149493,648,0.402723678736,-0.00548113695858,0.049933851824,0.999999992635,8.00384517058e-06,-0.000116932014189,-3.15046795646e-05,1793189897385561088
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,782,799,650,625.492200922,648,0.402994277835,-0.00549180804964,0.0499402415912,0.999999994351,1.94806685069e-06,-0.000102230376324,-2.90340972394e-05,1793189897402227456
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.082366868,742,711,670,663,632,876,782,798.917633132,650,625.917633132,648,0.403280928228,-0.00550272589255,0.0499479339681,0.99999999605,-3.88046013769e-06,-8.47421605784e-05,-2.65110656172e-05,1793189897418894080
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.662713104,742,711,670,663,632,876,782,798.337286896,650,625.337286896,648,0.403607025432,-0.00551400643532,0.0499562553622,0.999999997416,-7.44116847114e-06,-6.75609313791e-05,-2.3418839734e-05,1793189897435561216
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.758894739,742,711.241105261,670,663,632,876,782,798.241105261,650,625,648,0.403954182809,-0.00552487065517,0.0499649358327,0.999999998431,-1.02125071672e-05,-5.14135192507e-05,-1.97440580084e-05,1793189897452228096
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.183214241,742,711.816785759,670,663,632,876,782,798.816785759,650,625,648,0.404330564801,-0.0055351571543,0.0499741145833,0.999999999139,-1.18884587946e-05,-3.67007081018e-05,-1.52608795159e-05,1793189897468894720
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.400048003,742,712,670,663,632,876,781.599951997,799,649.599951997,625,648,0.40472069529,-0.00554234285091,0.0499790285757,0.999999999551,-9.33061918018e-06,-2.63997360646e-05,-1.07224157696e-05,1793189897485561344
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.9868496,742,712,670,663,632,876,781.0131504,799,649.0131504,625,648,0.405117243953,-0.0055480810059,0.0499819516594,0.999999999805,-4.79632736948e-06,-1.81583343133e-05,-6.15814344607e-06,1793189897502227712
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.430549539,742,711.430549539,670,663,632,876,781.569450461,798.430549539,649.569450461,625,648,0.405527572109,-0.00552903139445,0.0499629479055,0.999999998108,2.93801371312e-05,-5.38044844534e-05,-5.05524270222e-06,1793189897518894336
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.149870455,742,711.149870455,670.149870455,663,632,876,782,798.149870455,650,625,648,0.40594920775,-0.00551308864636,0.0499428802338,0.999999994069,6.02498038798e-05,-9.0654682309e-05,-3.73433937693e-06,1793189897535560704
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.724383933,742,711.724383933,670.724383933,663,632,876,782,798.724383933,650,625,648,0.406401986931,-0.00550755892888,0.0499212222739,0.999999988612,7.98246351725e-05,-0.000128065796624,-1.57092127153e-06,1793189897552226816
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.701429497,742,712,670.701429497,663,632,876,782,798.701429497,650,625,648,0.406892401629,-0.00551153054771,0.0499068927683,0.999999984845,8.66700146268e-05,-0.000150976984921,1.84748977463e-06,1793189897568893440
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.127544306,742,712,670.127544306,663,632,876,782,798.127544306,650,625,648,0.407417520446,-0.00552426343813,0.0498993208973,0.999999983753,8.17774482798e-05,-0.000160517658515,6.42314195087e-06,1793189897585560320
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.458725544,711.541274456,670,663.458725544,632,876,781.541274456,798,650,625,648,0.408000273618,-0.00553228669846,0.0499190467681,0.999999989132,8.589901335e-05,-0.000119200166277,1.2199135802e-05,1793189897602227200
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.047641544,742.952358456,711,670.047641544,664,632,876,781.047641544,798,650,625,648,0.408602441975,-0.00553837661906,0.0499463174123,0.999999993392,9.30912520871e-05,-6.4926362281e-05,1.82993861842e-05,1793189897618894080
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.626600745,742.373399255,711,670.626600745,664,632,876,781.626600745,798,650,625,648,0.40923746417,-0.00553791408879,0.0499707363742,0.999999993712,0.000105802121607,-2.8236315894e-05,2.41905611698e-05,1793189897635560960
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,742,711.204224192,671,664,632,876,782,798.204224192,650,625,648,0.409867987591,-0.0055359848312,0.0499838634273,0.999999995394,9.26229832485e-05,-1.14080974372e-05,2.24349991422e-05,1793189897652227584
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,742,711.779421208,671,664,632,876,782,798.779421208,650,625,648,0.410490338961,-0.00553139126649,0.0499764787499,0.999999998982,3.24146980262e-05,-3.06588507786e-05,6.78915469225e-06,1793189897668893440
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.637835803,742,712,670.637835803,663.637835803,632,876,782,798.637835803,649.637835803,625,648,0.411112067172,-0.00553526423552,0.0499512679403,0.999999996237,1.07884182221e-05,-8.60098169261e-05,3.40727859215e-06,1793189897685559552
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.050399107,742,712,670.050399107,663.050399107,632,876,782,798.050399107,649.050399107,625,648,0.411733407745,-0.00554440353758,0.0499149689634,0.999999986466,1.31608264356e-05,-0.000163815749191,7.65380702851e-06,1793189897702226176
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711.467516506,670.532483494,663,632,876,782,798.532483494,649,625,648,0.412477306773,-0.00554805945534,0.0499227381205,0.999999991157,1.91914003814e-05,-0.00013111928876,1.12428810974e-05,1793189897718893056
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711.112738501,671,663.112738501,632,876,782,798.887261499,649.112738501,625,648,0.413232753267,-0.00555064738876,0.049936243635,0.999999995449,2.44696026001e-05,-9.10332032181e-05,1.47319898595e-05,1793189897735560192
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711.68404395,671,663.68404395,632,876,782,798.31595605,649.68404395,625,648,0.41398838578,-0.00555098440116,0.0499562601046,0.999999997528,2.52911035517e-05,-6.30709625897e-05,1.80654517454e-05,1793189897752227840
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,712,671,663.741986815,632,876,781.741986815,798,650,625,648,0.414732958051,-0.00554967220841,0.0499539084925,0.999999996971,2.56490989125e-05,-7.09501378674e-05,1.91376621916e-05,1793189897768894720
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,712,671,663.164721473,632,876,781.164721473,798,650,625,648,0.415463845052,-0.00554631937463,0.0499238797765,0.999999991939,2.54335765286e-05,-0.000123177621939,1.74119175891e-05,1793189897785561088
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711.578592324,670.578592324,663,632,876.842815353,781.421407676,798,649.578592324,625,648,0.416241478983,-0.00554639517659,0.0499137576645,0.999999990391,2.08984821876e-05,-0.000135996575289,1.69046139823e-05,1793189897802227200
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.010119485,742,711.010119485,670.010119485,663.010119485,632,877.979761031,782,798.010119485,649.010119485,625,648,0.417038224118,-0.0055478982958,0.0499122103473,0.999999991025,1.45510192135e-05,-0.000132109857845,1.69114368651e-05,1793189897818893568
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.548866799,742,711.548866799,670.548866799,663.548866799,632,876.902266401,782,798.548866799,649.548866799,625,648,0.417858269138,-0.00555244816447,0.049943387369,0.99999999682,3.62534733511e-06,-7.75233977774e-05,1.83613268597e-05,1793189897835560448
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,742,712,671,664,632.090219137,876,782,799,650,625,648,0.418678194804,-0.00555580779723,0.0499674072212,0.999999999094,-5.10141192676e-06,-3.73353947639e-05,1.98019685678e-05,1793189897852227328
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,742,712,671,664,632.644984942,876,782,799,650,625,648,0.419497505852,-0.00555303879508,0.0499545741448,0.999999997231,-2.50576628997e-06,-7.12863815729e-05,2.11949901633e-05,1793189897868893184
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.793445355,742.206554645,712,671,663.793445355,632.793445355,876,782,799,650,625,648,0.420315655747,-0.00555121383105,0.0499463953149,0.999999996105,-1.74482541429e-06,-8.55095364858e-05,2.18084101406e-05,1793189897885559296
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.219783214,742.780216786,712,671,663.219783214,632.219783214,876,782,799,650,625,648,0.421131741849,-0.00555106669679,0.0499464884319,0.999999997679,-4.24468716291e-06,-6.46706103963e-05,2.1036251873e-05,1793189897902226176
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.58694231,712,670.58694231,663.41305769,632,876.41305769,782,799,650,625,648,0.422007252651,-0.00555414649357,0.0499592327112,0.999999999183,-9.09505126206e-06,-3.26384383174e-05,2.20352657966e-05,1793189897918892800
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.071221598,742.071221598,712,670,664,632,877,782,799,650,625,648,0.422907281421,-0.00555881934488,0.0499751467059,0.999999999591,-1.54339276074e-05,-2.99665568194e-06,2.38971206499e-05,1793189897935559168
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.648209415,742.648209415,712,670,664,632,877,782,799,650,625,648,0.423719332438,-0.00556057290242,0.0499577731201,0.999999998681,-2.19765234489e-05,-3.96964682507e-05,2.40746931417e-05,1793189897952225792
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,743,712,670.224576926,664,632,877,782,799,650,625,648,0.42454341491,-0.00556211058941,0.0499490508344,0.999999997674,-2.64800771485e-05,-5.78656056254e-05,2.45405604397e-05,1793189897968892416
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,743,712,670.799975516,664,632,877,782,799,650,625,648,0.42538629238,-0.00556331105559,0.0499538431291,0.999999998181,-2.77983529295e-05,-4.70871518824e-05,2.54567860209e-05,1793189897985559040
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.614599879,742.614599879,712,671,664,632,877,782,799,650,625.385400121,648,0.426239866801,-0.00556478780073,0.0499693889716,0.999999998691,-3.21940592397e-05,-2.87470723477e-05,2.74969889469e-05,1793189898002225920
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.023832775,742.023832775,712,671,664,632,877,782,799,650,625.976167225,648,0.427099141224,-0.00556641176572,0.049990665024,0.999999998795,-3.82296264377e-05,-6.37765307332e-06,3.01361221718e-05,1793189898018892544
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.555619034,742.555619034,712,671,664,632,877,782,798.444380966,650,625.444380966,648,0.427859325433,-0.00556224406345,0.0499572447096,0.99999999646,-3.46051310358e-05,-7.09108259334e-05,2.92415668577e-05,1793189898035559168
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,742.866391183,711.866391183,671.133608817,664,632,877.133608817,782,798.133608817,650,625,648,0.428629201671,-0.00555913145489,0.049928728435,0.999999991602,-3.27053425713e-05,-0.000122186823271,2.82309323456e-05,1793189898052225792
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,742.291657991,711.291657991,671.708342009,664,632,877.708342009,782,798.708342009,650,625,648,0.429444830218,-0.0055603061991,0.0499239948722,0.999999991992,-3.78406164096e-05,-0.000117631300085,2.73275013772e-05,1793189898068892416
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,742.283832283,711.283832283,671.716167717,664.283832283,632,877.716167717,782,798.716167717,650,625,648,0.430247704738,-0.0055618661047,0.0499286011581,0.999999993257,-4.41987836724e-05,-0.000103863439283,2.72753092661e-05,1793189898085559040
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,742.860102557,711.860102557,671.139897443,664.860102557,632,877.139897443,782,798.139897443,650,625,648,0.431037438482,-0.00556382284959,0.0499428304743,0.999999995014,-5.18169217835e-05,-8.06039258129e-05,2.81001653617e-05,1793189898102225664
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.552140052,743,711.552140052,671,664.104280104,632,877,782,798.447859948,650,625,648,0.431789952253,-0.00556457049599,0.0499305490405,0.999999992852,-5.67022625037e-05,-0.000101534488783,2.77706198693e-05,1793189898118892288
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,711.038480438,671,663.076960876,632,877,782,799,650,625,648,0.432531204844,-0.00556494641256,0.0499119573522,0.999999989034,-6.05087982014e-05,-0.000132413584401,2.7162222003e-05,1793189898135559168
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,711.617585787,671,664.235171574,632,877,782,799,650,625,648,0.433281886956,-0.00556554567007,0.0499241178479,0.999999992313,-6.14676227677e-05,-0.000104026431262,2.78356737122e-05,1793189898152225792
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.807522913,711.807522913,671,665,632,876.807522913,782,798.807522913,650,625.192477087,648,0.434019008834,-0.00556549036536,0.0499403353725,0.999999994858,-6.2775521875e-05,-7.42453855533e-05,2.88237480904e-05,1793189898168892416
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.240824622,711.240824622,671,665,632,876.240824622,782,798.240824622,650,625.759175378,648,0.434729766527,-0.00556416243624,0.0499644407274,0.999999996568,-6.476210506e-05,-4.17542764616e-05,3.04235238491e-05,1793189898185559040
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.338444952,742.338444952,711,671,664.661555048,632,876.338444952,782,798.338444952,650,625.661555048,648,0.43538185589,-0.00556325332715,0.049966652671,0.999999995963,-6.78420168479e-05,-5.01515289815e-05,3.09329892553e-05,1793189898202225920
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.927004824,742.927004824,711,671,664.072995176,632,876.927004824,782,798.927004824,650,625.072995176,648,0.435990588606,-0.00556265373121,0.0499526851171,0.999999993018,-7.17299115533e-05,-8.87657779011e-05,3.06367019895e-05,1793189898218892544
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,743,711.514380326,671.514380326,663.485619674,632,877,782,799,650,625,648,0.436623454144,-0.00556469563267,0.0499324026197,0.999999989326,-7.52402127707e-05,-0.00012149237042,3.04224798793e-05,1793189898235559424
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,743,712,672,663.099657664,632,876.900342336,782,799,650,625,648,0.43725911536,-0.00556690688106,0.0499193882753,0.999999986962,-7.81359452471e-05,-0.000137989484433,3.04817611994e-05,1793189898252226048
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,743,712,672,663.675706779,632,876.324293221,782,799,650,625,648,0.437891807443,-0.00556813987345,0.0499453917228,0.999999993154,-7.83494252366e-05,-8.08899626451e-05,3.17929231117e-05,1793189898268892672
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.748894914,743,712,672,664.251105086,632,876.251105086,782,799,650,625,648,0.438487180925,-0.0055669669235,0.0499612141077,0.999999995472,-7.47092264565e-05,-4.87017540079e-05,3.32122101018e-05,1793189898285559040
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.174334973,743,712,672,664.825665027,632,876.825665027,782,799,650,625,648,0.43903448332,-0.00556269481784,0.0499639220045,0.999999996029,-6.61050061501e-05,-4.86024468885e-05,3.47707757601e-05,1793189898302225920
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.411661104,743,711.588338896,671.588338896,664.588338896,632,877,782,799,650,625.411661104,648,0.439520388682,-0.00556191244451,0.0499437213167,0.999999994129,-6.16963215691e-05,-8.19021335744e-05,3.50420386643e-05,1793189898318892544
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.997417601,743,711.002582399,671,664,632,877,782,799,650,625.997417601,647.997417601,0.439979550043,-0.00556264497944,0.0499136208602,0.999999989251,-5.90388549571e-05,-0.000129629463188,3.47538350645e-05,1793189898335559168
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.419055401,743,711.580944599,671,664,632,877,782,799,650,625.419055401,647.419055401,0.440438720895,-0.0055622197,0.049901143471,0.999999987305,-3.93636430275e-05,-0.000150442798669,3.47494514243e-05,1793189898352225792
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.15885206,742.84114794,712,671,664.15885206,632,877.15885206,781.84114794,799,650,625,647.15885206,0.440892760379,-0.00556159098769,0.0498974115779,0.999999987298,1.13389667973e-06,-0.000155545856475,3.47592030587e-05,1793189898368892672
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.735563458,742.264436542,712,671,664.735563458,632,877.735563458,781.264436542,799,650,625,647.735563458,0.441333301934,-0.00556042714639,0.0499166846541,0.999999987628,9.64044421471e-05,-0.000119323132093,3.48061372772e-05,1793189898385559296
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.68943653,742,711.68943653,671.31056347,664.68943653,632,877.68943653,781.31056347,799.31056347,650,625.31056347,648,0.441746300494,-0.00556138297967,0.0499308245477,0.999999988424,0.000116715424584,-9.30927437972e-05,2.93911265306e-05,1793189898402225664
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.115885765,742,711.115885765,671.884114235,664.115885765,632,877.115885765,781.884114235,799.884114235,650,625.884114235,648,0.442135975429,-0.0055641337681,0.0499406176256,0.999999994271,7.35501254116e-05,-7.53239375213e-05,1.93509031732e-05,1793189898418892544
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,742,712,671.641425973,663.358574027,632,877,781.358574027,799,649.358574027,625.358574027,647.641425973,0.44305317755,-0.00557672070183,0.0499166284352,0.999999991353,6.23145614219e-05,-0.000113607574058,2.24456670222e-05,1793189898468892416
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,742.218039393,712,672,663,631.781960607,877,781.218039393,799,649.218039393,625,648,0.443307578833,-0.0055755836118,0.0498997678921,0.999999987758,6.57260728149e-05,-0.00014019194666,2.26077715808e-05,1793189898485558784
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,742.794255974,712,672,663,631.205744026,877,781.794255974,799,649.794255974,625,648,0.443531083011,-0.00557239051147,0.0498811728035,0.999999982686,6.97481635114e-05,-0.00017104032936,2.25549427211e-05,1793189898502225664
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,743,711.63240415,671.63240415,663,631,877.36759585,782,799,650,625.36759585,647.63240415,0.443737247441,-0.00556239054438,0.0498676540161,0.999999977815,8.14417028696e-05,-0.000193003509088,2.20462546326e-05,1793189898518892288
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,743,711.060661815,671.060661815,663,631,877.939338185,782,799,650,625.939338185,647.060661815,0.443933782161,-0.00554861034407,0.0498569543803,0.999999972974,9.73956260718e-05,-0.000210032242707,2.12844024729e-05,1793189898535558912
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,742.879314237,711.120685763,672,663.879314237,631,877.879314237,781.120685763,799,649.120685763,625.879314237,647.120685763,0.444293558137,-0.00555011585149,0.0498648964533,0.999999975002,9.89656436278e-05,-0.000199145705705,2.33019477088e-05,1793189898568892416
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765,742.274165659,711.725834341,672,663,631,877,781.725834341,799,650,625,648,0.444585335812,-0.00556236975516,0.0498677382913,0.999999977812,8.57974837446e-05,-0.000190869360359,2.41414077874e-05,1793189898602225664
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,742.849112798,711.150887202,672,663,631,877,781.150887202,799,650,625,648,0.444696126276,-0.00556277919241,0.0498625589634,0.999999976443,8.53439311683e-05,-0.000198185786635,2.35323758227e-05,1793189898618892544
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,743,711.435061956,672,663.435061956,631,877,781.435061956,799,649.564938044,625,648,0.444788664743,-0.00556373557527,0.0498598814084,0.999999975711,8.35018388634e-05,-0.000202589394727,2.37257219511e-05,1793189898635558912
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,743,712,671.975521268,663.975521268,631,877,782,798.975521268,649.024478732,625,648,0.444873936993,-0.00556471759204,0.0498580882355,0.999999975202,8.14087204148e-05,-0.00020587214073,2.41777178841e-05,1793189898652225536
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,743,712,671.396237076,663.396237076,631,877,782,798.396237076,649.603762924,625,648,0.444941715008,-0.00556186975862,0.0498561638747,0.999999974639,8.48240110042e-05,-0.000207241174236,2.40211880103e-05,1793189898668892416
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,742.818560234,712,671.181439766,663,631,877,781.818560234,798,650,625.181439766,648,0.445003432714,-0.00555913865032,0.0498546406205,0.999999974151,8.74735186234e-05,-0.000208502782755,2.39216361823e-05,1793189898685559040
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+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.050791482,711.949208518,671.949208518,663.949208518,631,877.050791482,781.949208518,799.050791482,650,625,647.949208518,0.445194106331,-0.00555198484872,0.0498418746151,0.999999970194,8.64367467801e-05,-0.00022730782368,2.17079843632e-05,1793189898968892416
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.630208061,711.369791939,671.369791939,663.369791939,631,877.630208061,781.369791939,799.630208061,650,625,647.369791939,0.445193612844,-0.00555061173396,0.0498409283017,0.999999969786,8.75236708063e-05,-0.00022876565949,2.08286911525e-05,1793189898985559296
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+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711.779945631,671.779945631,663,631,877.220054369,781.779945631,799.220054369,650,625,647,0.445194901317,-0.00555038716721,0.0498403230775,0.999999969752,8.88581626112e-05,-0.000228407678175,2.07221948981e-05,1793189899018892800
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+231,3.850000000,POSE1_TO_POSE2_PRESS,764.953052878,743,711.046947122,672,663,631,877.953052878,781.046947122,799,650,625,647,0.44519381489,-0.00555063448177,0.0498386964807,0.999999969026,8.92958993559e-05,-0.000231406246065,2.06158425705e-05,1793189899052225792
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.467193722,743,711.532806278,671.467193722,663.532806278,631,877.467193722,781,799,650,625,647.532806278,0.445195619289,-0.00555073889011,0.0498404816913,0.999999969598,8.81669789279e-05,-0.000229325928006,2.0963884929e-05,1793189899068892928
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.111327037,743,712,671.111327037,663.888672963,631,877,781.111327037,799,650,625,647.888672963,0.4451968578,-0.00555041899378,0.0498417980155,0.999999969951,8.77411073218e-05,-0.00022792782198,2.11813557198e-05,1793189899085559808
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765,743,712,672,663,631,877,782,799,650,625,647,0.445194181459,-0.00554781539648,0.0498393570282,0.999999968822,9.09577092956e-05,-0.000231664160912,2.03812435468e-05,1793189899118893568
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,743,712,672,663,631,877,782,799,650,625,647,0.445195481214,-0.00554924825147,0.0498395913414,0.999999969503,8.7969131445e-05,-0.000229873018764,2.03398247843e-05,1793189899135559680
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.578516737,742.578516737,711.578516737,672,663,631,877,781.578516737,799,649.578516737,625,647,0.445195739859,-0.00555028358582,0.0498391587593,0.999999969472,8.7804616464e-05,-0.000230068922837,2.03458074927e-05,1793189899152226304
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.014660796,742,711,672,663,631,877.014660796,781,799,649,625,647,0.44519554149,-0.00555112067386,0.0498384446564,0.999999969157,8.87060716123e-05,-0.000231089988091,2.0358366725e-05,1793189899168892672
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.592998692,742,711,672,663,631,877.592998692,781,799,649,625,647,0.445194114444,-0.00555057558641,0.0498373750908,0.99999996902,8.62618392343e-05,-0.000232645623263,1.98797068973e-05,1793189899185559296
+240,4.000000000,HOLD_POSE2,764,742,712,673,663,631,877,781,798,650,625,648,0.445199418503,-0.00554811652043,0.0498422818967,0.99999997028,8.88269539707e-05,-0.000226123588558,2.0464361368e-05,1793189899226302208
+241,4.016666667,HOLD_POSE2,764,742,712,672.428451712,663,631,877,781,798,649.428451712,625,647.428451712,0.445198101352,-0.00555121903912,0.0498411236267,0.999999970137,8.42036192888e-05,-0.000228511635411,2.04482251634e-05,1793189899242968832
+242,4.033333333,HOLD_POSE2,764.149706426,742.149706426,712,672,663,631,876.850293574,781,798.149706426,649.149706426,625,647,0.445196958539,-0.00555326591976,0.0498402497869,0.999999969936,8.12519966968e-05,-0.000230450529264,2.04439121479e-05,1793189899259635712
+243,4.050000000,HOLD_POSE2,764.747655549,742.747655549,712,672,663,631,876.252344451,781,798.747655549,649.747655549,625,647,0.445196337717,-0.00555215206811,0.049840227572,0.99999996963,8.33057208366e-05,-0.000231044594649,2.04749994679e-05,1793189899276302336
+244,4.066666667,HOLD_POSE2,765,743,711.667124482,672,663,631,876.332875518,781,799,650,625,647,0.445196572363,-0.00555166230178,0.0498405240329,0.999999969625,8.46911130744e-05,-0.000230556143448,2.05391522127e-05,1793189899292968704
+245,4.083333333,HOLD_POSE2,765,743,711.091198783,672,663,631,876.908801217,781,799,650,625,647,0.445197431632,-0.00555162821351,0.0498410531761,0.999999969841,8.55885204003e-05,-0.00022927728908,2.0627447787e-05,1793189899309635328
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+247,4.116666667,HOLD_POSE2,764,742,712,671.940579186,663,631,877,781.059420814,799,649.059420814,625,648,0.445197570927,-0.00554780683705,0.0498404175993,0.999999969366,8.91208245211e-05,-0.000230035314706,2.02148593051e-05,1793189899342968832
+248,4.133333333,HOLD_POSE2,764,742,712,671.353017565,663,631,877,781.646982435,799,649.646982435,625,648,0.4451964067,-0.00554889666576,0.0498392202995,0.999999969161,8.77415538251e-05,-0.000231440415965,2.03586602171e-05,1793189899359635456
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+250,4.166666667,HOLD_POSE2,764.815315556,742,711.184684444,671.815315556,663,631,877,782,799,650,625.815315556,648,0.445197418183,-0.00554733475502,0.0498402087964,0.999999969193,9.09895365167e-05,-0.000230042270606,2.03864689417e-05,1793189899392968960
+251,4.183333333,HOLD_POSE2,765,742,711.393213529,672,663,631,877,782,799,650,625.606786471,647.606786471,0.445198034076,-0.00554658169747,0.0498402454347,0.99999996936,8.98449680888e-05,-0.000229812513569,1.98649033137e-05,1793189899409635584
+252,4.200000000,HOLD_POSE2,765,742,711.968879367,672,663,631,877,782,799,650,625.031120633,647.031120633,0.445198368346,-0.00554621433064,0.0498397327064,0.999999969548,8.68173916252e-05,-0.000230219768514,1.91207592931e-05,1793189899426302208
+253,4.216666667,HOLD_POSE2,764.457241949,742,711.457241949,672,663,630.457241949,876.457241949,782,799,650,625,647.542758051,0.445198266388,-0.005549031699,0.049839751211,0.99999996963,8.59856943359e-05,-0.000230103773486,1.99536699702e-05,1793189899442968832
+254,4.233333333,HOLD_POSE2,764,742,711,671.880350609,663,630.119649391,876,782,799,650,625,648,0.445198627149,-0.00555108027546,0.0498401891877,0.999999969784,8.58334791996e-05,-0.000229437255565,2.05925133153e-05,1793189899459635456
+255,4.250000000,HOLD_POSE2,764,742,711,671.291237719,663,630.708762281,876,782,799,650,625,648,0.445200901285,-0.00554939824193,0.0498421539088,0.999999970236,8.78549249156e-05,-0.000226728004707,2.01162699278e-05,1793189899476302080
+256,4.266666667,POSE2_TO_POSE3_RETREAT,764,743,711,672,663,631,877,781,799,650,625,648,0.445199426457,-0.00554832772393,0.0498408525156,0.999999969765,8.64922749292e-05,-0.000229368617449,1.94893146517e-05,1793189899513253376
+257,4.283333333,POSE2_TO_POSE3_RETREAT,764,743,711.574585157,672,663,631,877,781.574585157,799,649.425414843,625,648,0.44520034506,-0.00554826070142,0.0498414940517,0.999999969974,8.66239064473e-05,-0.000228390259571,1.9638350991e-05,1793189899529920000
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764.148715055,743,711.851284945,672,663,631,877.148715055,782,799,649.148715055,625,648,0.445200778451,-0.00554832127348,0.0498417676532,0.999999970023,8.66465483417e-05,-0.000228155562662,1.97687588641e-05,1793189899546586624
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764.721546749,743,711.278453251,672,663,631,877.721546749,782,799,649.721546749,625,648,0.445199828076,-0.00554874572919,0.0498409919514,0.999999969615,8.63583655647e-05,-0.0002300416931,1.98460407278e-05,1793189899563253248
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764.695267326,743,711.304732674,672,663,631,878,782,799,649.695267326,625,647.695267326,0.445199393109,-0.00554904979809,0.0498407848526,0.999999969529,8.67393470155e-05,-0.000230255838923,2.00292398307e-05,1793189899579920128
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764.102287343,743,711.897712657,672,663,631,878,782,799,649.102287343,625,647.102287343,0.445199445666,-0.0055492399928,0.0498411155966,0.999999969748,8.77532924018e-05,-0.000228888450701,2.03126262788e-05,1793189899596587008
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764.479615252,743,712,672,663,631,877.520384748,782,799,649.479615252,625,647.479615252,0.445198572831,-0.00554822539882,0.0498403963949,0.999999969503,8.89086138382e-05,-0.000229544049704,1.99640055826e-05,1793189899613253632
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,742.941301889,712,672,663,631,877,782,798.941301889,650,625,647.941301889,0.445196750875,-0.00554718977805,0.0498391347253,0.999999969042,8.98073039505e-05,-0.000231231250453,1.95439971449e-05,1793189899629920000
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,742.366706664,712,672,663,631,877,782,798.366706664,650,625,647.366706664,0.445188282519,-0.00554817665736,0.0498350289262,0.99999996753,8.81914476057e-05,-0.000238278855463,1.96544685652e-05,1793189899646586624
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.787355797,742.212644203,712,672,663,631,877,781.787355797,798.212644203,649.787355797,625,647.212644203,0.445172939425,-0.00554776432625,0.0498278594104,0.999999964527,8.77531702177e-05,-0.000250745641923,1.92969447192e-05,1793189899663253504
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+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,712,671.616809265,663,631,877,781,799,649.383190735,625,647.616809265,0.445095276442,-0.00554279353387,0.0497964196607,0.999999948509,8.92042340722e-05,-0.000307807376776,1.6725799618e-05,1793189899696586752
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,712,671.036539123,663,631,877,781,799,649.963460877,625,647.036539123,0.445033396439,-0.00554110961162,0.0497743175477,0.999999934918,8.80768417079e-05,-0.000349534186166,1.52322425896e-05,1793189899713253376
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,712,671.539701651,663.539701651,631,877.539701651,781,799,650,625,647.539701651,0.444963165205,-0.00553928276126,0.0497601406977,0.999999928646,8.90496124628e-05,-0.000366851341234,1.40635421913e-05,1793189899729920256
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,712,671.885149076,663.885149076,631,877.885149076,781.114850924,798.885149076,650,625,648,0.444889455494,-0.00553680635301,0.0497486919581,0.999999923313,9.10664595092e-05,-0.000380674274351,1.29374521503e-05,1793189899746586880
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,712,671.313265588,663.313265588,631,877.313265588,781.686734412,798.313265588,650,625,648,0.444804136914,-0.0055317833441,0.0497459799949,0.999999920325,9.66764405604e-05,-0.000387119984947,1.18940517856e-05,1793189899763253248
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+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,712,671,663,631,877.861428364,781.138571636,798.861428364,650,625,647.138571636,0.44460442748,-0.00552329733286,0.0497507676021,0.999999921387,0.00010371783111,-0.000382544657008,1.12991384689e-05,1793189899796586752
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diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3ac139926bc861b107158849273550d8b0d4ac77
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,392 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+370,6.166666667,pose2_to_pose3_retreat,0.575726893887,0.000219665086231,1.04002837692,0.546297307747,0.00889138599579,1.03969937845
+371,6.183333333,pose2_to_pose3_retreat,0.575726661727,0.00021966576139,1.04002840011,0.546297075411,0.00889138604634,1.03969940089
+372,6.200000000,pose2_to_pose3_retreat,0.575726461573,0.000219666343468,1.0400284201,0.546296875106,0.00889138608991,1.03969942024
+373,6.216666667,pose2_to_pose3_retreat,0.575726315771,0.000219666767485,1.04002843466,0.546296729193,0.00889138612166,1.03969943434
+374,6.233333333,pose2_to_pose3_retreat,0.575726068616,0.000219667486247,1.04002845935,0.546296481852,0.00889138617547,1.03969945823
+375,6.250000000,pose2_to_pose3_retreat,0.575725493234,0.000219669159549,1.04002851681,0.546295906034,0.00889138630074,1.03969951385
+376,6.266666667,pose2_to_pose3_retreat,0.57572499027,0.000219670622244,1.04002856705,0.54629540269,0.00889138641025,1.03969956247
+377,6.283333333,pose2_to_pose3_retreat,0.575724558326,0.000219671878405,1.04002861019,0.546294970419,0.00889138650429,1.03969960423
+378,6.300000000,pose2_to_pose3_retreat,0.57572420879,0.000219671891622,1.04002861073,0.546294620524,0.00889138529215,1.03969960454
+379,6.316666667,pose2_to_pose3_retreat,0.57572394881,0.000219669045393,1.04002851331,0.546294360011,0.00889138072337,1.03969950947
+380,6.333333333,pose2_to_pose3_retreat,0.575723411132,0.000219663158957,1.04002831182,0.546293821228,0.00889137127442,1.03969931285
+381,6.350000000,pose2_to_pose3_retreat,0.575723204016,0.000219660891476,1.0400282342,0.546293613687,0.00889136763464,1.03969923711
+382,6.366666667,pose2_to_pose3_retreat,0.575723143352,0.00021965834624,1.04002824304,0.546293553242,0.00889136584261,1.03969924619
+383,6.383333333,pose2_to_pose3_retreat,0.575723105937,0.000219656028074,1.04002826105,0.5462935161,0.00889136444855,1.03969926422
+384,6.400000000,pose2_to_pose3_retreat,0.575723080177,0.000219654431997,1.04002827345,0.546293490527,0.00889136348873,1.03969927664
+385,6.416666667,pose2_to_pose3_retreat,0.575723022381,0.000219650851036,1.04002830127,0.546293433151,0.00889136133528,1.03969930449
+386,6.433333333,pose2_to_pose3_retreat,0.575722963786,0.000219647220561,1.04002832947,0.546293374982,0.00889135915205,1.03969933274
+387,6.450000000,pose2_to_pose3_retreat,0.575722950678,0.000219646408412,1.04002833578,0.54629336197,0.00889135866366,1.03969933905
+388,6.466666667,pose2_to_pose3_retreat,0.575722744776,0.000219633650949,1.04002843489,0.546293157565,0.0088913509918,1.0396994383
+389,6.483333333,pose2_to_pose3_retreat,0.575722621791,0.000219662602734,1.04002853152,0.54629303498,0.00889138131726,1.03969953537
+390,6.500000000,pose2_to_pose3_retreat,0.575722579609,0.000219692833112,1.04002858544,0.546292992661,0.00889141109538,1.03969958964
diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..73efc01f66efdc9d543c56579d09fd3d247965ea
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:390ce6fd69c68e1ada9e85c953abc4f38fee957be8fb1699e57dcd36013bd29d
+size 25101030
diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6360ce48a5a238e684c312a91e16169b5cc4f242
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_03/franka_data.csv
@@ -0,0 +1,396 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,742,712,671,663,632,876,782,799,649,625,648,0.400969735698,-0.00541715653264,0.049849947678,0.999999962821,-5.67791727407e-06,-0.000268262355495,-4.85927130106e-05,1793189901869607936
+1,0.016666667,BASELINE,764.602807344,742,712,670.397192656,663,632,875.397192656,782,799.602807344,649.602807344,625.602807344,648,0.40096991066,-0.00541802101662,0.0498499931794,0.999999962945,-7.42847611835e-06,-0.00026778133618,-4.84482762809e-05,1793189901886274816
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+9,0.150000000,BASELINE,764.251793008,742,711.748206992,670,663,632,875.748206992,781.748206992,798.251793008,650,625.251793008,648,0.40096817976,-0.00541808775963,0.0498500614692,0.999999962824,-6.92628347431e-06,-0.000268277835069,-4.82827582452e-05,1793189902019607808
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+12,0.200000000,BASELINE,764,742,711.998704578,670.001295422,663.001295422,632.001295422,875.998704578,782,799.997409157,650,625.001295422,648,0.400968641259,-0.00541617594043,0.0498502660176,0.999999962894,-3.92471522778e-06,-0.000268000679917,-4.8699944353e-05,1793189902069607936
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+17,0.283333333,BASELINE,765,742.882194631,711.882194631,670,663,632,875,782,798.882194631,650,625.882194631,648,0.400969286833,-0.00541760518829,0.0498507290902,0.999999963397,-5.26322333722e-06,-0.000266208039627,-4.80722153499e-05,1793189902152941056
+18,0.300000000,BASELINE,764.529809198,742.529809198,711.529809198,670,663,632,875.470190802,782,799,649.529809198,626,648,0.400969832517,-0.00541795082614,0.0498512322295,0.999999963571,-6.28422511159e-06,-0.000265511759878,-4.81893015554e-05,1793189902169607680
+19,0.316666667,BASELINE,764.060660982,742,711,670.060660982,663,632,875.939339018,782,798.939339018,649.060660982,625.939339018,648,0.400970636573,-0.00541838852545,0.0498516766406,0.999999963758,-7.65535325029e-06,-0.000264723490577,-4.84453026233e-05,1793189902186274816
+20,0.333333333,BASELINE,764.63832749,742,711,670.63832749,663,632,875.36167251,782,798.36167251,649.63832749,625.36167251,648,0.400970051518,-0.00541865340759,0.0498508312243,0.999999963471,-6.75811104304e-06,-0.000265827852519,-4.84598027665e-05,1793189902202941696
+21,0.350000000,BASELINE,764.785390721,742,711,670.785390721,663,632,875,782,798.214609279,650,625,648,0.400969669223,-0.00541878391959,0.0498502923475,0.99999996329,-5.84711084805e-06,-0.000266518416776,-4.85065102725e-05,1793189902219608320
+22,0.366666667,BASELINE,764.211427641,742,711,670.211427641,663,632,875,782,798.788572359,650,625,648,0.400969626442,-0.00541868943468,0.0498502667575,0.999999963291,-4.91307359785e-06,-0.000266516094903,-4.86071475901e-05,1793189902236274688
+23,0.383333333,BASELINE,764,742,711,670,663,632,874.627026812,781.627026812,799,650,625,648,0.400970437027,-0.00541813012113,0.0498507905333,0.999999963562,-5.72290915434e-06,-0.000265469307099,-4.86683384476e-05,1793189902252941312
+24,0.400000000,BASELINE,764,742,711,670,663,632,874.036538718,781.036538718,799,650,625,648,0.400971745287,-0.00541729972332,0.0498516346948,0.999999963987,-7.54975694998e-06,-0.000263813395324,-4.87065244626e-05,1793189902269607936
+25,0.416666667,BASELINE,764.545099964,742.545099964,711,670,663,632.545099964,874.545099964,781.545099964,798.454900036,650,625,648,0.400969416033,-0.00541699936745,0.0498506531234,0.999999963368,-6.69621934322e-06,-0.000266189169504,-4.86156867562e-05,1793189902286274560
+26,0.433333333,BASELINE,764.879967641,743,711,670,663,632.879967641,875,782,798.120032359,650,625,648,0.400967670008,-0.00541710197318,0.04984983177,0.999999962879,-6.16946009384e-06,-0.000268051435732,-4.84915376157e-05,1793189902302940928
+27,0.450000000,BASELINE,764.327112385,743,711,670,663,632.327112385,875,782,798.672887615,650,625,648,0.400968892208,-0.00541853154391,0.0498500223868,0.999999963135,-7.4585436244e-06,-0.000267103133295,-4.82779589676e-05,1793189902319608064
+28,0.466666667,BASELINE,764,742.756480144,711,670,663,632,875.243519856,782,799,650,625,648,0.400969733058,-0.00541903717278,0.0498500753928,0.999999963294,-8.24303281792e-06,-0.000266473512248,-4.83297297376e-05,1793189902336275456
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+39,0.650000000,BASELINE,764.336234772,742,711.663765228,670,663,632,876,782,799,650,625.336234772,648,0.400969649197,-0.00541732874258,0.0498511638526,0.999999963552,-7.21340791809e-06,-0.000265487719145,-4.85784753037e-05,1793189902519608064
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+44,0.733333333,BASELINE,764.432435606,742,711,670,663.432435606,632,875.567564394,782,799,649.432435606,625.432435606,648,0.400969181819,-0.00541669864104,0.0498510528499,0.99999996374,-2.98867591939e-06,-0.000264877356133,-4.84842794318e-05,1793189902602941440
+45,0.750000000,BASELINE,764,742,711,670,663.146409611,632,876.146409611,782,798.853590389,649.146409611,625.146409611,648,0.400968832307,-0.00541681684358,0.0498504842628,0.999999963632,-3.61730277615e-06,-0.000265268820594,-4.85220741848e-05,1793189902619608320
+46,0.766666667,BASELINE,764,742,711,670,663.722157003,632,876.722157003,782,798.277842997,649.722157003,625.722157003,648,0.4009699422,-0.00541753285584,0.0498512847072,0.999999963776,-6.03074195142e-06,-0.000264717897711,-4.83412288927e-05,1793189902636274944
+47,0.783333333,BASELINE,764,742,711,670,663.703894954,632,876.703894954,782,798.296105046,650,626,648,0.400969703773,-0.00541771710992,0.0498513354733,0.999999963749,-6.80973584827e-06,-0.000264796259927,-4.83490618853e-05,1793189902652941568
+48,0.800000000,BASELINE,764,742,711,670,663.131625023,632,876.131625023,782,798.868374977,650,626,648,0.400968207822,-0.00541740541531,0.0498506870456,0.999999963569,-6.06435076347e-06,-0.000265461530168,-4.85328672608e-05,1793189902669607936
+49,0.816666667,BASELINE,764,742,711,670,663,632,875.540816157,782,799,650,625.540816157,648,0.400968640967,-0.00541659565259,0.0498510963949,0.999999963767,-4.19284305875e-06,-0.000264732646323,-4.86328867207e-05,1793189902686274560
+50,0.833333333,BASELINE,764.053610759,742,711.053610759,670,663,632,875,781.946389241,799.053610759,650,625,648,0.400969473863,-0.00541568897648,0.0498516635953,0.999999963998,-2.13408306215e-06,-0.000263869932903,-4.87072005414e-05,1793189902702941184
+51,0.850000000,BASELINE,764.629341783,742,711.629341783,670,663,632,875,781.370658217,799.629341783,650,625,648,0.400968587923,-0.00541528741313,0.0498506908763,0.999999963495,-1.52772990101e-06,-0.000265759663562,-4.87749117762e-05,1793189902719608064
+52,0.866666667,BASELINE,764.795941974,742,712,670.204058026,663,632,875,781,799.591883948,650,625,648,0.400968519282,-0.0054153329435,0.0498504023444,0.999999963319,-1.33487136166e-06,-0.000266423999538,-4.87712063993e-05,1793189902736274688
+53,0.883333333,BASELINE,764.223059929,742,712,670.776940071,663,632,875,781,798.446119857,650,625,648,0.400969927866,-0.00541618657198,0.0498513504441,0.999999963736,-1.88938237484e-06,-0.000264873499748,-4.86384192952e-05,1793189902752941568
+54,0.900000000,BASELINE,764,742,711.639922293,670.639922293,663,632,875,781.360077707,798.360077707,650,625,648,0.400970398354,-0.005416846747,0.0498513324409,0.99999996374,-2.86820990749e-06,-0.000264862604131,-4.856806158e-05,1793189902769608192
+55,0.916666667,BASELINE,764,742,711.050245324,670.050245324,663,632,875,781.949754676,798.949754676,650,625,648,0.400970270676,-0.00541738356871,0.0498506984136,0.99999996348,-4.11759779438e-06,-0.000265833418838,-4.85375112263e-05,1793189902786274816
+56,0.933333333,BASELINE,764,742,711,670,663,632,875,782,799,650,625,648,0.400970429027,-0.00541744363874,0.0498512186039,0.999999963697,-4.64517371416e-06,-0.000265014713397,-4.84849842498e-05,1793189902802941440
+57,0.950000000,BASELINE,764.113590711,742,711.113590711,670,663,632,875.113590711,782,798.886409289,650,625,648,0.400970467024,-0.00541726707958,0.0498517044667,0.999999963885,-4.88453839722e-06,-0.000264308906125,-4.84460017185e-05,1793189902819608064
+58,0.966666667,BASELINE,764.687070385,742,711.687070385,670,663,632,875.687070385,782,798.312929615,650,625,648,0.400969909884,-0.00541631228018,0.0498516160808,0.999999963774,-4.22924006722e-06,-0.000264735032266,-4.84701435416e-05,1793189902836274688
+59,0.983333333,BASELINE,764.738108598,742,711.738108598,670,663,632,876,781.738108598,798,650,625.261891402,648,0.400969225706,-0.00541628455233,0.0498510843724,0.999999963546,-4.36722464389e-06,-0.000265588305731,-4.85007025952e-05,1793189902852941312
+60,1.000000000,BASELINE,764.161676506,742,711.161676506,670,663,632,876,781.161676506,798,650,625.838323494,648,0.400968388948,-0.00541737026954,0.0498500202182,0.999999963175,-5.45796952076e-06,-0.000266954598056,-4.85389689689e-05,1793189902869607936
+61,1.016666667,BASELINE,764.423647789,742,711.423647789,669.576352211,663,632,876,781.423647789,798.423647789,650,625.576352211,648,0.400967630979,-0.00541859797546,0.0498494950645,0.999999963011,-7.23106129797e-06,-0.000267555237204,-4.83665730034e-05,1793189902886274560
+62,1.033333333,BASELINE,764.987766054,742.012233946,711.987766054,669.012233946,663,632,875.987766054,782,799,650,625.012233946,648,0.400966939717,-0.00541982197546,0.0498492106217,0.999999962936,-9.16898980912e-06,-0.000267821526004,-4.8118822456e-05,1793189902902941184
+63,1.050000000,BASELINE,764.408650362,742.591349638,711.408650362,669.591349638,663,632,875.408650362,782,799,650,625.591349638,648,0.400967916243,-0.00541830957119,0.0498503441904,0.999999963327,-6.41996059374e-06,-0.000266424792181,-4.8184494353e-05,1793189902919608064
+64,1.066666667,BASELINE,764.169188733,742.830811267,711.169188733,670.169188733,663,632,875,782,799,650,625.830811267,648,0.400968542681,-0.00541742529804,0.0498509779164,0.999999963604,-4.53010462972e-06,-0.000265406363952,-4.82852157028e-05,1793189902936274688
+65,1.083333333,BASELINE,764.743967453,742.256032547,711.743967453,670.743967453,663,632,875,782,799,650,625.256032547,648,0.400968329864,-0.00541804682083,0.0498504133878,0.999999963624,-4.69991357995e-06,-0.000265294834034,-4.84699598263e-05,1793189902952941312
+66,1.100000000,BASELINE,764.688230723,742.311769277,711.688230723,670.688230723,663,632,875,782,799,650,625,648,0.400969400053,-0.0054184150665,0.0498510387235,0.999999963966,-5.51711513521e-06,-0.000263999091701,-4.840390252e-05,1793189902969608192
+67,1.116666667,BASELINE,764.12603311,742.87396689,711.12603311,670.12603311,663,632,875,782,799,650,625,648,0.400971500815,-0.00541857986757,0.0498526198163,0.999999964561,-6.85433409355e-06,-0.000261752132028,-4.81363892268e-05,1793189902986274816
+68,1.133333333,BASELINE,764.470420007,742.529579993,711,670,663,632,875.470420007,782,799,650,625.470420007,648,0.400970531699,-0.00541705123508,0.0498518870835,0.999999964257,-5.14609578605e-06,-0.000262880418972,-4.85070265842e-05,1793189903002941440
+69,1.150000000,BASELINE,764.926707041,742.073292959,711,670,663,632,875.926707041,781.926707041,799,650,625.926707041,648,0.400968985018,-0.00541556363462,0.049850739964,0.999999963773,-3.14558874629e-06,-0.000264668008207,-4.89375164116e-05,1793189903019607808
+70,1.166666667,BASELINE,764.347829944,742.652170056,711,670,663,632,875.347829944,781.347829944,799,650,625.347829944,648,0.400969573311,-0.00541773454498,0.0498513464257,0.999999963889,-5.19938630434e-06,-0.000264275778921,-4.85088711303e-05,1793189903036274432
+71,1.183333333,BASELINE,764.22894937,742.77105063,711.22894937,670,663,632,875,781.22894937,799,650,625.22894937,648,0.400970279395,-0.00541867695887,0.0498521137661,0.99999996412,-7.13083202821e-06,-0.000263387282354,-4.83363038612e-05,1793189903052941056
+72,1.200000000,BASELINE,764.802570661,742.197429339,711.802570661,670,663,632,875,781.802570661,799,650,625.802570661,648,0.400971162807,-0.00541776993255,0.0498531233014,0.999999964525,-8.87808344229e-06,-0.000261751679949,-4.85492492754e-05,1793189903069608192
+73,1.216666667,BASELINE,764.613793701,742.386206299,712,670,663,632,875.386206299,782,798.613793701,650,626,648,0.40097067204,-0.00541820375345,0.049852511196,0.999999964363,-8.12951769351e-06,-0.000262433246675,-4.83348326354e-05,1793189903086275072
+74,1.233333333,BASELINE,764.024902468,742.975097532,712,670,663,632,875.975097532,782,798.024902468,650,626,648,0.400969460089,-0.00541934126444,0.0498510480373,0.999999963899,-6.07112199207e-06,-0.000264330887068,-4.78961320957e-05,1793189903102941952
+75,1.250000000,BASELINE,764,742.443496664,711.443496664,670,663,632,875.443496664,781.443496664,798,650,625.443496664,648,0.400971478006,-0.00541786849959,0.0498523785549,0.999999964519,-4.02972501158e-06,-0.000262009822975,-4.79202170311e-05,1793189903119608320
+76,1.266666667,BASELINE,764,742,711,670,663,632,875,781.136096013,798.136096013,650,625,648,0.400972938885,-0.00541686154134,0.0498532943924,0.99999996495,-2.76793710272e-06,-0.000260364162251,-4.79947297406e-05,1793189903136274432
+77,1.283333333,BASELINE,764,742,711,670,663,632,875,781.710909325,798.710909325,650,625,648,0.400972144379,-0.00541772768438,0.0498524758352,0.999999964642,-4.01686724032e-06,-0.000261496191737,-4.81659302428e-05,1793189903152941056
+78,1.300000000,BASELINE,764,742,711,670,662.714540106,632,875,782,799,650,625.285459894,648,0.400970552509,-0.00541828504869,0.0498514478816,0.999999964063,-5.03900842369e-06,-0.000263656429812,-4.83087679965e-05,1793189903169607936
+79,1.316666667,BASELINE,764,742,711,670,662.140255412,632,875,782,799,650,625.859744588,648,0.400968153877,-0.00541852999443,0.0498502080635,0.999999963204,-5.83168726424e-06,-0.000266856996584,-4.84229086602e-05,1793189903186274816
+80,1.333333333,BASELINE,764,742.44881306,711.44881306,670,662.44881306,632,875,782,799,650,625.55118694,648,0.400969901017,-0.00541822865587,0.0498512896003,0.999999963821,-5.67284859393e-06,-0.000264538180498,-4.8421106508e-05,1793189903202941440
+81,1.350000000,BASELINE,764,742.958610775,711.958610775,670,663,632,875,782,798.958610775,649.958610775,625,648,0.400972499289,-0.00541785920367,0.0498528547852,0.999999964757,-5.35146242056e-06,-0.000260992420536,-4.8377427863e-05,1793189903219608064
+82,1.366666667,BASELINE,764,742.382440031,711.382440031,670,663,632,875,782,798.382440031,649.382440031,625,648,0.400968784949,-0.00541889058132,0.0498509766854,0.999999963794,-6.9027238834e-06,-0.000264638765461,-4.82767701375e-05,1793189903236274688
+83,1.383333333,BASELINE,764.193405662,742,711,670,663.193405662,632,875,782,798.193405662,649,625,648,0.400966918312,-0.00541916812762,0.0498499869454,0.999999963336,-7.0498727898e-06,-0.000266346857488,-4.83579348689e-05,1793189903252941312
+84,1.400000000,BASELINE,764.76860978,742,711,670,663.76860978,632,875,782,798.76860978,649,625,648,0.400968699191,-0.00541795754992,0.0498507508994,0.999999963891,-4.42518996586e-06,-0.000264228681836,-4.87980318519e-05,1793189903269607936
+85,1.416666667,BASELINE,764.647265101,742,711.352734899,670,663.647265101,632,875,782,799,649.352734899,625,648,0.400968935441,-0.00541670898544,0.0498510210281,0.99999996409,-3.59356559273e-06,-0.000263465334346,-4.8920499577e-05,1793189903286274560
+86,1.433333333,BASELINE,764.057136092,742,711.942863908,670,663.057136092,632,875,782,799,649.942863908,625,648,0.400968132139,-0.00541543485555,0.0498509588074,0.999999964054,-3.96868761758e-06,-0.000263613799864,-4.8829199614e-05,1793189903302941440
+87,1.450000000,BASELINE,764,742,711.477504682,670,663,632,875,782,798.477504682,650,625,648,0.400969904226,-0.00541644239761,0.0498517526914,0.999999964284,-4.18549863575e-06,-0.000262779440516,-4.85882809648e-05,1793189903319608064
+88,1.466666667,BASELINE,764,742,711,670.100534932,663,632,875.100534932,782,798,650,625,648,0.400971312124,-0.00541763418281,0.049852477744,0.99999996446,-4.61407624644e-06,-0.000262147270588,-4.8357015551e-05,1793189903336274688
+89,1.483333333,BASELINE,764,742,711,670.676369198,663,632,875.676369198,782,798,650,625,648,0.400969693029,-0.00541854065632,0.0498524435053,0.999999964241,-6.12405600271e-06,-0.000262969091038,-4.82472150014e-05,1793189903352941568
+90,1.500000000,BASELINE,764.251657901,742,711,670.748342099,663,632,875.748342099,781.748342099,798.251657901,649.748342099,625,648,0.400969264539,-0.00541899917377,0.0498523423877,0.999999964247,-6.48833850243e-06,-0.000262946120875,-4.82091986113e-05,1793189903369608192
+91,1.516666667,BASELINE,764.826246484,742,711,670.173753516,663,632,875.173753516,781.173753516,798.826246484,649.173753516,625,648,0.400970363851,-0.00541888286813,0.0498521554504,0.999999964541,-5.38244730227e-06,-0.000261839104375,-4.82632965947e-05,1793189903386275072
+92,1.533333333,BASELINE,764.586744974,742,711,670,663,632,875,781.413255026,799.413255026,649.413255026,625,648,0.400969027839,-0.00541848562199,0.0498511923456,0.999999964144,-5.52608065615e-06,-0.000263325718729,-4.83870173814e-05,1793189903402941440
+93,1.550000000,BASELINE,764,742,711,670,663,632,875,782,799.994499459,650,625,648,0.400966667235,-0.00541796955848,0.0498499127138,0.999999963449,-6.21753104737e-06,-0.000265907080149,-4.85397454453e-05,1793189903419608064
+94,1.566666667,BASELINE,764,742,711,670,663,632,875,782,799.41751274,650,625,648,0.400967534493,-0.00541776149017,0.0498507032482,0.999999963568,-7.55049347568e-06,-0.000265419632035,-4.85706293539e-05,1793189903436274688
+95,1.583333333,BASELINE,764,742,711,670,663,632,875.158712774,782,798.841287226,649.841287226,625,648,0.400968411568,-0.00541796730942,0.0498514290968,0.999999963742,-8.10826037192e-06,-0.000264757297307,-4.85203080062e-05,1793189903452941056
+96,1.600000000,BASELINE,764,742,711,670,663,632,875.732945529,782,798.267054471,649.267054471,625,648,0.400969314345,-0.00541925671218,0.0498519855938,0.999999964061,-6.63651710613e-06,-0.000263637098368,-4.82573862184e-05,1793189903469607680
+97,1.616666667,BASELINE,764,742,711,670,663,632,876,782,798.617603085,649.308801543,625,648,0.400970212436,-0.00541923684764,0.049852448647,0.999999964352,-6.03843538383e-06,-0.000262554290603,-4.82220573365e-05,1793189903486274560
+98,1.633333333,BASELINE,764,742,711,670,663,632,876,782,799.7721375,649.88606875,625,648,0.400971106452,-0.00541807873317,0.049852830462,0.999999964618,-6.19989699843e-06,-0.000261503990017,-4.83845930283e-05,1793189903502941440
+99,1.650000000,BASELINE,764,742,711,670,663,632,875.524382585,782,799.04876517,649.524382585,625,648,0.400971227507,-0.00541927035463,0.0498523898398,0.999999964525,-7.72171064603e-06,-0.00026183241138,-4.83034994366e-05,1793189903519608320
+100,1.666666667,BASELINE,764,742,711,670,663,632,875,781.933763572,798.066236428,649.066236428,625,648,0.400971070418,-0.00542082822635,0.0498518524279,0.999999964358,-9.21831012846e-06,-0.000262452593644,-4.81405072227e-05,1793189903536274688
+101,1.683333333,BASELINE,764,742,711,670,663,632,875,781.358137731,798.641862269,649.641862269,625,648,0.400970235968,-0.00542075929972,0.049852125917,0.999999964317,-7.94852576799e-06,-0.00026270934181,-4.78083877398e-05,1793189903552941312
+102,1.700000000,BASELINE,764.216937066,742,711,670.216937066,663,632,875,781.216937066,798.783062934,650,625,648,0.400969965696,-0.00541996273955,0.049852269605,0.999999964332,-6.847812849e-06,-0.00026267384516,-4.786470231e-05,1793189903569607936
+103,1.716666667,BASELINE,764.7911044,742,711,670.7911044,663,632,875,781.7911044,798.2088956,650,625,648,0.400970624455,-0.00541796798523,0.0498521995497,0.99999996444,-6.02551000073e-06,-0.000262157108942,-4.8560651274e-05,1793189903586274560
+104,1.733333333,BASELINE,764.62570195,742,711,670.62570195,663,632,875,781.62570195,798,650,625,648,0.400971552751,-0.00541748939554,0.0498527585171,0.999999964806,-5.71497280127e-06,-0.000260762477498,-4.85645157261e-05,1793189903602941440
+105,1.750000000,BASELINE,764.037346176,742,711,670.037346176,663,632,875,781.037346176,798,650,625,648,0.400972635193,-0.00541787788671,0.0498536772171,0.999999965318,-5.69710974311e-06,-0.000258865785542,-4.8172583272e-05,1793189903619608064
+106,1.766666667,BASELINE,764,742.543783443,711.543783443,670,663,632,875,781,798,650,625,647.456216557,0.400970799953,-0.00541756874753,0.0498525008338,0.999999964626,-4.53227975089e-06,-0.000261515457552,-4.83449879452e-05,1793189903636274432
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,782,799,650,625,648,0.400968733405,-0.00541940291279,0.0498518760926,0.999999963993,-7.20888891252e-06,-0.000263944028988,-4.79085054795e-05,1793189903679801600
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,670,663.581740989,632,875.418259011,782,798.418259011,649.418259011,625,648,0.400968096728,-0.00541871700142,0.0498512542077,0.999999963753,-6.70380403971e-06,-0.000264817679482,-4.81650377873e-05,1793189903696468736
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711.172663835,670,663.827336165,632,875,782,798.172663835,649.172663835,625,648,0.400968038097,-0.00541843507133,0.0498510720458,0.999999963705,-6.40217845473e-06,-0.000264971533114,-4.83634286687e-05,1793189903713135872
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711.787078051,670,663.212921949,632,875,782,798.787078051,649.787078051,625,648,0.400969458363,-0.00541918670371,0.0498520148896,0.999999964147,-6.62109151974e-06,-0.000263283828513,-4.84130681462e-05,1793189903729802240
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.621913987,670,663,632,875.378086013,781.621913987,798.621913987,650,625,648,0.400970173777,-0.00541835091086,0.049852538431,0.999999964419,-5.19126471076e-06,-0.000262313142667,-4.82278999523e-05,1793189903746468864
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.043319014,670,663,632,875.956680986,781.043319014,798.043319014,650,625,648,0.40097051539,-0.00541667326461,0.0498528396052,0.999999964598,-2.88706775616e-06,-0.000261722710831,-4.79182070698e-05,1793189903763135488
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,670.532395591,663,632,876,781.532395591,798.532395591,650,625.532395591,648,0.400970868461,-0.00541881271697,0.0498525159082,0.999999964482,-5.39149905371e-06,-0.000262208382726,-4.7474583334e-05,1793189903779801856
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,670.889660504,663,632,875.889660504,782,799,650,625.889660504,648,0.400972324725,-0.00542050308038,0.0498527319356,0.999999964609,-7.50598582829e-06,-0.000261724394704,-4.71873954946e-05,1793189903796468224
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,670.301043075,663,632,875.301043075,782,799,650,625.301043075,648,0.400978558874,-0.00541890781211,0.0498555066547,0.999999965909,-6.24338749962e-06,-0.000256659826699,-4.76252771327e-05,1793189903813134848
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.283004036,742,711.283004036,670,663,632,875,782,799,650,625.283004036,648,0.400990583322,-0.00541792077648,0.049860761687,0.999999968394,-4.58356436003e-06,-0.000246851432443,-4.74877374607e-05,1793189903829801472
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.86226674,742,711.86226674,670,663,632,875,782,799,650,625.86226674,648,0.401008669257,-0.00541757046045,0.049868613199,0.999999971974,-2.50791227187e-06,-0.000232077032817,-4.67478263089e-05,1793189903846467840
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.560273423,742,711.560273423,670,663,632,875,782,799,650,625.560273423,648,0.401046551578,-0.00541968630909,0.0498821178997,0.99999997815,-4.3300117222e-06,-0.000203853266496,-4.60897495324e-05,1793189903863134464
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,875.016585284,782,798.983414716,650,625,648,0.401091306047,-0.00542262112278,0.049897441279,0.999999984286,-7.32514931178e-06,-0.000171204277833,-4.54300169201e-05,1793189903879801088
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,875.592137054,782,798.407862946,650,625,648,0.401159542625,-0.0054272294403,0.0499146246704,0.999999990443,-8.8761540226e-06,-0.000130812260064,-4.38541261872e-05,1793189903896467712
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.17159552,742,711,670,663,632.17159552,876,781.82840448,798.17159552,650,625.17159552,648,0.401227171034,-0.00543070134189,0.0499281861974,0.999999993806,-9.92218073533e-06,-0.000102482369232,-4.22630522707e-05,1793189903913134592
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.76055621,742,711,670,663,632.76055621,876,781.23944379,798.76055621,650,625.76055621,648,0.401293320233,-0.00543140918376,0.0499329384069,0.999999993772,-9.73996926861e-06,-0.000103490717148,-4.06350487056e-05,1793189903929801472
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,742,711,670,663,632.656058672,875.656058672,781.343941328,798.656058672,649.656058672,626,648,0.40137155686,-0.00543361995978,0.0499343745277,0.999999993783,-1.11020388368e-05,-0.000103555827664,-3.9845107591e-05,1793189903946468096
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,742,711,670,663,632.07649325,875.07649325,781.92350675,798.07649325,649.07649325,626,648,0.401458074224,-0.00543686035177,0.0499335388934,0.999999993821,-1.35220499575e-05,-0.000102974753905,-3.96292985231e-05,1793189903963134720
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.500825899,742,711,670,663,632.499174101,875.499174101,781.500825899,798.499174101,649.499174101,625.500825899,648,0.401569177826,-0.00544134784387,0.0499337342558,0.999999993527,-1.52102901224e-05,-0.000105986960601,-3.84936669258e-05,1793189903979801344
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.074062474,742,711.074062474,670,663.074062474,633,875.925937526,781.074062474,798.925937526,650,625,648,0.401688583994,-0.00544624970558,0.049934610847,0.999999993294,-1.71113604269e-05,-0.000108341649134,-3.71616403656e-05,1793189903996467968
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.647694431,742,711.647694431,670,663.647694431,633,875.352305569,781.647694431,798.352305569,650,625,648,0.40183877663,-0.00545266752894,0.0499390250723,0.999999993886,-2.11985479104e-05,-0.000102575842564,-3.5448278913e-05,1793189904013134592
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.771185918,742,711.771185918,670,663.771185918,632.771185918,875.228814082,782,798.228814082,650,625,647.771185918,0.401994914631,-0.00545858954064,0.049940061438,0.999999993837,-2.38203968855e-05,-0.000103014764063,-3.38633125954e-05,1793189904029801216
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.178147476,742,711.178147476,670,663.178147476,632.178147476,875.821852524,782,798.821852524,650,625,647.178147476,0.4021605164,-0.00546372232281,0.0499357209543,0.99999999276,-2.41097317605e-05,-0.000113330320897,-3.24827247545e-05,1793189904046468096
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,875.594791178,781.594791178,798.189582356,649.594791178,625,647.405208822,0.402359578537,-0.00547043890227,0.0499351775298,0.99999999264,-2.77699598388e-05,-0.000113950327351,-3.10382854502e-05,1793189904063134464
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,875.015592187,781.015592187,797.031184374,649.015592187,625,647.984407813,0.402573008034,-0.00547783553932,0.0499362645014,0.999999992928,-3.28775954135e-05,-0.000110407220874,-2.95664292329e-05,1793189904079801344
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,875.558483168,781.558483168,798.116966336,649.558483168,625,648,0.402832946801,-0.00548900361341,0.049940513948,0.999999993672,-3.79289551467e-05,-0.000102447530519,-2.68799418704e-05,1793189904096467968
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.135805343,742,711,670,663,632,876,782,799.135805343,650,625,648,0.403102788788,-0.00550018390752,0.0499455634699,0.999999994519,-4.28358557176e-05,-9.2460752892e-05,-2.40466984528e-05,1793189904113134848
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.724426154,742,711,670,663,632,876,782,799.724426154,650,625,648,0.40340136096,-0.00551105705965,0.0499529889643,0.999999995769,-4.72662787999e-05,-7.61224609935e-05,-2.08361676085e-05,1793189904129801472
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.691824253,742.308175747,711,670,663,632,876,782,799.691824253,650,625,648,0.403725235826,-0.00552126241817,0.0499608265161,0.999999996761,-5.00477308001e-05,-6.05546511202e-05,-1.75038149373e-05,1793189904146467840
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.112362806,742.887637194,711,670,663,632,876,782,799.112362806,650,625,648,0.404071384519,-0.00553087992037,0.0499690267995,0.999999997539,-5.13776008362e-05,-4.56650940312e-05,-1.40642232621e-05,1793189904163134464
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.46381633,742.53618367,711.46381633,670.46381633,663,632,876,782,799,650,625,648,0.40444878516,-0.00553821634583,0.0499740692674,0.999999998105,-4.95470428892e-05,-3.50783336767e-05,-1.01854568105e-05,1793189904179801088
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,742,711.960974084,670.960974084,663,632,875.960974084,781.960974084,798.960974084,649.960974084,625,648,0.404836068133,-0.0055437238773,0.0499774406397,0.999999998578,-4.53872450549e-05,-2.72809241475e-05,-6.27161763362e-06,1793189904196467968
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,742,711.388225753,670.388225753,663,632,875.388225753,781.388225753,798.388225753,649.388225753,625,648,0.405255688685,-0.00553172367245,0.0499683466821,0.999999998854,-1.97698631695e-05,-4.34753975769e-05,-3.32293958242e-06,1793189904213134848
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.808922412,742,711,670,663.191077588,632,875,781.191077588,798.191077588,649.191077588,625,648,0.40567460638,-0.00552007793151,0.0499542427342,0.999999997557,5.81961170156e-06,-6.96457255629e-05,-9.92792676156e-07,1793189904229801728
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.215827749,742,711,670,663.784172251,632,875,781.784172251,798.784172251,649.784172251,625,648,0.406092045247,-0.00550917796526,0.0499295980346,0.999999992687,3.13503684434e-05,-0.000116804718426,3.59972523618e-08,1793189904246468608
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,670,663.631094566,632,875,781.631094566,799,650,625,648,0.406555159845,-0.00551052676608,0.0499125697106,0.999999988481,4.19021406563e-05,-0.000145861896238,2.61912103527e-06,1793189904263134976
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,670,663.051144784,632,875,781.051144784,799,650,625,648,0.40704440477,-0.00551888287132,0.0498998985797,0.999999985478,4.38847002005e-05,-0.000164563346765,6.09145213212e-06,1793189904279801344
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711.523860337,670,663.523860337,632,875.523860337,781.523860337,799,650,625,648,0.407610492418,-0.00552488640404,0.049913070045,0.999999989471,5.12740861202e-05,-0.000135262422738,1.14989832911e-05,1793189904296467968
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711.899380823,670,664,632,876,782,799,650,625,648,0.408193237133,-0.00553007277376,0.0499310471297,0.999999993183,5.98248479551e-05,-9.878035216e-05,1.72507103185e-05,1793189904313134592
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711.311820348,670,664,632,876,782,799,650,625,648,0.408820626051,-0.00553240567286,0.0499601848778,0.999999995913,7.14653115057e-05,-5.00134809158e-05,2.37623674378e-05,1793189904329801216
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.271883905,742,711,670,663.728116095,632,876,781.728116095,798.728116095,650,625,648,0.409449921849,-0.0055328292046,0.0499787623006,0.999999995682,8.5331847136e-05,-2.18332143789e-05,2.96404096685e-05,1793189904346468096
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.851227317,742,711,670,663.148772683,632,876,781.148772683,798.148772683,650,625,648,0.410081374001,-0.00553109353096,0.0499853975936,0.999999994078,0.000101715732502,-1.6933282076e-05,3.48019291057e-05,1793189904363135232
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,742,711.428397683,670,663,632,876,781,798.428397683,650,625,648,0.410693655975,-0.00552826534637,0.0499667707804,0.999999990945,0.000114242395597,-6.03244961828e-05,3.76688459684e-05,1793189904379801856
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.995205536,742,712,670,663,632,876,781.004794464,798.995205536,650,625,648,0.41130001805,-0.00552518137871,0.0499394974408,0.999999984272,0.000124432985509,-0.000120043471888,3.9526143197e-05,1793189904396468480
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.421506108,742,712,670,663,632,876,781.578493892,798.421506108,650,625,648,0.411989901428,-0.00553653889442,0.0499219715137,0.999999990333,1.55722902641e-05,-0.000137281998433,1.56607968814e-05,1793189904413134848
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,712,670,663.156909115,632,876,782,798.156909115,650,625,648,0.412706709331,-0.005547268112,0.0499176784354,0.999999988998,-6.10873437924e-05,-0.000135174987416,5.03206230528e-07,1793189904429801216
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,712,670,663.748384845,632,876,782,798.748384845,650,625,648,0.41349808576,-0.0055562572287,0.0499500343099,0.999999995617,-4.85647207005e-05,-7.94896703262e-05,9.462127791e-06,1793189904446468096
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.332670271,742,712,670,664,632,876,782,799,650,625.332670271,648,0.414260407616,-0.00555521487901,0.0499570818024,0.999999997181,-3.25172185882e-05,-6.6135765577e-05,1.44073143754e-05,1793189904463134720
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.911632429,742,712,670,664,632,876,782,799,650,625.911632429,648,0.415001219049,-0.00554674575066,0.0499453922794,0.999999996232,-1.38600768616e-05,-8.4121846381e-05,1.63809398409e-05,1793189904479801344
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.512269097,742,712,670,663.512269097,632,876.487730903,781.512269097,799,650,625.512269097,648,0.415750821925,-0.00554082325729,0.0499233081227,0.999999992768,-7.77947452828e-06,-0.000118961425546,1.58627682762e-05,1793189904496467968
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.064553006,712,670.064553006,663.064553006,632,876.935446994,781.064553006,799,649.935446994,625,648,0.416511827695,-0.00553671500673,0.0499046568154,0.999999988947,-6.1828137538e-06,-0.000147782757304,1.50823809221e-05,1793189904513134336
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.651403759,712,670.651403759,663.651403759,632,876.348596241,781.651403759,799,649.348596241,625,648,0.417352282143,-0.0055435743675,0.0499289295439,0.999999994281,-2.25369219786e-05,-0.000103348632288,1.5811894911e-05,1793189904529801216
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.235259061,743,711.764740939,670.764740939,664,632,876,782,798.764740939,649.235259061,625.235259061,648,0.41818994518,-0.00554997358308,0.0499506397233,0.999999997083,-3.45620536674e-05,-6.58152215758e-05,1.75301379913e-05,1793189904546467840
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.814731609,743,711.185268391,670.185268391,664,632,876,782,798.185268391,649.814731609,625.814731609,648,0.419023523983,-0.00555569954816,0.0499686005707,0.999999998239,-4.02533492712e-05,-3.83784235246e-05,2.06950156214e-05,1793189904563134464
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.606948514,743,711.393051486,670.393051486,664,632,876,782,798.393051486,650,625.606948514,648,0.419835609736,-0.00555438185616,0.0499574703516,0.999999997421,-3.97412930243e-05,-5.60654418542e-05,2.08756561216e-05,1793189904579801088
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.029170388,743,711.970829612,670.970829612,664,632,876,782,798.970829612,650,625.029170388,648,0.420637594146,-0.00554975378059,0.0499326678901,0.999999994639,-3.6313780475e-05,-9.49597870226e-05,1.96537624366e-05,1793189904596467968
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.541619668,742.458380332,712,671,664,632,876.541619668,782,798.458380332,650,625,648,0.42151658634,-0.00555160865909,0.0499556312609,0.999999998029,-3.73637600836e-05,-4.55281743381e-05,2.17461731224e-05,1793189904613134848
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,742.116536436,712,671,664,632,876.883463564,781.883463564,798.116536436,649.883463564,625,648,0.422393092863,-0.00555392101209,0.0499750466493,0.999999998911,-3.99964615027e-05,-4.71764652251e-06,2.35847007331e-05,1793189904629801472
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,742.709856805,712,671,664,632,876.290143195,781.290143195,798.709856805,649.290143195,625,648,0.423242677256,-0.00555669471852,0.0499695552153,0.999999998393,-4.81304951752e-05,-1.83929342643e-05,2.36635241437e-05,1793189904646468096
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,742.70382147,712,671,664,632,876.29617853,781.29617853,799,649.29617853,625,648,0.42408647398,-0.0055574116908,0.0499587973344,0.999999997771,-5.1003522257e-05,-3.61989847539e-05,2.33832810189e-05,1793189904663134720
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,742.124197441,712,671,664,632,876.875802559,781.875802559,799,649.875802559,625,648,0.424924731954,-0.00555616035042,0.0499429994161,0.999999996869,-4.88417199572e-05,-5.79582137096e-05,2.27594080155e-05,1793189904679801088
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+170,2.833333333,POSE1_TO_POSE2_PRESS,764.604753484,742,711.604753484,671,664,632,876.604753484,782,798.790493032,650,625,648,0.427445760792,-0.00556473614435,0.0499700216456,0.999999996235,-6.25021683119e-05,-5.23734478013e-05,2.96764419889e-05,1793189904729801472
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+173,2.883333333,POSE1_TO_POSE2_PRESS,765.643606041,742.356393959,712,671,664,632,876.356393959,782,798.643606041,650,625.643606041,647.643606041,0.429891140367,-0.00556052369204,0.0499274816563,0.999999991461,-6.70905032771e-05,-0.000108880677937,2.68607120932e-05,1793189904779801344
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.066744557,742.933255443,712,671,664,632,876.933255443,782,798.066744557,650,625.066744557,647.066744557,0.430729711235,-0.0055625733374,0.0499458093876,0.999999994605,-7.25676751897e-05,-6.90502340467e-05,2.7478529208e-05,1793189904796468224
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+178,2.966666667,POSE1_TO_POSE2_PRESS,765,742,711,671,663.521002366,632,877,782,799,649.739498817,625.739498817,647.260501183,0.433763277826,-0.00556274651674,0.0499301686769,0.999999991222,-9.08929975189e-05,-9.27541369381e-05,2.62875964808e-05,1793189904863134720
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,742,711,671,664.679431829,632,877,782,799,649.160284085,625.160284085,647.839715915,0.434551396207,-0.00556585806849,0.0499616741936,0.999999993882,-9.60161609136e-05,-4.67765466541e-05,2.87861166111e-05,1793189904879801344
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,742,711,671,664.583111564,632,877.416888436,782,799,649,625,648,0.435253989647,-0.00556611042675,0.049966534149,0.999999993425,-9.87415103203e-05,-5.00486298852e-05,2.9934926541e-05,1793189904896468224
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,742,711,671,664.006720433,632,877.993279567,782,799,649,625,648,0.435923860957,-0.00556526884931,0.0499611994354,0.999999991874,-0.000100549449013,-7.21637803099e-05,3.05673333822e-05,1793189904913134848
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,742.568186324,711,671,664,632,877.431813676,782,799,649.568186324,625,648,0.436555189668,-0.00556351967648,0.0499343148934,0.999999987442,-9.9878463309e-05,-0.000119269214307,3.0237730178e-05,1793189904929801472
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.853080125,742.853080125,711.146919875,671,664,632,877,782,799,650,625,648,0.437193454349,-0.00556265126365,0.0499191834904,0.999999984586,-9.89727710433e-05,-0.000141816152157,3.0347862074e-05,1793189904946468352
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+192,3.200000000,POSE1_TO_POSE2_PRESS,764.619210507,742,712,671.619210507,664,631.619210507,877,781.380789493,798.380789493,649.380789493,625,647,0.442055479318,-0.0055607045259,0.0499353908259,0.999999992531,-7.93108750103e-05,-8.35538817993e-05,4.08330161982e-05,1793189905096468224
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diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bb2b99dfe208b15a4805d64728efde25f24bec41
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,396 @@
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+344,5.733333333,pose2_to_pose3_retreat,0.578261039896,0.000219783177855,1.04002840783,0.548831451359,0.0088914966064,1.03969942594
+345,5.750000000,pose2_to_pose3_retreat,0.577945285475,0.000219720331613,1.04002841097,0.548515696329,0.00889143154713,1.03969942504
+346,5.766666667,pose2_to_pose3_retreat,0.577643178816,0.000219590534097,1.04002828349,0.548213591527,0.00889130734124,1.03969927899
+347,5.783333333,pose2_to_pose3_retreat,0.577364367897,0.000219806688037,1.0400283724,0.547934778195,0.00889151560702,1.03969937584
+348,5.800000000,pose2_to_pose3_retreat,0.577113021446,0.000219708360449,1.04002853912,0.547683432429,0.00889141926545,1.03969953365
+349,5.816666667,pose2_to_pose3_retreat,0.576894520152,0.000219780010855,1.04002859446,0.547464929806,0.00889148669219,1.03969959667
+350,5.833333333,pose2_to_pose3_retreat,0.576704467304,0.000219755813518,1.04002853942,0.547274878126,0.00889146630959,1.03969953781
+351,5.850000000,pose2_to_pose3_retreat,0.576542075889,0.000219641319971,1.04002835551,0.547112488889,0.00889135940492,1.03969935897
+352,5.866666667,pose2_to_pose3_retreat,0.576400301734,0.000219741719566,1.04002836587,0.546970712529,0.0088914524484,1.03969937268
+353,5.883333333,pose2_to_pose3_retreat,0.57627717987,0.000219758656946,1.04002845946,0.546847590779,0.00889146974978,1.03969946573
+354,5.900000000,pose2_to_pose3_retreat,0.576171084985,0.000219780229311,1.04002846483,0.546741495479,0.00889148985454,1.03969946985
+355,5.916666667,pose2_to_pose3_retreat,0.576079541841,0.00021974080413,1.04002843884,0.546649953169,0.00889145320247,1.03969944303
+356,5.933333333,pose2_to_pose3_retreat,0.5760020724,0.00021977681486,1.04002818173,0.546572483421,0.00889148853,1.03969919544
+357,5.950000000,pose2_to_pose3_retreat,0.575936666682,0.000219807747845,1.04002809988,0.546507077464,0.00889151836585,1.03969910608
+358,5.966666667,pose2_to_pose3_retreat,0.575882596533,0.000219706474578,1.0400281515,0.546453007082,0.0088914159117,1.0396991474
+359,5.983333333,pose2_to_pose3_retreat,0.575839156324,0.00021973901903,1.0400283412,0.546409568728,0.00889145500123,1.03969934374
+360,6.000000000,pose2_to_pose3_retreat,0.575805596339,0.000219739677865,1.0400283555,0.546376005225,0.00889144372962,1.03969935838
+361,6.016666667,pose2_to_pose3_retreat,0.575781118641,0.000219895875435,1.04002850249,0.546351526563,0.00889159703889,1.0396995155
+362,6.033333333,pose2_to_pose3_retreat,0.575763208495,0.000219709542793,1.0400285108,0.546333619888,0.00889142222001,1.03969951618
+363,6.050000000,pose2_to_pose3_retreat,0.575750962328,0.000219639394036,1.04002853071,0.546321375396,0.00889135756434,1.03969953075
+364,6.066666667,pose2_to_pose3_retreat,0.575742038618,0.000219742975546,1.04002859035,0.546312450864,0.0088914584011,1.03969959165
+365,6.083333333,pose2_to_pose3_retreat,0.575736075881,0.000219687350372,1.04002851273,0.546306486861,0.00889139850872,1.03969951482
+366,6.100000000,pose2_to_pose3_retreat,0.57573235431,0.000219691052643,1.04002852755,0.546302764703,0.00889140017215,1.03969952837
+367,6.116666667,pose2_to_pose3_retreat,0.575730261723,0.000219752916397,1.04002863432,0.546300672104,0.00889146186121,1.03969963168
+368,6.133333333,pose2_to_pose3_retreat,0.575729143409,0.000219785977433,1.04002869138,0.546299553784,0.00889149482889,1.03969968689
+369,6.150000000,pose2_to_pose3_retreat,0.575728679382,0.000219799695606,1.04002871506,0.546299089754,0.00889150850832,1.0396997098
+370,6.166666667,pose2_to_pose3_retreat,0.575728535742,0.000219803942083,1.04002872239,0.546298946112,0.00889151274281,1.03969971689
+371,6.183333333,pose2_to_pose3_retreat,0.575728453825,0.000219806363812,1.04002872657,0.546298864195,0.0088915151577,1.03969972093
+372,6.200000000,pose2_to_pose3_retreat,0.575728262541,0.000219812018807,1.04002873633,0.54629867291,0.00889152079672,1.03969973038
+373,6.216666667,pose2_to_pose3_retreat,0.575728019096,0.000219819215833,1.04002874875,0.546298429464,0.00889152797343,1.0396997424
+374,6.233333333,pose2_to_pose3_retreat,0.575727637236,0.000219818878624,1.04002874514,0.546298047691,0.0088915279478,1.03969973921
+375,6.250000000,pose2_to_pose3_retreat,0.575727184527,0.000219808588455,1.04002872121,0.546297595161,0.00889151831921,1.03969971668
+376,6.266666667,pose2_to_pose3_retreat,0.575726756869,0.000219798867692,1.0400286986,0.546297167673,0.00889150922341,1.03969969539
+377,6.283333333,pose2_to_pose3_retreat,0.5757263816,0.000219790337745,1.04002867877,0.546296792553,0.00889150124187,1.03969967671
+378,6.300000000,pose2_to_pose3_retreat,0.575726167401,0.000219785468939,1.04002866744,0.546296578438,0.00889149668609,1.03969966605
+379,6.316666667,pose2_to_pose3_retreat,0.575725959545,0.000219780744321,1.04002865646,0.546296370664,0.00889149226523,1.03969965571
+380,6.333333333,pose2_to_pose3_retreat,0.575725697471,0.000219774787322,1.0400286426,0.546296108694,0.00889148669122,1.03969964266
+381,6.350000000,pose2_to_pose3_retreat,0.575725359061,0.000219767095188,1.04002862471,0.546295770419,0.00889147949363,1.03969962582
+382,6.366666667,pose2_to_pose3_retreat,0.575724888094,0.000219756389991,1.04002859982,0.546295299638,0.00889146947669,1.03969960238
+383,6.383333333,pose2_to_pose3_retreat,0.575724709345,0.000219751828659,1.04002858979,0.546295120957,0.00889146516533,1.03969959286
+384,6.400000000,pose2_to_pose3_retreat,0.575724137283,0.00021972312618,1.04002854114,0.546294549031,0.00889143694447,1.03969954478
+385,6.416666667,pose2_to_pose3_retreat,0.575723890349,0.000219710736579,1.04002852014,0.546294302156,0.00889142476277,1.03969952403
+386,6.433333333,pose2_to_pose3_retreat,0.575723695506,0.000219700960567,1.04002850357,0.546294107359,0.00889141515079,1.03969950765
+387,6.450000000,pose2_to_pose3_retreat,0.575723355001,0.000219683876119,1.04002847461,0.546293766934,0.00889139835302,1.03969947904
+388,6.466666667,pose2_to_pose3_retreat,0.575723315778,0.000219681908141,1.04002847127,0.54629372772,0.00889139641806,1.03969947574
+389,6.483333333,pose2_to_pose3_retreat,0.575723225139,0.000219677360486,1.04002846356,0.546293637103,0.00889139194672,1.03969946812
+390,6.500000000,pose2_to_pose3_retreat,0.575723065733,0.000219670420529,1.04002840673,0.546293477818,0.00889138540802,1.03969941107
+391,6.516666667,pose2_to_pose3_retreat,0.57572281709,0.000219660311183,1.04002828881,0.546293229419,0.00889137610518,1.03969929254
+392,6.533333333,pose2_to_pose3_retreat,0.575722665204,0.000219687627391,1.04002843204,0.546293077953,0.00889140487777,1.03969943658
+393,6.550000000,pose2_to_pose3_retreat,0.575722595058,0.000219697726096,1.04002858438,0.54629300809,0.0088914159356,1.03969958888
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diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4bb55f57d062c67befef2a08a94faeac92422c84
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:863100be83c6a36847cefb6bb15662cd7d37133d24b9f289e68f37f9a74c0107
+size 25309410
diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6f7f3fa1f0dcbc1dd2318d5f5d2b0f2a3002ebf5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_04/franka_data.csv
@@ -0,0 +1,399 @@
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+30,0.500000000,BASELINE,764,742,711.507100417,669.492899583,663,632,875,782,798,649.507100417,625,648,0.400975530835,-0.00541297026408,0.0498533881618,0.999999951226,0.000166930199121,-0.00025993889067,-4.59759953931e-05,1793189909121188352
+31,0.516666667,BASELINE,764,742,711.914463601,669.085536399,663,632,875.085536399,782,798.085536399,650,625,648,0.400975062404,-0.0054126250635,0.04985326581,0.999999951021,0.000168677114431,-0.00025960683666,-4.59316736763e-05,1793189909137854720
+32,0.533333333,BASELINE,764,742,711.340275373,669.659724627,663,632,875.659724627,782,798.659724627,650,625,648,0.400976061347,-0.00541326424563,0.049853982373,0.999999951328,0.000168755922872,-0.000258429076761,-4.56087454909e-05,1793189909154521344
+33,0.550000000,BASELINE,764,742,711,670,663,632,875.766097287,781.766097287,799,650,625,648,0.400976405439,-0.00541379767064,0.0498541663041,0.999999951397,0.000168339234941,-0.000258454141624,-4.54958402292e-05,1793189909171188224
+34,0.566666667,BASELINE,764,742,711,670,663,632,875.191934007,781.191934007,799,650,625,648,0.400975796913,-0.0054141772497,0.04985357541,0.999999951119,0.000167201743576,-0.000260228967551,-4.56884574e-05,1793189909187855104
+35,0.583333333,BASELINE,764,742,711,670,663,632,875,781,798.605012886,650,625,648,0.40097420172,-0.00541455613016,0.0498525945108,0.999999950655,0.000166898141999,-0.000262207992372,-4.56349791211e-05,1793189909204521728
+36,0.600000000,BASELINE,764,742,711,670,663,632,875,781,798.011685441,650,625,648,0.40097211108,-0.00541493465985,0.0498514177727,0.999999950096,0.000167013272907,-0.000264289554563,-4.54579255553e-05,1793189909221188352
+37,0.616666667,BASELINE,764,742,711,670,663,632,875,781,798,650,625,648,0.400973351267,-0.00541451548298,0.0498525284983,0.999999950904,0.000165151446162,-0.000262358518632,-4.56533298102e-05,1793189909237854976
+38,0.633333333,BASELINE,764,742,711.142686689,670,663,632,875,781,798,650,625,648,0.400974215418,-0.00541419493472,0.0498532944768,0.99999995143,0.000163980290823,-0.00026106042397,-4.5798428059e-05,1793189909254521600
+39,0.650000000,BASELINE,764,742,711.716175973,670,663,632,875,781,798,650,625,648,0.400973742193,-0.0054142205548,0.0498528808366,0.999999951038,0.00016501434161,-0.000261916712173,-4.57690490812e-05,1793189909271188224
+40,0.666666667,BASELINE,764,742,711.702370669,670,663,632,875,781.297629331,798.595258663,649.702370669,625,647.702370669,0.400973536813,-0.00541412696541,0.0498523386265,0.999999950738,0.000166581312343,-0.000262057672743,-4.58248517663e-05,1793189909287854848
+41,0.683333333,BASELINE,764,742,711.113113869,670,663,632,875,781.886886131,799.773772261,649.113113869,625,647.113113869,0.400973593878,-0.00541391657049,0.0498516704391,0.999999950528,0.000168670456327,-0.000261497730612,-4.59641183798e-05,1793189909304521728
+42,0.700000000,BASELINE,764,742,711.46863546,670.46863546,663,632,875.46863546,782,799.53136454,649,625,647.46863546,0.400972947253,-0.00541389482384,0.0498517170355,0.99999995036,0.000168283722588,-0.000262409127726,-4.58420672135e-05,1793189909321188352
+43,0.716666667,BASELINE,764.0483445,741.9516555,711.9516555,670.9516555,663,632,875.9516555,781.9516555,799,649.0483445,625,648,0.400972263347,-0.00541385016632,0.0498519947803,0.999999950223,0.000167504378601,-0.000263460608656,-4.56562961984e-05,1793189909337854976
+44,0.733333333,BASELINE,764.625246024,741.374753976,711.374753976,670.374753976,663,632,875.374753976,781.374753976,799,649.625246024,625,648,0.400972999532,-0.00541306504366,0.0498529431887,0.999999950329,0.000168863187704,-0.000262222125419,-4.54525898651e-05,1793189909354521344
+45,0.750000000,BASELINE,764.798677041,741.201322959,711,670,663,632,875,781.201322959,799,650,625,648,0.400973490051,-0.00541304389861,0.0498533572521,0.999999950504,0.000169186803725,-0.00026136424658,-4.53505836332e-05,1793189909371188224
+46,0.766666667,BASELINE,764.224128845,741.775871155,711,670,663,632,875,781.775871155,799,650,625,648,0.400973525142,-0.00541443906367,0.0498527807125,0.999999950808,0.00016759131318,-0.000261211956388,-4.54371155049e-05,1793189909387854848
+47,0.783333333,BASELINE,764,742,711,670.360276237,663,632,875.360276237,782,799,650,625,648,0.400974711684,-0.00541495524035,0.0498534541961,0.999999951179,0.000167023284066,-0.000260150030048,-4.5455756171e-05,1793189909404521216
+48,0.800000000,BASELINE,764,742,711,670.950985858,663,632,875.950985858,782,799,650,625,648,0.400976634697,-0.00541490921447,0.0498549271968,0.999999951592,0.000167112421132,-0.000258506298634,-4.54309734979e-05,1793189909421187840
+49,0.816666667,BASELINE,764.53060667,742,711.53060667,671,663,632,875.46939333,782,798.46939333,650,625,648,0.400975576248,-0.00541433411011,0.0498547887928,0.999999951477,0.000167146829742,-0.000258892477051,-4.56272794518e-05,1793189909437854720
+50,0.833333333,BASELINE,765,742,712,670.8917377,663,632,875,782,798.1082623,650,625,648,0.400974434579,-0.00541379836542,0.0498545086831,0.999999951311,0.000167218735325,-0.000259466925635,-4.57507944707e-05,1793189909454521856
+51,0.850000000,BASELINE,765,742,712,670.318215401,663,632,875,782,798.681784599,650,625,648,0.400974094615,-0.00541363750313,0.0498542461883,0.999999951126,0.0001674730664,-0.000260061135177,-4.54755178359e-05,1793189909471188480
+52,0.866666667,BASELINE,764.737631999,742,712,670,663,632,875,781.737631999,799,649.737631999,625,648,0.400973346854,-0.00541356414548,0.0498535368293,0.999999950757,0.000168139571548,-0.000261053699658,-4.54595113338e-05,1793189909487855104
+53,0.883333333,BASELINE,764.148247651,742,712,670,663,632,875,781.148247651,799,649.148247651,625,648,0.400972090815,-0.00541359985392,0.0498522704974,0.999999950154,0.000169319811811,-0.000262542775024,-4.57666600013e-05,1793189909504521728
+54,0.900000000,BASELINE,764,742,711.566582481,670,663,632,875,781.433417519,799,649,625,648,0.400973796961,-0.0054142929166,0.0498528674023,0.999999950765,0.000167948804928,-0.000261087679896,-4.57787003115e-05,1793189909521188352
+55,0.916666667,BASELINE,763.987551865,742,711.012448135,670,663,632,875.012448135,782,799,649,625,648,0.400976445156,-0.00541519995571,0.049854089186,0.999999951764,0.000165775219929,-0.000258657235823,-4.56884891731e-05,1793189909537854976
+56,0.933333333,BASELINE,763.410356288,742,711.589643712,670,663,632,875.589643712,782,799,649,625,648,0.400976669843,-0.00541579246178,0.0498552530212,0.999999952184,0.000166087333011,-0.000256864845753,-4.54586426782e-05,1793189909554521600
+57,0.950000000,BASELINE,763.331482421,742,711.83425879,670,663,632,876,781.83425879,799,649,625,648,0.400976696985,-0.00541587839312,0.0498559004233,0.99999995232,0.000166832060058,-0.000255877387184,-4.53123128898e-05,1793189909571188480
+58,0.966666667,BASELINE,764.478275603,742,711.260862198,670,663,632,876,781.260862198,799,649,625,648,0.400976238247,-0.00541471835831,0.0498552776114,0.99999995176,0.000168640839933,-0.00025686973014,-4.53713999702e-05,1793189909587855104
+59,0.983333333,BASELINE,764.67771009,742,711,670.32228991,663,632,875.67771009,781,798.67771009,649.32228991,625,648,0.400975159319,-0.00541461874393,0.0498546202447,0.999999951311,0.000169304251163,-0.000258182081897,-4.5353616236e-05,1793189909604521728
+60,1.000000000,BASELINE,764.086415307,742,711,670.913584693,663,632,875.086415307,781,798.086415307,649.913584693,625,648,0.400973562738,-0.00541540422773,0.0498539340363,0.999999950955,0.000169011660749,-0.000259761534667,-4.52716709473e-05,1793189909621188352
+61,1.016666667,BASELINE,764,742,711,670.505403188,663,632,875,781.494596812,798.494596812,650,625.494596812,648,0.400973553007,-0.00541542881743,0.0498536559272,0.999999951094,0.000167623620773,-0.000260119135894,-4.5295985603e-05,1793189909637854976
+62,1.033333333,BASELINE,764,742,711,669.926661886,663,632,875.073338114,781.926661886,799,650,625.926661886,648,0.400974008662,-0.00541529104459,0.0498536480855,0.999999951322,0.000166425145492,-0.000260003208188,-4.53588723117e-05,1793189909654521856
+63,1.050000000,BASELINE,764,742,711,669.351416316,663,632,875.648583684,781.351416316,799,650,625.351416316,648,0.400975790493,-0.0054149333979,0.0498550118469,0.99999995158,0.000167807187119,-0.00025807781798,-4.5561265886e-05,1793189909671188480
+64,1.066666667,BASELINE,764.228204246,742,711,669.228204246,663,632,876,781,799,649.771795754,625.228204246,648,0.400976413293,-0.00541459784617,0.0498553119842,0.999999951635,0.000168414983844,-0.000257453299778,-4.56604322747e-05,1793189909687855104
+65,1.083333333,BASELINE,764.814693593,742,711,669.814693593,663,632,876,781,799,649.185306407,625.814693593,648,0.400975216392,-0.00541429698397,0.0498539422108,0.999999951374,0.000167807200941,-0.000258871176026,-4.55975299639e-05,1793189909704521984
+66,1.100000000,BASELINE,764.603993484,742,711,669.603993484,663,632,876,781.396006516,799,649.396006516,625.603993484,648,0.40097511406,-0.00541488939204,0.0498540009798,0.999999951688,0.000166011365024,-0.000258810794353,-4.56117631237e-05,1793189909721188608
+67,1.116666667,BASELINE,764.025071568,742,711,669.025071568,663,632,876,781.974928432,799,649.974928432,625.025071568,648,0.400975517309,-0.00541589440163,0.0498547195926,0.999999952265,0.000163666767462,-0.000258067605336,-4.56616251573e-05,1793189909737854976
+68,1.133333333,BASELINE,764,742,711,669.552458343,663,632,875.447541657,782,799,650,625.552458343,648,0.400974615537,-0.0054148097879,0.0498540596334,0.999999952036,0.000163220096284,-0.000259210038199,-4.57961871789e-05,1793189909754521600
+69,1.150000000,BASELINE,764.129661691,742,711,670,663,632,875,782,798.870338309,650,625.870338309,648,0.400973991028,-0.00541388308121,0.0498535542868,0.999999951768,0.000163424125942,-0.000260096800874,-4.58944816923e-05,1793189909771188480
+70,1.166666667,BASELINE,764.705957092,742,711,670,663,632,875,782,798.294042908,650,625.294042908,648,0.400974525077,-0.00541382613701,0.0498537964804,0.999999951491,0.000165573621928,-0.000259808855211,-4.58546415791e-05,1793189909787855104
+71,1.183333333,BASELINE,764.712029211,742,711.287970789,670,663,632,875,781.712029211,798.287970789,650,625,648,0.400975089948,-0.00541420709518,0.049854205126,0.999999951642,0.000165861917974,-0.000259060212701,-4.57617371133e-05,1793189909804521728
+72,1.200000000,BASELINE,764.124058278,742,711.875941722,670,663,632,875,781.124058278,798.875941722,650,625,648,0.400975686928,-0.00541504424814,0.0498547871767,0.999999952238,0.000164211266748,-0.000257831628697,-4.5613551642e-05,1793189909821188096
+73,1.216666667,BASELINE,764,742,711.543007746,670,663,632,875,781.456992254,799,650,625,648,0.400974607647,-0.00541400362028,0.0498544071174,0.999999951502,0.000166877225051,-0.000258968539559,-4.56402004199e-05,1793189909837854720
+74,1.233333333,BASELINE,764,742,711,670,662.963970866,632,875,781.963970866,798.963970866,650,625,648,0.400973260235,-0.00541266115997,0.0498538650938,0.999999950501,0.000170374044139,-0.000260544765284,-4.56952717129e-05,1793189909854521344
+75,1.250000000,BASELINE,764,742,711,670,662.387379237,632,875,781.387379237,798.387379237,650,625,648,0.400974615386,-0.00541432417578,0.0498547532088,0.999999951085,0.00016901761003,-0.000259221428289,-4.54753113836e-05,1793189909871188224
+76,1.266666667,BASELINE,764,742.188782551,711,670,662.188782551,632,875,781,798.188782551,650,625,648,0.400975612235,-0.00541546200879,0.0498552861143,0.999999951601,0.000167750691526,-0.000258071186844,-4.53625496888e-05,1793189909887855104
+77,1.283333333,BASELINE,764,742.764064284,711,670,662.764064284,632,875,781,798.764064284,650,625,648,0.400975875525,-0.00541552462198,0.0498550917905,0.999999951982,0.000166667040612,-0.000257275328279,-4.54692584209e-05,1793189909904521728
+78,1.300000000,BASELINE,764.347714773,742.652285227,711,670.347714773,663,632.347714773,875,781.347714773,799,649.652285227,625,648,0.400975980503,-0.00541513208179,0.049854995057,0.999999952073,0.00016647972421,-0.000257040742871,-4.54786118398e-05,1793189909921188352
+79,1.316666667,BASELINE,764.937183747,742.062816253,711,670.937183747,663,632.937183747,875,781.937183747,799,649.062816253,625,648,0.400975975411,-0.00541442308898,0.0498549661746,0.999999951963,0.000166915598617,-0.000257196391546,-4.54202774312e-05,1793189909937855232
+80,1.333333333,BASELINE,765,742,711,670.482319486,663,632.482319486,875.517680514,781.482319486,798.482319486,649.517680514,625.517680514,648,0.400975687246,-0.00541443183513,0.0498553815742,0.999999952044,0.000166737937391,-0.000256998707556,-4.54145379431e-05,1793189909954521600
+81,1.350000000,BASELINE,764.903655151,742,711.096344849,670.096344849,663,632,876,781.096344849,798.096344849,649.903655151,625.903655151,648,0.400975565271,-0.00541440760413,0.0498558385366,0.999999952137,0.000166653025357,-0.000256685968155,-4.54375557749e-05,1793189909971188224
+82,1.366666667,BASELINE,764.328777149,742,711.671222851,670.671222851,663,632,876,781.671222851,798.671222851,649.328777149,625.328777149,648,0.400976436446,-0.00541379437517,0.0498562387331,0.999999952181,0.000167392259414,-0.000256011084665,-4.55722493274e-05,1793189909987854848
+83,1.383333333,BASELINE,764,742,711.748698164,670.748698164,663,632,875.748698164,782,798.748698164,649.251301836,625.251301836,648,0.40097704283,-0.00541434136897,0.049856384832,0.999999952384,0.000166745154337,-0.000255643603399,-4.55478295979e-05,1793189910004521472
+84,1.400000000,BASELINE,764,742,711.161670871,670.161670871,663,632,875.161670871,782,798.161670871,649.838329129,625.838329129,648,0.400977295469,-0.00541643835658,0.0498561914702,0.999999952797,0.000164245976378,-0.000255686794533,-4.53108432768e-05,1793189910021188096
+85,1.416666667,BASELINE,764,742,711,670,663,632,875,781.580504546,798.419495454,650,625.580504546,648,0.400976594053,-0.00541561537726,0.0498555736912,0.99999995235,0.00016520871873,-0.000256789523063,-4.54428890848e-05,1793189910037854976
+86,1.433333333,BASELINE,764,742,711,670,663,632,875,781.001565913,798.998434087,650,625.001565913,648,0.400975530016,-0.00541368256741,0.0498547945984,0.999999951571,0.000167487279026,-0.000258294963967,-4.57151978242e-05,1793189910054522112
+87,1.450000000,BASELINE,764,742,711,670,662.424175961,632,875,781.575824039,799,650,625,648,0.40097468618,-0.0054143087892,0.0498541035272,0.999999951635,0.000165912761438,-0.00025905825216,-4.57308021483e-05,1793189910071188736
+88,1.466666667,BASELINE,764,742,711,670,662.152385584,632,875,782,799,650,625,648,0.400974399313,-0.00541493560752,0.0498536665697,0.999999951835,0.000164352656187,-0.000259279521803,-4.57393527012e-05,1793189910087855360
+89,1.483333333,BASELINE,764,742,711,670,662.726665198,632,875,782,799,650,625,648,0.400975652817,-0.00541554486207,0.0498539324895,0.999999952409,0.000162861384977,-0.000258005734012,-4.57303017588e-05,1793189910104521984
+90,1.500000000,BASELINE,764,742,711,670,663,632,875.309336427,781.690663573,799,649.690663573,625,648,0.400975874871,-0.00541564889425,0.0498538966293,0.999999952487,0.000162710995366,-0.00025780358532,-4.5691475446e-05,1793189910121188352
+91,1.516666667,BASELINE,764,742,711,670,663,632,875.899629355,781.100370645,799,649.100370645,625,648,0.400975160106,-0.00541529405543,0.0498535866757,0.999999952117,0.00016377846888,-0.00025857475877,-4.56256054907e-05,1793189910137854720
+92,1.533333333,BASELINE,764,742,711,670,663,632,876,781.481379142,799,649.481379142,625,648,0.400974953202,-0.00541536595445,0.0498537309788,0.999999952049,0.000163768955434,-0.000258810283655,-4.58056694237e-05,1793189910154521600
+93,1.550000000,BASELINE,764,742,711,670,663,632,875.939022218,782,798.939022218,650,625.060977782,648,0.400974906613,-0.00541535921007,0.0498539622499,0.999999952013,0.000163858440129,-0.00025885481979,-4.60243945957e-05,1793189910171188480
+94,1.566666667,BASELINE,764,742,711,670,663,632,875.362811435,782,798.362811435,650,625.637188565,648,0.400975335464,-0.00541394925868,0.049854142014,0.999999951713,0.000166648738474,-0.000258212831168,-4.614406277e-05,1793189910187855104
+95,1.583333333,BASELINE,764,742,711,670,663,632,875,782,798.216687115,649.783312885,625.783312885,648,0.400975970732,-0.00541342987353,0.0498546338463,0.999999951729,0.000168075708344,-0.000257237012418,-4.60657622447e-05,1793189910204521984
+96,1.600000000,BASELINE,764,742,711,670,663,632,875,782,798.801775465,649.198224535,625.198224535,648,0.400976956939,-0.00541442458699,0.0498556562425,0.999999952293,0.000167184811758,-0.000255693631291,-4.56508846729e-05,1793189910221188608
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+98,1.633333333,BASELINE,764,742,711,670,663,632,875,782,799,649.962225806,625,648,0.400975108932,-0.00541755260253,0.049855067609,0.999999952802,0.000160892740504,-0.000257754556055,-4.55275385507e-05,1793189910254521600
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+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711.140348794,669.140348794,662.140348794,632,876.140348794,782,798,649.859651206,625,648,0.412435140807,-0.00554178948578,0.0499142846625,0.99999998624,8.24990126006e-05,-0.000143923228652,-8.4229670168e-07,1793189911178681088
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711.719416859,669.719416859,662.719416859,632,876.719416859,782,798,649.280583141,625,648,0.413217082282,-0.0055514768262,0.0499418898945,0.999999992038,8.95967215661e-05,-8.85754593497e-05,7.08086559485e-06,1793189911195347968
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.295702662,742,711.704297338,670,663.295702662,632,876.704297338,782,798.295702662,649.295702662,625,648,0.413977328575,-0.0055539149331,0.0499540125582,0.999999992727,9.99771056393e-05,-6.62222253574e-05,1.28407011065e-05,1793189911212014592
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.869373136,742,711.130626864,670,663.869373136,632,876.130626864,782,798.869373136,649.869373136,625,648,0.414717180953,-0.00554953858243,0.049951581228,0.999999990624,0.000113443286467,-7.48846638598e-05,1.65669569049e-05,1793189911228681728
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.545100197,742,711,670.454899803,663.545100197,632,876.454899803,781.545100197,799,650,625,647.545100197,0.415452621975,-0.00554250222181,0.049930157065,0.999999986173,0.000121510751289,-0.000112384906525,1.61151095719e-05,1793189911245348352
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663.043111768,632,877,781.043111768,798.956888232,650,625,647.043111768,0.41619555591,-0.00553579754437,0.0499063654936,0.999999980378,0.000126095969539,-0.000152088154786,1.45933055791e-05,1793189911262015232
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663.621266919,632,877,781.621266919,798.378733081,650,625,647.621266919,0.417047623831,-0.0055429426038,0.0499226903774,0.999999987685,0.00010721905312,-0.00011361048676,1.50809546085e-05,1793189911278681600
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.199901739,742,711.199901739,671,664,632,876.800098261,782,798.199901739,650,625.199901739,648,0.417897650123,-0.00554900012484,0.0499417751554,0.999999992684,9.32221522771e-05,-7.53349973681e-05,1.63115914853e-05,1793189911295347968
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.779447492,742,711.779447492,671,664,632,876.220552508,782,798.779447492,650,625.779447492,648,0.418743798998,-0.00555299224352,0.049966101394,0.999999995204,8.84931496256e-05,-3.7443478706e-05,1.89532760561e-05,1793189911312014592
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,742,711.644519725,671,663.644519725,632,876,782,799,650,625.644519725,648,0.419554930192,-0.00555260816077,0.049959310743,0.999999994467,8.80939146447e-05,-5.39009004233e-05,2.00186319135e-05,1793189911328681216
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,742,711.070645203,671,663.070645203,632,876,782,799,650,625.070645203,648,0.420344547755,-0.00554953549773,0.0499334029976,0.999999990334,9.03547326363e-05,-0.000103748350041,2.01155482006e-05,1793189911345347840
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.51623599,742,711.51623599,671,663,632,876.51623599,782,798.48376401,650,625,648,0.421216300983,-0.00555147361956,0.049948213099,0.999999994238,8.31367536212e-05,-6.46834379032e-05,2.07053481935e-05,1793189911362014720
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.793459801,742,712,671,663.1032701,632,876.8967299,781.8967299,798,650,625,648,0.42209853672,-0.00555389426163,0.04996547734,0.999999996666,7.56960247944e-05,-2.18323994274e-05,2.14870181235e-05,1793189911378681600
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.634816323,742,712,671,663.682591839,632,876.317408161,781.317408161,798,650,625,648,0.42297594114,-0.00555529654708,0.0499677045756,0.999999996866,7.33625535608e-05,-1.90666742042e-05,2.28342014907e-05,1793189911395348224
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,712,671,663.739917782,632,876.260082218,781.260082218,798.260082218,650,625,648,0.423836356061,-0.00555764866108,0.04996167846,0.999999996994,6.80624798876e-05,-2.888389017e-05,2.33551549036e-05,1793189911412015104
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,712,671,663.164646717,632,876.835353283,781.835353283,798.835353283,650,625,648,0.424676181838,-0.00556115185497,0.0499456502607,0.999999996533,5.91672350387e-05,-5.39501403171e-05,2.28748156271e-05,1793189911428681728
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.409718527,742,711.590281473,671,663.409718527,632,877,782,798.590281473,649.590281473,625,648,0.425545283416,-0.00556358221584,0.0499568031251,0.999999997542,5.26000625501e-05,-3.94202493605e-05,2.43800257043e-05,1793189911445348352
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.983720533,742,711.016279467,671,663.983720533,632,877,782,798.016279467,649.016279467,625,648,0.426426123565,-0.00556558240622,0.0499788546914,0.999999998501,4.69663700158e-05,-9.01362348654e-06,2.66813749345e-05,1793189911462014976
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,742,711.575332717,671,664,632,877,782,798.575332717,649.575332717,625.575332717,648,0.427236902176,-0.00556409017082,0.0499766099621,0.999999997806,4.73574679368e-05,-3.63788360563e-05,2.86605328366e-05,1793189911478681344
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,742.163666139,712,671,663.836333861,632,876.836333861,782,799,650,625.836333861,648,0.428051348727,-0.00556203733862,0.0499643823951,0.999999995882,4.8197279457e-05,-7.10613942316e-05,2.9394780768e-05,1793189911495347968
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,742.742381213,712,671,663.257618787,632,876.257618787,782,799,650,625.257618787,648,0.428880283054,-0.00555882137908,0.0499286373309,0.999999991196,4.97290369215e-05,-0.000120023960926,2.69958500839e-05,1793189911512014848
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,743,711.681357287,670.681357287,663.318642713,632,876,782,799,650,625,648,0.429725190985,-0.00556034520687,0.0499234526555,0.999999991717,4.46822449676e-05,-0.000117715031122,2.66995855351e-05,1793189911528681472
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,743,711.107064341,670.107064341,663.892935659,632,876,782,799,650,625,648,0.430582914658,-0.00556567181353,0.049942786887,0.999999996257,3.43574170073e-05,-7.42704650164e-05,2.80903111471e-05,1793189911545348096
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,742.520953058,711,670.958093884,664,632,876.479046942,782,799,650,625,648,0.431360203156,-0.00556744797471,0.0499347753234,0.999999995071,2.58404977907e-05,-9.18254933479e-05,2.75375705076e-05,1793189911562014720
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,742.066741017,711,671.933258983,663.933258983,632,876.933258983,782,798.933258983,649.933258983,625,648,0.432122949188,-0.00556797124502,0.0499217789913,0.999999992355,1.88673030552e-05,-0.000119272259144,2.66178124508e-05,1793189911578681344
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,742.645796388,711,671.354203612,663.354203612,632,876.354203612,782,798.354203612,649.354203612,625,648,0.432915547858,-0.00556512226807,0.0499186193248,0.99999999279,2.05639181689e-05,-0.000115352884158,2.62992770049e-05,1793189911595347968
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,743,711.224164895,671,663.224164895,632,876.224164895,782,798.224164895,649.224164895,625,648,0.433714845678,-0.00556445232991,0.049928459562,0.999999994916,1.80189458841e-05,-9.55352948318e-05,2.6759041626e-05,1793189911612014592
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,743,711.801451492,671,663.801451492,632,876.801451492,782,798.801451492,649.801451492,625,648,0.434524696635,-0.00556721498002,0.0499587782421,0.999999998273,8.79230070037e-06,-5.06736206289e-05,2.84448439987e-05,1793189911628681216
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.625115891,742.625115891,711.625115891,671,664,631.625115891,877,782,798.625115891,649.625115891,625,647.625115891,0.4352555751,-0.00556838377322,0.0499657676374,0.999999998347,3.92694395381e-06,-4.9108722262e-05,2.96601047811e-05,1793189911645347840
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.053703708,742.053703708,711.053703708,671,664,631.053703708,877,782,798.053703708,649.053703708,625,647.053703708,0.435945053224,-0.0055687170077,0.0499605269595,0.999999997063,1.34793599007e-06,-7.02415931115e-05,3.06286902194e-05,1793189911662014464
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.537548743,742.537548743,711.537548743,671,663.462451257,631.537548743,877,782,798,649.537548743,625,647.537548743,0.436596441782,-0.00556634467405,0.0499344255331,0.999999992601,3.57569851536e-06,-0.000117785289637,3.02057607628e-05,1793189911678680832
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.872501162,742.872501162,711.872501162,671.127498838,663.127498838,632,877,782,798.127498838,649.872501162,625.127498838,648,0.437258239401,-0.00556472373239,0.0499177747773,0.999999989169,5.68415329564e-06,-0.000143943924066,3.01751102464e-05,1793189911695347968
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.2944268,742.2944268,711.2944268,671.7055732,663.7055732,632,877,782,798.7055732,649.2944268,625.7055732,648,0.437970785424,-0.00556675001215,0.0499421696325,0.999999995871,5.60886645334e-06,-8.48467089994e-05,3.20408723261e-05,1793189911712015616
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742.282984494,711.282984494,671.717015506,664,632,877,782,798.717015506,649,626,648,0.438644592962,-0.0055675526538,0.0499554158188,0.999999997822,5.86611702408e-06,-5.6394031688e-05,3.37946530524e-05,1793189911728682240
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742.859707487,711.859707487,671.140292513,664,632,877,782,798.140292513,649,626,648,0.439278189829,-0.00556708515641,0.049957089662,0.999999997566,6.46854214597e-06,-5.97504526246e-05,3.54321968718e-05,1793189911745348096
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.566227317,712,671,663.566227317,632,877.433772683,782,798.433772683,649.433772683,625.566227317,648,0.439840185426,-0.00556608120271,0.0499352432506,0.99999999507,9.79133682086e-06,-9.22178001175e-05,3.55035819551e-05,1793189911762014720
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,711.992781917,671.007218083,663.007218083,632,877.992781917,782,799,649.992781917,625.007218083,648,0.440379037941,-0.00556490908814,0.0499062074665,0.999999990372,1.39592768442e-05,-0.000133528919816,3.5092116025e-05,1793189911778681344
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,711.400321876,671.599678124,663.599678124,632,877.400321876,782,799,649.400321876,625.599678124,648,0.440907627279,-0.0055640844417,0.0499072782747,0.99999999035,1.57491550407e-05,-0.000133159464319,3.63507150154e-05,1793189911795348224
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.186711505,711,671.813288495,664,632,877.186711505,782,799.186711505,649,626,648,0.441434393167,-0.00556340505208,0.0499147778355,0.999999991831,1.7737485924e-05,-0.000120793221179,3.78356877599e-05,1793189911812014848
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.762438492,711,671.237561508,664,632,877.762438492,782,799.762438492,649,626,648,0.441957359975,-0.00556302830653,0.0499356717738,0.999999995525,2.0139295486e-05,-8.34315383927e-05,3.97923129178e-05,1793189911828681472
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.338974153,742.661025847,711.338974153,671.338974153,664.338974153,632,878,782,799.661025847,649,625.661025847,648,0.442442968796,-0.00556372123964,0.0499438134651,0.999999997005,2.27863065742e-06,-6.86075145006e-05,3.57340591348e-05,1793189911845348864
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.916077874,742.083922126,711.916077874,671.916077874,664.916077874,632,878,782,799.083922126,649,625.083922126,648,0.442902333577,-0.00556516562273,0.0499429966932,0.999999996756,-2.98164360147e-05,-6.96162131718e-05,2.74503487823e-05,1793189911862016512
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.497631608,742,712,672,663.995263215,632,878,782,799,649.502368392,625,648,0.44327848936,-0.00556868962337,0.0499262361991,0.999999993176,-6.0218486548e-05,-9.80847131626e-05,2.0008146682e-05,1793189911878683392
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.088968627,742,712,671.911031373,663,631.911031373,877.911031373,782,799.088968627,650,625,647.911031373,0.443633800738,-0.00557169094151,0.0499044542428,0.99999998725,-8.45674134747e-05,-0.000134742834551,1.385834544e-05,1793189911895350016
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.668654735,742,712,671.331345265,663,631.331345265,877.331345265,782,799.668654735,650,625,647.331345265,0.443952239255,-0.00556985748382,0.0498699400059,0.999999978726,-7.71185932924e-05,-0.00019079902475,1.40471313184e-05,1793189911912016640
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,742.247723653,712,671.247723653,663,631,877.247723653,782,799.752276347,650,625.247723653,647.247723653,0.444272621977,-0.00556768181916,0.0498481095076,0.999999972197,-6.95905355913e-05,-0.000224814221306,1.49119946357e-05,1793189911928683008
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,742.825969049,712,671.825969049,663,631,877.825969049,782,799.174030951,650,625.825969049,647.825969049,0.444595598702,-0.00556504956987,0.049843202109,0.999999971624,-6.195675721e-05,-0.0002294215334,1.66789046406e-05,1793189911945349632
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,743,712,672,663,631,877.600337222,782,799,650,625.600337222,648,0.444904879811,-0.00556348129188,0.0498486006976,0.999999975309,-5.64522277907e-05,-0.000214175777604,1.80111934534e-05,1793189911962015744
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,743,712,672,663,631,877.028603125,782,799,650,625.028603125,648,0.445208264421,-0.00556237109721,0.0498584364387,0.999999980349,-5.1864427245e-05,-0.000190382457005,1.91563600485e-05,1793189911978681856
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.437641636,743,711.437641636,672,663,631,877,781.437641636,799,649.437641636,625,647.437641636,0.445454989677,-0.00556429472097,0.0498611333857,0.999999981749,-5.04527970642e-05,-0.000183100521421,2.0745652887e-05,1793189911995348224
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.151355264,742.848644736,711.151355264,672,663,631,877.151355264,781.151355264,799,649.151355264,625,647.151355264,0.445687453288,-0.00556559704854,0.0498607781548,0.99999998214,-4.92150771267e-05,-0.000181164867427,2.18503568955e-05,1793189912012014592
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.73190992,742.26809008,711.73190992,672,663,631,877.73190992,781.73190992,799,649.73190992,625,647.73190992,0.445887936484,-0.00556468449723,0.0498528339315,0.999999980199,-4.79961925513e-05,-0.000191923929545,2.151458371e-05,1793189912028681216
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.69133182,742.30866818,712,672,663,631,877.69133182,781.69133182,799,649.69133182,625,647.69133182,0.446068889092,-0.00556364299323,0.0498437769075,0.999999977889,-4.73172322757e-05,-0.000203832725015,2.08811061924e-05,1793189912045348352
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.117830849,742.882169151,712,672,663,631,877.117830849,781.117830849,799,649.117830849,625,647.117830849,0.44623308473,-0.00556249084977,0.0498337651172,0.999999975205,-4.71015192375e-05,-0.00021672797426,1.99922027232e-05,1793189912062015232
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742.533416324,711.533416324,672,663,630.533416324,877,781,799,649.466583676,625,647.466583676,0.446371526298,-0.00556305134586,0.0498256631017,0.99999997254,-4.70460980181e-05,-0.000228739463634,1.96005273793e-05,1793189912078681600
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742.053097942,711.053097942,672,663,630,877,781,799,649.946902058,625,647.946902058,0.446500257176,-0.00556433351245,0.0498180127805,0.999999969689,-4.76159821043e-05,-0.000240793049257,1.9343371047e-05,1793189912095348224
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diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ba3b04a3a168b545f3d10cd196357503f375ac5e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,399 @@
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+383,6.383333333,pose2_to_pose3_retreat,0.575724797426,0.000219602909344,1.04002839963,0.546295211037,0.00889132306393,1.03969940356
+384,6.400000000,pose2_to_pose3_retreat,0.575724699508,0.000219599362416,1.04002841374,0.546295113053,0.00889131928215,1.03969941745
+385,6.416666667,pose2_to_pose3_retreat,0.575724510635,0.000219592520761,1.04002844097,0.546294924051,0.0088913119875,1.03969944424
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diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ae44be1be11d0d8ce305d2e6c5a2b6eb1c155328
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70bc8c1f3058232ecd16c0b4484458fba674b611d8cfc30899bcf5aca593939d
+size 25369543
diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b7e613b25e2e03a0ae69db507f71cc4f756e9051
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_05/franka_data.csv
@@ -0,0 +1,400 @@
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+16,0.266666667,BASELINE,764,742,711,670,662,632,874.728024281,782,798,650,625,648,0.400972962304,-0.00541210245971,0.0498513383117,0.999999949473,0.000174306873391,-0.000261992997048,-4.50674932833e-05,1793189915692200960
+17,0.283333333,BASELINE,764,742,711,670,662,632,874.139599891,782,798,650,625,648,0.400970895912,-0.00541300331911,0.0498504544377,0.999999949394,0.000172277161947,-0.000263546239582,-4.55518649716e-05,1793189915708867072
+18,0.300000000,BASELINE,764,742,711,670,662.441766527,632,874.883533054,782,798.441766527,650,625,648,0.400970519806,-0.00541339029391,0.0498498697224,0.999999949158,0.00017231868473,-0.000264410279057,-4.55740000736e-05,1793189915725533696
+19,0.316666667,BASELINE,764.020855408,742,711,670,662.979144592,632,876,782,799,650,625,648,0.400970665401,-0.00541356502129,0.0498494380833,0.999999948889,0.000173013273196,-0.000264992707694,-4.54592275151e-05,1793189915742200832
+20,0.333333333,BASELINE,764.597751241,742,711,670,662.402248759,632,876,782,799,650,625,648,0.400970703388,-0.00541234236683,0.0498506068825,0.999999949045,0.000173943563055,-0.000263782273163,-4.55274567941e-05,1793189915758866944
+21,0.350000000,BASELINE,764.825761669,742.174238331,711,669.825761669,662.174238331,632,875.825761669,782,799,650,625,648,0.400971169125,-0.00541240185393,0.0498516621098,0.999999949396,0.000173949591933,-0.000262463166077,-4.54056400146e-05,1793189915775533312
+22,0.366666667,BASELINE,764.25021608,742.74978392,711,669.25021608,662.74978392,632,875.25021608,782,799,650,625,648,0.40097262006,-0.00541541438089,0.0498524557574,0.999999950199,0.000171826854659,-0.000260893763574,-4.48461074726e-05,1793189915792199936
+23,0.383333333,BASELINE,764,742.666917421,711,669.333082579,663,632,875.333082579,781.666917421,798.666917421,650,625,648.333082579,0.400971632229,-0.00541548803795,0.0498516864279,0.9999999499,0.000171611739332,-0.000262173839606,-4.48850929745e-05,1793189915808866816
+24,0.400000000,BASELINE,764,742.077655691,711,669.922344309,663,632,875.922344309,781.077655691,798.077655691,650,625,648.922344309,0.400968768703,-0.00541330136337,0.0498497149877,0.999999948745,0.000172863806401,-0.000265645495097,-4.53844082402e-05,1793189915825533696
+25,0.416666667,BASELINE,764,742,711.502733037,670.502733037,663,632,876.502733037,781,798.502733037,650,625.502733037,648.497266963,0.400968967264,-0.00541356307584,0.0498496635935,0.999999948985,0.000171881556115,-0.000265378835413,-4.53992678843e-05,1793189915842200320
+26,0.433333333,BASELINE,764.081196449,742,711.918803551,670.837607101,663,632,876.918803551,781.081196449,799,650,625.918803551,648,0.400969849702,-0.0054142148301,0.0498500497225,0.999999949472,0.000170629031839,-0.000264366402561,-4.52952784061e-05,1793189915858866944
+27,0.450000000,BASELINE,764.656142295,742,711.343857705,669.687715411,663,632,876.343857705,781.656142295,799,650,625.343857705,648,0.400972064404,-0.00541497850925,0.0498513241722,0.999999950183,0.000169795292404,-0.000262269488077,-4.49157346458e-05,1793189915875534080
+28,0.466666667,BASELINE,764.76845089,742,711.23154911,669.463098219,662.76845089,632,875.76845089,782,799,650,625,648,0.400972551342,-0.00541497126048,0.0498516588961,0.999999950298,0.000170433343864,-0.000261440196128,-4.47723970881e-05,1793189915892200960
+29,0.483333333,BASELINE,764.19235819,742,711.80764181,670.61528362,662.19235819,632,875.19235819,782,799,650,625,648,0.400970467377,-0.00541381687586,0.0498505953139,0.999999949526,0.00017326141079,-0.000262497118514,-4.49805328685e-05,1793189915908867840
+30,0.500000000,BASELINE,764,742,711.605723655,670.211447309,662.394276345,632,875,782,799,650,625,648,0.400970176855,-0.00541398913744,0.0498503109099,0.999999949444,0.000172742265248,-0.000263128069535,-4.51201988743e-05,1793189915925534208
+31,0.516666667,BASELINE,764,742,711.013804733,669.027609466,662.986195267,632,875,782,799,650,625,648,0.40097078535,-0.00541482641934,0.0498504170919,0.999999949706,0.000170545231249,-0.000263545489892,-4.52255423919e-05,1793189915942200320
+32,0.533333333,BASELINE,764.565880019,742,711,669.565880019,663,631.434119981,875,782,799,650,625,648,0.400969660662,-0.00541525137072,0.0498502735388,0.999999949661,0.000169348524098,-0.000264515035175,-4.50715216231e-05,1793189915958866688
+33,0.550000000,BASELINE,764.856214019,742,711.143785981,669.856214019,662.856214019,631.143785981,875,782,799,650,625,648,0.400969209995,-0.00541524631079,0.049850414099,0.999999949674,0.000169220602357,-0.000264570283064,-4.49242394585e-05,1793189915975533568
+34,0.566666667,BASELINE,764.282750742,742,711.717249258,669.282750742,662.282750742,631.717249258,875,782,799,650,625,648,0.400970897187,-0.00541398566603,0.0498514214987,0.999999949883,0.000172215163601,-0.000261853927084,-4.48156019844e-05,1793189915992200448
+35,0.583333333,BASELINE,764,741.701557694,712,669.298442306,662.298442306,632,875.298442306,782,799,650,625,648,0.400971722844,-0.00541376019035,0.0498517500045,0.999999950104,0.000172370103571,-0.000260883147912,-4.49528467739e-05,1793189916008867328
+36,0.600000000,BASELINE,764,741.112846502,712,669.887153498,662.887153498,632,875.887153498,782,799,650,625,648,0.400971710563,-0.00541454153349,0.0498514182094,0.999999950343,0.000169763191136,-0.000261610139236,-4.53292398543e-05,1793189916025534208
+37,0.616666667,BASELINE,764,741.468520189,711.531479811,670.468520189,662.531479811,632,875.531479811,781.531479811,798.531479811,650,625,648,0.400971999442,-0.00541407101002,0.049851268895,0.999999950084,0.00017103643732,-0.000261764208811,-4.53567942601e-05,1793189916042200832
+38,0.633333333,BASELINE,764,742,711,670.952226236,662.047773764,632,875.047773764,781.047773764,798.047773764,650,625,648,0.400972319084,-0.00541344100814,0.0498511675821,0.999999949751,0.000172929468343,-0.000261805094593,-4.53027966861e-05,1793189916058867712
+39,0.650000000,BASELINE,764,742,711,670.377072636,662.622927364,632,875.622927364,781.622927364,798.622927364,650,625,648,0.400972189937,-0.00541432765903,0.0498511184623,0.999999949921,0.000171506842808,-0.000262096334252,-4.52617323436e-05,1793189916075533824
+40,0.666666667,BASELINE,764,742,711.197806573,669.802193427,662.802193427,632,875.802193427,781.802193427,799,650,625,648,0.400972272118,-0.00541492438314,0.0498513129033,0.999999950074,0.000170809351879,-0.000261981402606,-4.5195833803e-05,1793189916092200448
+41,0.683333333,BASELINE,764,742,711.772163409,669.227836591,662.227836591,632,875.227836591,781.227836591,799,650,625,648,0.400972756588,-0.00541496919423,0.0498519709936,0.999999950194,0.000171492248066,-0.000261093271604,-4.50826601733e-05,1793189916108867072
+42,0.700000000,BASELINE,764,742,712,669.35537356,662.35537356,632,875,781.35537356,798.64462644,650,625,648,0.400971679657,-0.00541487249652,0.049851349117,0.999999949848,0.00017169642851,-0.000262255422849,-4.52454752737e-05,1793189916125533440
+43,0.716666667,BASELINE,764,742,712,669.94440473,662.94440473,632,875,781.94440473,798.05559527,650,625,648,0.400969576107,-0.00541468275697,0.0498498856639,0.99999994919,0.000171585854005,-0.00026476563179,-4.55897525761e-05,1793189916142200064
+44,0.733333333,BASELINE,764,742,711.475149794,670,662.475149794,632,875.524850206,782,798.524850206,649.475149794,625,647.475149794,0.400970861418,-0.00541577354958,0.0498508651055,0.999999949814,0.000170324597127,-0.000263302556128,-4.50855623e-05,1793189916158867200
+45,0.750000000,BASELINE,764.103498808,742,711.103498808,670,662.103498808,632,875.896501192,782,798.896501192,649,625.103498808,647.103498808,0.400972197585,-0.00541636897468,0.0498518773737,0.999999950373,0.000169517566906,-0.00026176551725,-4.46848034524e-05,1793189916175534336
+46,0.766666667,BASELINE,764.678041755,742,711.678041755,670,662.678041755,632,875.321958245,782,798.321958245,649,625.678041755,647.678041755,0.400972157767,-0.0054141024845,0.0498518802996,0.999999950041,0.000171323619827,-0.000261776510875,-4.51572370673e-05,1793189916192200960
+47,0.783333333,BASELINE,764.741313379,742,711.741313379,670,663,632,875,782,798.258686621,649.258686621,625.741313379,648,0.400972636657,-0.00541302143695,0.0498523650097,0.999999950094,0.000172154804225,-0.000260990055527,-4.53787357969e-05,1793189916208867328
+48,0.800000000,BASELINE,764.152890595,742,711.152890595,670,663,632,875,782,798.847109405,649.847109405,625.152890595,648,0.400973776722,-0.00541345141934,0.0498534638283,0.999999950638,0.000171743367947,-0.000259187127955,-4.52803792148e-05,1793189916225533696
+49,0.816666667,BASELINE,764.42855328,742,711.42855328,670,663,632,875,781.57144672,799,649.57144672,625,648,0.400973989635,-0.00541406350896,0.0498535024428,0.999999951061,0.00017030990476,-0.000258522253967,-4.51427261662e-05,1793189916242200064
+50,0.833333333,BASELINE,764.992472307,742,711.992472307,670,663.007527693,632,875,781,798.992472307,649.007527693,625,648,0.400973870684,-0.00541472807282,0.0498531657536,0.999999951431,0.00016853416607,-0.000258279771813,-4.500116106e-05,1793189916258866944
+51,0.850000000,BASELINE,764.41497642,742,711.41497642,670,663.58502358,632,875,781,798.41497642,649.58502358,625,648,0.400973267596,-0.00541452544326,0.0498525923556,0.999999951106,0.000168007740001,-0.000259770122028,-4.56078754179e-05,1793189916275533568
+52,0.866666667,BASELINE,764.162084403,742.162084403,711,670,663.837915597,632,875,781.162084403,798,650,625,648,0.400972518988,-0.00541497875374,0.0498520454931,0.999999950816,0.0001675152066,-0.000261172733391,-4.57772443692e-05,1793189916292200192
+53,0.883333333,BASELINE,764.738034303,742.738034303,711,670,663.261965697,632,875,781.738034303,798,650,625,648,0.40097139881,-0.00541710693821,0.0498515663867,0.999999950618,0.000167109214598,-0.000262351312728,-4.48298977325e-05,1793189916308867072
+54,0.900000000,BASELINE,765,743,711,670,663,632,875,782,798.320688637,649.679311363,625,648,0.400971901345,-0.00541672864636,0.049851958228,0.99999995058,0.000168892713693,-0.000261375128626,-4.47026094576e-05,1793189916325534208
+55,0.916666667,BASELINE,765,743,711,670,663,632,875,782,798.908936635,649.091063365,625,648,0.400973757755,-0.00541425913219,0.0498530767249,0.99999995066,0.000172502965523,-0.000258601165987,-4.52595185041e-05,1793189916342201856
+56,0.933333333,BASELINE,764.509756398,742.509756398,711,670,663,632,875,782,798.509756398,649.490243602,625,648,0.400974189043,-0.00541435819672,0.0498533147678,0.999999950892,0.000172094956184,-0.000257985923775,-4.51886723335e-05,1793189916358867712
+57,0.950000000,BASELINE,764,742.069396318,711,670,663,632,875,782,798,650,625.069396318,648,0.400974173567,-0.00541479863846,0.0498533113682,0.999999951063,0.000171083258614,-0.000258021334503,-4.50415692089e-05,1793189916375533568
+58,0.966666667,BASELINE,764,742.642144467,711,670,663,632,875,782,798,650,625.642144467,648,0.400972810856,-0.00541430283469,0.0498527263979,0.999999950578,0.000171031089783,-0.000259908263928,-4.51753243022e-05,1793189916392200448
+59,0.983333333,BASELINE,764,742.778840456,711,670,663,632,875,781.778840456,798.221159544,650,625.778840456,648,0.400971935583,-0.00541433857524,0.049852225776,0.999999950372,0.000170537445755,-0.000261007932085,-4.52557827218e-05,1793189916408867072
+60,1.000000000,BASELINE,764,742.189389119,711,670,663,632,875,781.189389119,798.810610881,650,625.189389119,648,0.40097187203,-0.00541525948402,0.0498518656174,0.999999950636,0.000169308623441,-0.000260796592845,-4.5247487464e-05,1793189916425533696
+61,1.016666667,BASELINE,764,742,711,670,663,632,875,781.393142519,799.393142519,650,625,648,0.400972945859,-0.00541563418687,0.0498522991579,0.999999950807,0.000169884537712,-0.000259779179969,-4.51734426092e-05,1793189916442200320
+62,1.033333333,BASELINE,764,742,711,670,663,632,875,781.972398343,799.972398343,650,625,648,0.400974558124,-0.00541575031629,0.0498531084348,0.99999995093,0.000171314812687,-0.000258380172592,-4.50682719564e-05,1793189916458867200
+63,1.050000000,BASELINE,764,742,711,670,662.449113869,632,875,782,798.898227738,650,625.550886131,648,0.400973942813,-0.00541590702417,0.0498524671124,0.999999950982,0.000170396967099,-0.000258796161576,-4.49941520798e-05,1793189916475533824
+64,1.066666667,BASELINE,764.128833203,742,711,670.128833203,662.128833203,632,875,781.871166797,798,650,625.871166797,648,0.400973358649,-0.00541587430748,0.0498519688166,0.999999951004,0.000169539556926,-0.000259274433689,-4.5002521285e-05,1793189916492200192
+65,1.083333333,BASELINE,764.705036063,742,711,670.705036063,662.705036063,632,875,781.294963937,798,650,625.294963937,648,0.400973269666,-0.00541517676905,0.0498522192076,0.999999950933,0.000169299976271,-0.000259653639527,-4.52919366503e-05,1793189916508866816
+66,1.100000000,BASELINE,764.713526747,742,711,670.713526747,663,632,875,781.286473253,798,649.713526747,625,648,0.40097311543,-0.00541499424171,0.0498525250317,0.999999950732,0.000170644288836,-0.0002595574575,-4.52320576749e-05,1793189916525533440
+67,1.116666667,BASELINE,764.126599819,742,711,670.126599819,663,632,875,781.873400181,798,649.126599819,625,648,0.400972892755,-0.005415351859,0.049852888994,0.999999950388,0.000173649791543,-0.00025896268778,-4.48058381322e-05,1793189916542200064
+68,1.133333333,BASELINE,764,742,711,670,663,631.545681423,875,781.545681423,798,649,625,648,0.400973298992,-0.00541454877924,0.0498532782638,0.999999950705,0.000172036571713,-0.000258776351238,-4.50332523478e-05,1793189916558866944
+69,1.150000000,BASELINE,764,742,711,670,662.966626098,631.033373902,875,781.033373902,798,649.033373902,625,648,0.400973697349,-0.00541344798925,0.0498535552683,0.999999951108,0.000169496010778,-0.000258829705443,-4.54082980478e-05,1793189916575533824
+70,1.166666667,BASELINE,764,742,711,670,662.390993264,631.609006736,875,781.609006736,798,649.609006736,625,648,0.400971157332,-0.00541269663558,0.0498518950978,0.999999950045,0.000172526996999,-0.000260952450827,-4.52612658855e-05,1793189916592200448
+71,1.183333333,BASELINE,764,742,711,670,662.183943066,632,875,782,798.183943066,650,625,648,0.400970089449,-0.00541277552598,0.04985096808,0.99999994957,0.000173897044149,-0.000261887608988,-4.5098407708e-05,1793189916608867072
+72,1.200000000,BASELINE,764,742,711,670,662.757404587,632,875,782,798.757404587,650,625,648,0.400972138961,-0.00541461254389,0.0498515935886,0.999999950363,0.00017174988172,-0.00026030792886,-4.49020362812e-05,1793189916625533952
+73,1.216666667,BASELINE,764,742,711,670,663,632,875,781.657989573,798.657989573,650,625,648,0.400972399821,-0.00541490743825,0.0498515704358,0.999999950524,0.000170625633872,-0.000260375156924,-4.5209204997e-05,1793189916642200576
+74,1.233333333,BASELINE,764,742,711,670,663,632,875,781.065212606,798.065212606,650,625,648,0.400971349216,-0.00541407162725,0.0498510716759,0.999999950224,0.00017025140057,-0.000261649919818,-4.58855759766e-05,1793189916658866944
+75,1.250000000,BASELINE,764.51274899,742,711.51274899,670,663,632,875,781.51274899,798,650,625,648,0.400972197443,-0.0054137747412,0.0498520713032,0.999999950563,0.000170840148912,-0.000259990085755,-4.57513471017e-05,1793189916675533568
+76,1.266666667,BASELINE,764.910822684,742,711.910822684,670,663,632,875,781.910822684,798,649.910822684,625,648,0.400972902455,-0.00541390965936,0.0498529152624,0.999999950896,0.000171186053339,-0.00025852344187,-4.54965776603e-05,1793189916692200192
+77,1.283333333,BASELINE,764.332760312,742,711.332760312,670,663,632,875,781.332760312,798,649.332760312,625,648,0.400971535595,-0.00541604659577,0.0498518904334,0.999999950781,0.000169548077463,-0.000260104542609,-4.51302913722e-05,1793189916708866816
+78,1.300000000,BASELINE,764.248950208,742,711,670,663,632,875,781.248950208,798.248950208,649,625,648,0.400971281705,-0.00541662603157,0.049851525033,0.999999950672,0.000169360952213,-0.000260672150448,-4.49790492096e-05,1793189916725533440
+79,1.316666667,BASELINE,764.835609513,742,711,670,663,632,875,781.835609513,798.835609513,649,625,648,0.400972537598,-0.00541509266669,0.0498520541694,0.999999950572,0.000171141953399,-0.000259864921906,-4.51195214632e-05,1793189916742200320
+80,1.333333333,BASELINE,764.582829128,742,711.417170872,670,663,632,875,782,798.582829128,649.417170872,625.417170872,648,0.400972798574,-0.0054146284863,0.0498521684193,0.999999950266,0.000172332480267,-0.00026027162045,-4.5042537155e-05,1793189916758867200
+81,1.350000000,BASELINE,764.003252364,742,711.996747636,670,663,632,875,782,798.003252364,649.996747636,625.996747636,648,0.400972672226,-0.00541458054256,0.0498521211528,0.999999949878,0.000173293133831,-0.000261150904435,-4.48808963567e-05,1793189916775534080
+82,1.366666667,BASELINE,764,742,711.425835282,670,663,632,875,781.425835282,798,650,625.425835282,648,0.400972228997,-0.00541588007754,0.0498526205846,0.999999950744,0.000169814175991,-0.00026010063973,-4.49749274765e-05,1793189916792200448
+83,1.383333333,BASELINE,764.150876623,742,711,670.150876623,663,632,875,781.150876623,798.150876623,650,625,648,0.400971735802,-0.0054167269238,0.0498526652832,0.999999951192,0.000167559281806,-0.000259823790791,-4.50651760901e-05,1793189916808866816
+84,1.400000000,BASELINE,764.725641701,742,711,670.725641701,663,632,875,781.725641701,798.725641701,650,625,648,0.400971107253,-0.0054162805756,0.0498514237394,0.999999950475,0.000168813787706,-0.000261750448878,-4.51407441238e-05,1793189916825533440
+85,1.416666667,BASELINE,764.691901696,742,711,670.691901696,662.691901696,632,875,781.691901696,798.691901696,650,625,648,0.400972187074,-0.00541604264992,0.0498519307882,0.999999950635,0.000169424382698,-0.000260763733035,-4.50324640399e-05,1793189916842200320
+86,1.433333333,BASELINE,764.102420539,742,711,670.102420539,662.102420539,632,875,781.102420539,798.102420539,650,625,648,0.400974827129,-0.00541599507429,0.0498540348077,0.999999951588,0.000169446900737,-0.000257116264142,-4.47562774518e-05,1793189916858866944
+87,1.450000000,BASELINE,764,742,711,670,662.478439853,632,875,781.478439853,798,650,625,648,0.400972665272,-0.00541468553513,0.0498527137744,0.99999995062,0.000171950361911,-0.000259168439158,-4.49917693377e-05,1793189916875533824
+88,1.466666667,BASELINE,764.057191943,742,711,670,662.942808057,632,875,782,798.057191943,650,625,647.942808057,0.400969988902,-0.00541340402955,0.0498509533243,0.999999949467,0.000174305404853,-0.000261977101426,-4.529714219e-05,1793189916892200448
+89,1.483333333,BASELINE,764.633263099,742,711,670,662.366736901,632,875,782,798.633263099,650,625,647.366736901,0.400971805697,-0.00541478444966,0.0498517405794,0.999999950425,0.000170580737953,-0.000260775218517,-4.52603305409e-05,1793189916908867328
+90,1.500000000,BASELINE,764.786899868,742,711.213100132,670,662.213100132,632,875.213100132,782,799,650,625,647.213100132,0.400972610602,-0.00541522583906,0.0498522242987,0.999999950871,0.000169181997493,-0.000259981515742,-4.52207373608e-05,1793189916925533696
+91,1.516666667,BASELINE,764.200465378,742,711.799534622,670,662.799534622,632,875.799534622,782,799,650,625,647.799534622,0.400971642754,-0.00541402212176,0.0498521762474,0.999999950437,0.000171858094191,-0.000259902911987,-4.51762711659e-05,1793189916942200320
+92,1.533333333,BASELINE,764,742,711.618731988,669.618731988,663,632,875.618731988,781.618731988,798.618731988,650,625,648,0.400971237372,-0.00541374777646,0.0498521073474,0.999999950336,0.000171881715181,-0.000260283910652,-4.51260614759e-05,1793189916958866944
+93,1.550000000,BASELINE,764,742,711.039440211,669.039440211,663,632,875.039440211,781.039440211,798.039440211,650,625,648,0.400971124125,-0.00541395613019,0.049852027619,0.999999950409,0.000170527688126,-0.000260903618558,-4.50728687138e-05,1793189916975533568
+94,1.566666667,BASELINE,764,742,711,669.53865351,663,632,875.53865351,781.53865351,798.53865351,650,625,648,0.400972563745,-0.00541400636268,0.0498531039746,0.999999950676,0.000171678837485,-0.000259120604482,-4.50592960468e-05,1793189916992200192
+95,1.583333333,BASELINE,764,742,711,670,663,632,875.884231524,781.884231524,798.884231524,649.884231524,625,648,0.400973742777,-0.00541412736044,0.0498539275011,0.999999950945,0.000172467146077,-0.00025756195672,-4.50309451932e-05,1793189917008866816
+96,1.600000000,BASELINE,764,742,711,670,663,632,875.310640872,781.310640872,798.310640872,649.310640872,625,648,0.400973442634,-0.00541457389282,0.0498534171693,0.999999951179,0.000171096766748,-0.00025758477994,-4.49327051157e-05,1793189917025533440
+97,1.616666667,BASELINE,764,742,711,670,663,632,875.541243188,781.270621594,798.270621594,649,625,648,0.400972655347,-0.00541485468743,0.0498531059892,0.999999951059,0.000170647543781,-0.000258337595452,-4.49871031924e-05,1793189917042200320
+98,1.633333333,BASELINE,764,742,711,670,663,632,876.72189454,781.86094727,798.86094727,649,625,648,0.400971292565,-0.00541493968448,0.0498530300808,0.99999995052,0.000171286546876,-0.000259952801548,-4.5221823327e-05,1793189917058867200
+99,1.650000000,BASELINE,764,742,711,670,663,632,876.114320346,782,799,649.442839827,625,648,0.400971082492,-0.00541501401168,0.0498525869908,0.999999950285,0.000171912090499,-0.000260446365655,-4.52190301314e-05,1793189917075533824
+100,1.666666667,BASELINE,764,742.022089307,711,670,663,632,875,782,798.977910693,650,625,648,0.400971288104,-0.00541512041763,0.0498520996167,0.999999950177,0.000172459338802,-0.000260513225384,-4.51349661223e-05,1793189917092200448
+101,1.683333333,BASELINE,764,742.60021779,711,670,663,632,875,782,798.39978221,650,625,648,0.400973016583,-0.00541611708034,0.0498533455343,0.999999950929,0.000171140110195,-0.000258538915151,-4.484738939e-05,1793189917108866816
+102,1.700000000,BASELINE,764,742.823398175,711,670,663,632,875,782,798,650,624.823398175,648,0.400974052002,-0.00541632467537,0.0498539343315,0.99999995135,0.000170322709563,-0.00025745955515,-4.47691789553e-05,1793189917125533440
+103,1.716666667,BASELINE,764,742.250924582,711,670,663,632,875,782,798,650,624.250924582,648,0.400973533855,-0.00541476349116,0.049853050123,0.999999951041,0.000170630209868,-0.00025838632151,-4.51602853742e-05,1793189917142200064
+104,1.733333333,BASELINE,764,742,711,670,663,632,875,782,798,650,624.663821922,648,0.40097252311,-0.00541408732463,0.0498523259686,0.999999950626,0.000171254740477,-0.000259551774361,-4.5309012573e-05,1793189917158866688
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+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,670,663,632,875,782,798,650,625,648,0.400968300896,-0.00541523982058,0.0498497591682,0.999999949329,0.000171244464227,-0.000264557520036,-4.50099791532e-05,1793189917235476224
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.412443667,670,663,632,875.587556333,782,798,650,625,648,0.400970854466,-0.00541559822007,0.049851810403,0.999999950267,0.000170574147662,-0.000261461306056,-4.48244863021e-05,1793189917252142848
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+111,1.850000000,POSE1_TO_POSE2_PRESS,764.669706083,742,711,670,662.330293917,632.330293917,875,781,798.330293917,650,625,648,0.40097365732,-0.00541409090959,0.0498534331378,0.99999995076,0.000173133180543,-0.000257844147519,-4.4959995283e-05,1793189917302142208
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.09223046,742,711,670,662.90776954,632.90776954,875,781,798.90776954,650,625,648,0.400971547923,-0.0054151290367,0.0498531101291,0.999999950839,0.00017084585131,-0.000259054607579,-4.49936191281e-05,1793189917318809088
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+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,875,781.058153214,798.941846786,650,625.941846786,648,0.400977554086,-0.00541591207341,0.0498548670618,0.999999951734,0.000171519805157,-0.000255206977218,-4.45288854793e-05,1793189917352142592
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+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711.233730533,670,662.766269467,632,875.233730533,782,798,649.766269467,625,648,0.400997846441,-0.00541581755445,0.0498628444092,0.999999955708,0.000171403928473,-0.000239271638656,-4.42019855658e-05,1793189917385475584
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711.813316386,670,662.186683614,632,875.813316386,782,798,649.186683614,625,648,0.401025161163,-0.00541637349324,0.0498743166477,0.999999960561,0.000172239468565,-0.000217570873778,-4.32938606178e-05,1793189917402142208
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712,670,662,632,875.609962849,782,798.390037151,649.390037151,625,648,0.401068157421,-0.0054173517043,0.0498886355094,0.999999966691,0.0001724560294,-0.00018726735184,-4.2522955496e-05,1793189917418809088
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+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,875.115714915,781,798.884285085,649,625,648,0.401254418454,-0.00542312987435,0.0499290191665,0.999999979461,0.000171208518153,-0.000101064871244,-3.93874461621e-05,1793189917468809216
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+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,875.705543536,781,798.294456464,649.294456464,625,648,0.401405824477,-0.00543147607334,0.0499299077629,0.999999980189,0.000162192892061,-0.000109304947408,-3.6972327201e-05,1793189917502142464
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+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,875.447622326,781.447622326,798.552377674,650,625.447622326,648,0.401612793878,-0.00543935510736,0.0499293129901,0.9999999802,0.000160274283669,-0.000112644152793,-3.49721612133e-05,1793189917535475200
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+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711.257464147,670,663,632,875,782,798,650,625,648,0.403843547203,-0.00552328997187,0.0499606011414,0.999999990888,0.000121081629778,-5.83306267797e-05,-1.26661350308e-05,1793189917702141952
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711.836106448,670,663,632,875,782,798,650,625,648,0.404194955861,-0.00553210151279,0.0499663042334,0.999999991575,0.000119805402478,-4.91731903148e-05,-8.82447056839e-06,1793189917718808576
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711.588137992,670,663,632,875,781.588137992,798.411862008,650,625,647.588137992,0.404576274125,-0.00553676045358,0.0499710361724,0.999999991272,0.000126074136748,-3.92229786053e-05,-4.81572939917e-06,1793189917735475456
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,711.01352318,670,663,632,875,781.01352318,798.98647682,650,625,647.01352318,0.404969411564,-0.00553977843844,0.0499753843472,0.999999990424,0.000135324363934,-2.89594913207e-05,-7.40965715508e-07,1793189917752142080
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,875.574289189,781.574289189,799,649.425710811,625.574289189,647.574289189,0.405373555854,-0.00552442681871,0.0499652434964,0.999999985308,0.000164501621271,-4.8179855916e-05,1.1736848129e-06,1793189917768808960
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711.160032648,670,663,632,875.839967352,781.839967352,798.839967352,649,625.839967352,648,0.405789584053,-0.00551097032088,0.0499506649103,0.999999978945,0.000190835599021,-7.53844655896e-05,2.83258898106e-06,1793189917785475328
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711.739519576,670,663,632,875.260480424,781.260480424,798.260480424,649,625.260480424,648,0.406236065243,-0.00550364147843,0.0499253700731,0.999999970865,0.000208458361591,-0.00012165367427,3.95762527464e-06,1793189917802141952
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.316830763,742,712,670,663,632,875,781,798.316830763,649.316830763,625,648,0.406710470046,-0.00550882672501,0.0499077807415,0.999999965987,0.000211582134523,-0.000152360940336,6.71075112622e-06,1793189917818808832
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.892365441,742,712,670,663,632,875,781,798.892365441,649.892365441,625,648,0.407207675549,-0.00552423018253,0.0498964832345,0.999999964853,0.000202866953904,-0.000170361315864,1.07932718182e-05,1793189917835475456
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.530158657,742,712,670,663,632,875.469841343,781,798.530158657,650,625,648,0.407783594234,-0.00553063457411,0.049911882711,0.99999996902,0.000208025651998,-0.000135748789663,1.60377019043e-05,1793189917852142080
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711.951421438,670,663.048578562,632,876,781.048578562,798.048578562,650,625,648,0.408379786475,-0.00553441608201,0.0499340965953,0.999999972214,0.000217204123673,-8.90301760734e-05,2.16410234107e-05,1793189917868808704
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711.363640259,670,663.636359741,632,876,781.636359741,798.636359741,650,625,648,0.409000027249,-0.00553206216334,0.0499637816492,0.999999970959,0.000235575978493,-4.22765833085e-05,2.82611694422e-05,1793189917885475328
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.220903085,742,711,670.220903085,663.779096915,632,875.779096915,781.779096915,799.220903085,649.779096915,625.220903085,648,0.409630463202,-0.00552968075077,0.0499820097798,0.999999967454,0.000252378571227,-1.50192161395e-05,3.42368575142e-05,1793189917902141952
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.800193418,742,711,670.800193418,663.199806582,632,875.199806582,781.199806582,799.800193418,649.199806582,625.800193418,648,0.410277439502,-0.00552725473298,0.0499816505031,0.999999963498,0.000266635234848,-1.93920059666e-05,3.91669939535e-05,1793189917918808832
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,742,711.377363854,670.622636146,663.377363854,632,875.377363854,781.377363854,799.245272291,649,625.622636146,647.622636146,0.4108973124,-0.00553059578477,0.0499593911438,0.999999978611,0.00019202852603,-7.33890430469e-05,2.27543956937e-05,1793189917935475712
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,742,711.9534181,670.0465819,663.9534181,632,875.9534181,781.9534181,798.0931638,649,625.0465819,647.0465819,0.41150291474,-0.00553697332596,0.049925600908,0.99999998571,7.06332878196e-05,-0.000153514339326,-4.89562366484e-06,1793189917952142336
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.461137263,742,712,670,662.922274526,632,876,782,798.538862737,649.538862737,625,647.538862737,0.412201613091,-0.00554421386696,0.0499207354869,0.999999987844,6.88491503881e-05,-0.000139869084031,-2.93779316874e-06,1793189917968808704
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711.876341704,670.123658296,662.247316592,632,876,781.876341704,798.876341704,650,625,648,0.412926203884,-0.00555099784401,0.0499250370512,0.999999990489,7.82621550773e-05,-0.000113537955462,2.52913240669e-06,1793189917985475328
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711.29698273,670.70301727,663.40603454,632,876,781.29698273,798.29698273,650,625,648,0.413716029384,-0.00555581951214,0.0499537426299,0.999999993361,9.01589589703e-05,-7.08589766401e-05,1.13283880638e-05,1793189918002141952
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.280105835,742,711,671,663.719894165,632,876.56021167,781.280105835,798.280105835,650,625,648,0.414486799794,-0.00555283786781,0.0499564183773,0.999999992076,0.000104691994439,-6.81117060937e-05,1.57769645494e-05,1793189918018809088
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.85480662,742,711,671,663.14519338,632,877.709613239,781.85480662,798.85480662,650,625,648,0.415237529544,-0.00554164926743,0.0499317178444,0.999999986673,0.000121997628065,-0.000107361697467,1.56498141227e-05,1793189918035475712
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,742,711.432431505,670.567568495,663,632,877.135136989,782,798.567568495,650,625,648,0.416013120241,-0.00553880252307,0.0499167083994,0.999999984175,0.000122192536691,-0.000128445016017,1.48653216489e-05,1793189918052142592
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.988763197,742,711.988763197,670,663,632,876,782,798,649.988763197,625,648,0.416798009844,-0.00553892580454,0.0499057480819,0.999999983024,0.000116396546612,-0.000142164429268,1.39172226548e-05,1793189918068809472
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.400093217,742,711.400093217,670,663,632,876,782,798,649.400093217,625,648,0.417628881336,-0.00554676198665,0.0499345150904,0.999999990545,9.9979642234e-05,-9.30506823292e-05,1.59807213516e-05,1793189918085475840
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,782,798.185452853,649.185452853,625,647.814547147,0.418458421073,-0.00555246624451,0.0499557435099,0.999999993992,8.96046560336e-05,-6.03883796475e-05,1.84624362499e-05,1793189918102142208
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711,670,663,632,876,782,798.764371054,649.764371054,625,647.235628946,0.419285135244,-0.00555364731279,0.0499609777085,0.999999993564,9.20484843475e-05,-6.2630225392e-05,2.18314579366e-05,1793189918118808832
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711.34217113,670,663,632,876,782,799,649.65782887,625,647.34217113,0.42013460253,-0.00555196881014,0.0499530827251,0.999999993255,9.03939395961e-05,-6.96523498186e-05,2.16304505058e-05,1793189918135475456
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711.919203714,670,663,632,876,782,799,649.080796286,625,647.919203714,0.420999687199,-0.00554832753815,0.0499361760554,0.999999992932,8.59263290531e-05,-7.9955590262e-05,1.89790251131e-05,1793189918152142080
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.49392535,742.49392535,711.50607465,670.49392535,663.987850699,632.49392535,876,781.50607465,798.50607465,649.49392535,625,648,0.421895393791,-0.00555245696392,0.0499577510496,0.999999996026,7.88791748677e-05,-3.6003249077e-05,2.073063081e-05,1793189918168808704
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,742.929768795,711,671,664.929768795,632.929768795,876.070231205,781,798.070231205,650,625,648,0.422786253766,-0.00555753081643,0.0499801548466,0.999999997161,7.15285184418e-05,5.99631152027e-06,2.29308052541e-05,1793189918185475328
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,742.338930638,711,671,664.338930638,632.338930638,876.661069362,781,798.661069362,650,625,648,0.423604227914,-0.00556022677152,0.0499622576022,0.999999997106,6.50414115889e-05,-3.19624300582e-05,2.31419525326e-05,1793189918202142208
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,742,711.246638402,671,663.753361598,632,876.753361598,781.246638402,799,649.753361598,625,648,0.42445173812,-0.00556252976158,0.0499530035623,0.999999996772,5.86172415485e-05,-4.96611066346e-05,2.3518902401e-05,1793189918218808832
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,742,711.825118157,671,663.174881843,632,876.174881843,781.825118157,799,649.174881843,625,648,0.425338987937,-0.0055643040345,0.0499553785793,0.999999997539,5.22777494622e-05,-4.01007432766e-05,2.41189325805e-05,1793189918235475456
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,742.400866093,712,671,663.801732187,632,876,782,798.599133907,649.400866093,625,648,0.426235805007,-0.00556562694043,0.0499720928668,0.999999998204,4.91338054593e-05,-2.19882094999e-05,2.63390459434e-05,1793189918252142080
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,742.975430278,712,671,664.950860557,632,876,782,798.024569722,649.975430278,625,648,0.427136767582,-0.00556675426577,0.0499950204605,0.99999999845,4.73745152283e-05,-1.6996082853e-07,2.92611526732e-05,1793189918268808704
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,711.448594077,671,663.897188155,632,877.102811845,782,798.551405923,650,625.551405923,648,0.427933798697,-0.0055636208919,0.0499621495116,0.999999996424,4.75564467731e-05,-6.38835926122e-05,2.84473091727e-05,1793189918285475328
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,742.868985982,711.131014018,671,663,632,877.737971964,782,799,649.868985982,625.868985982,648,0.428739955642,-0.00556107589783,0.0499339608808,0.999999991946,4.69218086809e-05,-0.000114658253595,2.7574915945e-05,1793189918302141952
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,742.276813945,711.723186055,671,663,632,876.553627889,782,799,649.276813945,625.276813945,648,0.42959457727,-0.00556127191905,0.0499310275891,0.999999993039,4.31076713319e-05,-0.0001064394834,2.70838887131e-05,1793189918318808832
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,742,712,671,663.307053674,632,876.307053674,782,798.692946326,649,625,648,0.430440129468,-0.00556262154633,0.0499323823071,0.999999994174,3.62491524679e-05,-9.80724366835e-05,2.68221990494e-05,1793189918335475712
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,742,712,671,663.883631838,632,876.883631838,782,798.116368162,649,625,648,0.43127772069,-0.00556498378186,0.0499375009392,0.999999995273,2.67183473402e-05,-8.95752367524e-05,2.67618165309e-05,1793189918352142592
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,742,712,671,663.544537196,632,877,782,798,649.455462804,625,647.544537196,0.432089602061,-0.00556495923767,0.0499247773655,0.999999993504,2.23315500145e-05,-0.000108630611727,2.63052381736e-05,1793189918368808960
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,742,712,671,663.026461473,632,877.026461473,782,798.026461473,650,625,647.026461473,0.432895686462,-0.00556452577447,0.0499095333471,0.999999990863,1.91073856535e-05,-0.000131298929311,2.58691063517e-05,1793189918385475840
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,742,712,671,663.605140454,632,877.605140454,782,798.605140454,650,625,647.605140454,0.433716461034,-0.00556815335432,0.0499358414009,0.999999995999,1.3001779194e-05,-8.3974107335e-05,2.79503327872e-05,1793189918402142208
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,742,711.811035467,671,664,632,878,782,798.811035467,650,625.188964533,648,0.434518438546,-0.00557001387824,0.0499593074474,0.999999998477,7.35247090702e-06,-4.61289655251e-05,2.94064283705e-05,1793189918418808832
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,742,711.216159172,671,664,632,878,782,798.216159172,650,625.783840828,648,0.43528003854,-0.00556807861766,0.0499766686274,0.99999999915,2.68332849183e-06,-2.86469679476e-05,2.951969064e-05,1793189918435475456
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,742.365764577,711.365764577,671,663.634235423,632,877.634235423,782,798.731529155,650,626,647.634235423,0.435987104445,-0.00556625221213,0.0499620493888,0.999999997258,1.05154567418e-06,-6.78071547927e-05,2.97396516956e-05,1793189918452142080
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,742.940295409,711.940295409,671,663.059704591,632,877.059704591,782,799.880590817,650,626,647.059704591,0.436663044062,-0.00556448793757,0.0499291767901,0.999999989847,1.15338695471e-06,-0.000139296817135,3.00205127419e-05,1793189918468808960
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.4882498,742.4882498,712,671,663,632,877,782,799.4882498,650,625.4882498,647,0.437398840972,-0.00556484999472,0.0499331027017,0.999999993094,1.15561812749e-06,-0.000113584673516,3.01636942662e-05,1793189918485475584
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742,712,671,663.173130491,632,877,782,799,649.913434755,625,647.086565245,0.438132290646,-0.00556568207161,0.0499424137387,0.999999996421,8.89672217587e-07,-7.88356337317e-05,3.07001495344e-05,1793189918502142464
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742,712,671,664.366571183,632,877,782,799,649.316714408,625,647.683285592,0.438810997958,-0.00556783087862,0.0499583110607,0.999999997794,-8.88643753038e-07,-5.7261858138e-05,3.36483825844e-05,1793189918518809088
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.271357079,742.271357079,711.728642921,671,664.728642921,632,877,782,798.728642921,649.271357079,625,648,0.439451048624,-0.00556781385197,0.0499557355797,0.999999997478,8.38518571717e-07,-6.17821041272e-05,3.50053284195e-05,1793189918535475456
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.849645811,742.849645811,711.150354189,671,664.150354189,632,877,782,798.150354189,649.849645811,625,648,0.440047374759,-0.00556534705341,0.0499322655332,0.999999994791,6.53072315981e-06,-9.58172669337e-05,3.45623710471e-05,1793189918552142080
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,743,711,671,663.574946291,632,877.425053709,782,798,649.574946291,625,648,0.440627548751,-0.00556489372776,0.0499193288263,0.999999992737,8.58708672878e-06,-0.000115067982506,3.48123368672e-05,1793189918568808704
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,743,711,671,663.000550524,632,877.999449476,782,798,649.000550524,625,648,0.441202047758,-0.00556514783294,0.0499100929926,0.999999990996,9.36600283317e-06,-0.00012912420489,3.53057603005e-05,1793189918585475584
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,743,711.570405393,671,663.570405393,631.429594607,877.429594607,782.570405393,798.570405393,649.570405393,625.570405393,648,0.441774269948,-0.00556620306658,0.0499274343219,0.999999994674,6.8393136454e-06,-9.60420693473e-05,3.71684696588e-05,1793189918602142208
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,742.852021429,711.852021429,671,664,631,877,782.852021429,799,649.852021429,625.852021429,647.852021429,0.442328135063,-0.00556717254447,0.0499414758672,0.999999996839,1.6416431834e-06,-6.98817874689e-05,3.79003959923e-05,1793189918618808832
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,742.254327869,711.254327869,671,664,631,877,782.254327869,799,649.254327869,625.254327869,647.254327869,0.442826218793,-0.00556787907049,0.0499454117052,0.999999997207,-1.1663648776e-05,-6.48948247147e-05,3.51918190495e-05,1793189918635475456
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.670874612,742.329125388,711.329125388,671.329125388,663.670874612,631,877.329125388,782,799.329125388,649.329125388,625,647,0.443273074413,-0.00556870642524,0.0499345165126,0.999999995158,-4.00256937693e-05,-8.56407234682e-05,2.73338482659e-05,1793189918652142080
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diff --git a/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..99eb6783b63cea4e343e386bb20d2d701180801d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/ball_0050_20/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,400 @@
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